From 13c84938784d4ec7e82839ef1e3d4227dae90393 Mon Sep 17 00:00:00 2001 From: LVD-AC Date: Tue, 18 Apr 2017 14:43:25 +0200 Subject: [PATCH] M665 rework and related issues (all delta's) - Making M665 compatible with repetier (see http://reprap.org/wiki/G_code#M665:_Set_delta_configuration) - M665 B also sets the radius for manual calibration menu - Converting tower ajustment definitions to arrays - tower angle corrections compatible with Esher 3D wizzard - Only tower angles need to be adjustable with M665 and stored to EEPROM - tower radius and diag rod can be adjusted in the FW only with #define --- Marlin/Conditionals_post.h | 43 ++++------------- Marlin/Marlin.h | 4 +- Marlin/Marlin_main.cpp | 47 ++++++++++--------- Marlin/configuration_store.cpp | 36 +++++++------- .../FLSUN/auto_calibrate/Configuration.h | 32 ++++++------- .../delta/FLSUN/kossel_mini/Configuration.h | 28 +++++------ .../delta/generic/Configuration.h | 28 ++++++----- .../delta/kossel_mini/Configuration.h | 26 +++++----- .../delta/kossel_pro/Configuration.h | 28 ++++++----- .../delta/kossel_xl/Configuration.h | 26 +++++----- Marlin/ultralcd.cpp | 10 +--- 11 files changed, 141 insertions(+), 167 deletions(-) diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h index 02a1eb0f6..617384bd5 100644 --- a/Marlin/Conditionals_post.h +++ b/Marlin/Conditionals_post.h @@ -691,43 +691,20 @@ * Delta radius/rod trimmers/angle trimmers */ #if ENABLED(DELTA) + #ifndef DELTA_CALIBRATION_RADIUS + #define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - 10 + #endif #ifndef DELTA_ENDSTOP_ADJ - #define DELTA_ENDSTOP_ADJ { 0 } + #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } #endif - #ifndef DELTA_RADIUS_TRIM_TOWER_1 - #define DELTA_RADIUS_TRIM_TOWER_1 0.0 + #ifndef DELTA_TOWER_ANGLE_TRIM + #define DELTA_TOWER_ANGLE_TRIM {0.0, 0.0} #endif - #ifndef DELTA_RADIUS_TRIM_TOWER_2 - #define DELTA_RADIUS_TRIM_TOWER_2 0.0 + #ifndef DELTA_RADIUS_TRIM_TOWER + #define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0} #endif - #ifndef DELTA_RADIUS_TRIM_TOWER_3 - #define DELTA_RADIUS_TRIM_TOWER_3 0.0 - #endif - #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_1 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0 - #endif - #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_2 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 - #endif - #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 - #endif - #ifndef DELTA_TOWER_ANGLE_TRIM_1 - #define DELTA_TOWER_ANGLE_TRIM_1 0.0 - #endif - #ifndef DELTA_TOWER_ANGLE_TRIM_2 - #define DELTA_TOWER_ANGLE_TRIM_2 0.0 - #endif - #ifndef DELTA_TOWER_ANGLE_TRIM_3 - #define DELTA_TOWER_ANGLE_TRIM_3 0.0 - #endif - #if ENABLED(DELTA_AUTO_CALIBRATION) - #ifndef H_FACTOR - #define H_FACTOR 1.00 - #endif - #ifndef R_FACTOR - #define R_FACTOR -2.25 - #endif + #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER + #define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0} #endif #endif diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index cea3d7fd6..8b0e3708f 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -302,9 +302,9 @@ float code_value_temp_diff(); extern float endstop_adj[ABC], delta_radius, delta_diagonal_rod, + delta_calibration_radius, delta_segments_per_second, - delta_diagonal_rod_trim[ABC], - delta_tower_angle_trim[ABC], + delta_tower_angle_trim[2], delta_clip_start_height; void recalc_delta_settings(float radius, float diagonal_rod); #elif IS_SCARA diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 8db285174..2e28f4603 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -585,10 +585,10 @@ static uint8_t target_extruder; // These values are loaded or reset at boot time when setup() calls // settings.load(), which calls recalc_delta_settings(). float delta_radius, - delta_tower_angle_trim[ABC], + delta_tower_angle_trim[2], delta_tower[ABC][2], delta_diagonal_rod, - delta_diagonal_rod_trim[ABC], + delta_calibration_radius, delta_diagonal_rod_2_tower[ABC], delta_segments_per_second, delta_clip_start_height = Z_MAX_POS; @@ -5109,8 +5109,8 @@ inline void gcode_G28() { if (probe_points >= 3) { for (int8_t axis = 9; axis > 0; axis -= step_axis) { // uint8_t starts endless loop z_at_pt[0] += probe_pt( - 0.1 * cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), - 0.1 * sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1); + 0.1 * cos(RADIANS(180 + 30 * axis)) * (delta_calibration_radius), + 0.1 * sin(RADIANS(180 + 30 * axis)) * (delta_calibration_radius), true, 1); } center_points += 3; z_at_pt[0] /= center_points; @@ -5124,8 +5124,8 @@ inline void gcode_G28() { if (probe_points != 1) { for (uint8_t axis = start; axis < 13; axis += step_axis) z_at_pt[axis] += probe_pt( - cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), - sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1 + cos(RADIANS(180 + 30 * axis)) * (delta_calibration_radius), + sin(RADIANS(180 + 30 * axis)) * (delta_calibration_radius), true, 1 ); if (probe_points == 4) step_axis = 2; @@ -5308,7 +5308,7 @@ inline void gcode_G28() { } SERIAL_EOL; if (zero_std_dev >= test_precision) - SERIAL_PROTOCOLLNPGM("Save with M500"); + SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h"); } else { // forced end #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE) @@ -7546,12 +7546,13 @@ inline void gcode_M205() { if (code_seen('L')) delta_diagonal_rod = code_value_linear_units(); if (code_seen('R')) delta_radius = code_value_linear_units(); if (code_seen('S')) delta_segments_per_second = code_value_float(); - if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units(); - if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units(); - if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units(); - if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units(); - if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units(); - if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units(); + if (code_seen('B')) delta_calibration_radius = code_value_float(); + if (code_seen('X')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units(); + if (code_seen('Y')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units(); + if (code_seen('Z')) { // rotate all 3 axis for Z = 0 + delta_tower_angle_trim[A_AXIS] += code_value_linear_units(); + delta_tower_angle_trim[B_AXIS] = code_value_linear_units(); + } recalc_delta_settings(delta_radius, delta_diagonal_rod); } /** @@ -10555,15 +10556,17 @@ void ok_to_send() { * settings have been changed (e.g., by M665). */ void recalc_delta_settings(float radius, float diagonal_rod) { - delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower - delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1); - delta_tower[B_AXIS][X_AXIS] = sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower - delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2); - delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3); // back middle tower - delta_tower[C_AXIS][Y_AXIS] = cos(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3); - delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]); - delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]); - delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]); + const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER, + drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER; + delta_tower[A_AXIS][X_AXIS] = -cos(RADIANS(30 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower + delta_tower[A_AXIS][Y_AXIS] = -sin(RADIANS(30 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); + delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(30 - delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower + delta_tower[B_AXIS][Y_AXIS] = -sin(RADIANS(30 - delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); + delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower + delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]); + delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]); + delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]); + delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]); } #if ENABLED(DELTA_FAST_SQRT) diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index fb82f2370..c0c3b8d7e 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -92,12 +92,10 @@ * 360 M665 R delta_radius (float) * 364 M665 L delta_diagonal_rod (float) * 368 M665 S delta_segments_per_second (float) - * 372 M665 A delta_diagonal_rod_trim[A] (float) - * 376 M665 B delta_diagonal_rod_trim[B] (float) - * 380 M665 C delta_diagonal_rod_trim[C] (float) - * 384 M665 I delta_tower_angle_trim[A] (float) - * 388 M665 J delta_tower_angle_trim[B] (float) - * 392 M665 K delta_tower_angle_trim[C] (float) + * 372 M665 B delta_calibration_radius (float) + * 376 M665 X delta_tower_angle_trim[A] (float) + * 380 M665 Y delta_tower_angle_trim[B] (float) + * --- M665 Z delta_tower_angle_trim[C] (float) is always 0.0 * * Z_DUAL_ENDSTOPS: 48 bytes * 348 M666 Z z_endstop_adj (float) @@ -412,8 +410,8 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(delta_radius); // 1 float EEPROM_WRITE(delta_diagonal_rod); // 1 float EEPROM_WRITE(delta_segments_per_second); // 1 float - EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats - EEPROM_WRITE(delta_tower_angle_trim); // 3 floats + EEPROM_WRITE(delta_calibration_radius); // 1 floats + EEPROM_WRITE(delta_tower_angle_trim); // 2 floats #elif ENABLED(Z_DUAL_ENDSTOPS) EEPROM_WRITE(z_endstop_adj); // 1 float dummy = 0.0f; @@ -780,8 +778,8 @@ void MarlinSettings::postprocess() { EEPROM_READ(delta_radius); // 1 float EEPROM_READ(delta_diagonal_rod); // 1 float EEPROM_READ(delta_segments_per_second); // 1 float - EEPROM_READ(delta_diagonal_rod_trim); // 3 floats - EEPROM_READ(delta_tower_angle_trim); // 3 floats + EEPROM_READ(delta_calibration_radius); // 1 floats + EEPROM_READ(delta_tower_angle_trim); // 2 floats #elif ENABLED(Z_DUAL_ENDSTOPS) EEPROM_READ(z_endstop_adj); dummy = 0.0f; @@ -1068,13 +1066,12 @@ void MarlinSettings::reset() { #if ENABLED(DELTA) const float adj[ABC] = DELTA_ENDSTOP_ADJ, - drt[ABC] = { DELTA_DIAGONAL_ROD_TRIM_TOWER_1, DELTA_DIAGONAL_ROD_TRIM_TOWER_2, DELTA_DIAGONAL_ROD_TRIM_TOWER_3 }, - dta[ABC] = { DELTA_TOWER_ANGLE_TRIM_1, DELTA_TOWER_ANGLE_TRIM_2, DELTA_TOWER_ANGLE_TRIM_3 }; + dta[2] = DELTA_TOWER_ANGLE_TRIM; COPY(endstop_adj, adj); delta_radius = DELTA_RADIUS; delta_diagonal_rod = DELTA_DIAGONAL_ROD; delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; - COPY(delta_diagonal_rod_trim, drt); + delta_calibration_radius = DELTA_CALIBRATION_RADIUS; COPY(delta_tower_angle_trim, dta); home_offset[Z_AXIS] = 0; @@ -1473,19 +1470,18 @@ void MarlinSettings::reset() { SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(endstop_adj[Z_AXIS])); if (!forReplay) { CONFIG_ECHO_START; - SERIAL_ECHOLNPGM("Delta settings: L R H S ABC"); + SERIAL_ECHOLNPGM("Delta settings: L R H S B XYZ"); } CONFIG_ECHO_START; SERIAL_ECHOPAIR(" M665 L", LINEAR_UNIT(delta_diagonal_rod)); SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius)); SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS])); SERIAL_ECHOPAIR(" S", delta_segments_per_second); - SERIAL_ECHOPAIR(" A", LINEAR_UNIT(delta_diagonal_rod_trim[A_AXIS])); - SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_diagonal_rod_trim[B_AXIS])); - SERIAL_ECHOPAIR(" C", LINEAR_UNIT(delta_diagonal_rod_trim[C_AXIS])); - SERIAL_ECHOPAIR(" I", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS])); - SERIAL_ECHOPAIR(" J", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS])); - SERIAL_ECHOLNPAIR(" K", LINEAR_UNIT(delta_tower_angle_trim[C_AXIS])); + SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius); + SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS])); + SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS])); + SERIAL_ECHOPAIR(" Z", 0.00); + SERIAL_EOL; #elif ENABLED(Z_DUAL_ENDSTOPS) if (!forReplay) { CONFIG_ECHO_START; diff --git a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h index 28217571c..9b6adff67 100644 --- a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h +++ b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h @@ -1,4 +1,4 @@ -/** +/** * Marlin 3D Printer Firmware * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * @@ -459,40 +459,40 @@ //#define DELTA_CARRIAGE_OFFSET 22.0 // mm // Horizontal distance bridged by diagonal push rods when effector is centered. - #define DELTA_RADIUS 100.59 //mm // get this value from auto calibrate + #define DELTA_RADIUS 100.90 //mm // get this value from auto calibrate // height from z=0.00 to home position - #define DELTA_HEIGHT 298.95 // get this value from auto calibrate + #define DELTA_HEIGHT 296.38 // get this value from auto calibrate // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). - #define DELTA_PRINTABLE_RADIUS 90.0 + #define DELTA_PRINTABLE_RADIUS 85.0 // Delta calibration menu // See http://minow.blogspot.com/index.html#4918805519571907051 #define DELTA_CALIBRATION_MENU + // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled + #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm + // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) #define DELTA_AUTO_CALIBRATION #if ENABLED(DELTA_AUTO_CALIBRATION) - #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) - #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points + #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7) #endif // After homing move down to a height where XY movement is unconstrained #define DELTA_HOME_TO_SAFE_ZONE - #define DELTA_ENDSTOP_ADJ { -0.05, -0.00, -0.02 } // get these from auto calibrate + #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate // Trim adjustments for individual towers - #define DELTA_RADIUS_TRIM_TOWER_1 0.0 - #define DELTA_RADIUS_TRIM_TOWER_2 0.0 - #define DELTA_RADIUS_TRIM_TOWER_3 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 - #define DELTA_TOWER_ANGLE_TRIM_1 0.0 - #define DELTA_TOWER_ANGLE_TRIM_2 0.0 - #define DELTA_TOWER_ANGLE_TRIM_3 0.0 + // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 + // measured in degrees anticlockwise looking from above the printer + #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate + + // delta radius and diaginal rod adjustments measured in mm + //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0} + //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0} #endif diff --git a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h index 09dd6c43e..c88d3d1dc 100644 --- a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h +++ b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h @@ -472,28 +472,28 @@ // See http://minow.blogspot.com/index.html#4918805519571907051 //#define DELTA_CALIBRATION_MENU + // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled + #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm + // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) - //#define DELTA_AUTO_CALIBRATION + #define DELTA_AUTO_CALIBRATION #if ENABLED(DELTA_AUTO_CALIBRATION) - #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) - #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points + #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7) #endif // After homing move down to a height where XY movement is unconstrained - //#define DELTA_HOME_TO_SAFE_ZONE + #define DELTA_HOME_TO_SAFE_ZONE - //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } + #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate // Trim adjustments for individual towers - #define DELTA_RADIUS_TRIM_TOWER_1 0.0 - #define DELTA_RADIUS_TRIM_TOWER_2 0.0 - #define DELTA_RADIUS_TRIM_TOWER_3 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 - #define DELTA_TOWER_ANGLE_TRIM_1 0.0 - #define DELTA_TOWER_ANGLE_TRIM_2 0.0 - #define DELTA_TOWER_ANGLE_TRIM_3 0.0 + // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 + // measured in degrees anticlockwise looking from above the printer + #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate + + // delta radius and diaginal rod adjustments measured in mm + //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0} + //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0} #endif diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h index c3e888cd6..744362c94 100644 --- a/Marlin/example_configurations/delta/generic/Configuration.h +++ b/Marlin/example_configurations/delta/generic/Configuration.h @@ -461,28 +461,30 @@ // See http://minow.blogspot.com/index.html#4918805519571907051 //#define DELTA_CALIBRATION_MENU + + + // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled + #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm + // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) - //#define DELTA_AUTO_CALIBRATION + #define DELTA_AUTO_CALIBRATION #if ENABLED(DELTA_AUTO_CALIBRATION) - #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) - #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points + #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7) #endif // After homing move down to a height where XY movement is unconstrained #define DELTA_HOME_TO_SAFE_ZONE - //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } + #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate // Trim adjustments for individual towers - #define DELTA_RADIUS_TRIM_TOWER_1 0.0 - #define DELTA_RADIUS_TRIM_TOWER_2 0.0 - #define DELTA_RADIUS_TRIM_TOWER_3 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 - #define DELTA_TOWER_ANGLE_TRIM_1 0.0 - #define DELTA_TOWER_ANGLE_TRIM_2 0.0 - #define DELTA_TOWER_ANGLE_TRIM_3 0.0 + // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 + // measured in degrees anticlockwise looking from above the printer + #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate + + // delta radius and diaginal rod adjustments measured in mm + //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0} + //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0} #endif diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h index 401f7b5cb..c4a91ee8a 100644 --- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h @@ -461,28 +461,28 @@ // See http://minow.blogspot.com/index.html#4918805519571907051 //#define DELTA_CALIBRATION_MENU + // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled + #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm + // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) - //#define DELTA_AUTO_CALIBRATION + #define DELTA_AUTO_CALIBRATION #if ENABLED(DELTA_AUTO_CALIBRATION) - #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) - #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points + #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7) #endif // After homing move down to a height where XY movement is unconstrained #define DELTA_HOME_TO_SAFE_ZONE - //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } + #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate // Trim adjustments for individual towers - #define DELTA_RADIUS_TRIM_TOWER_1 0.0 - #define DELTA_RADIUS_TRIM_TOWER_2 0.0 - #define DELTA_RADIUS_TRIM_TOWER_3 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 - #define DELTA_TOWER_ANGLE_TRIM_1 0.0 - #define DELTA_TOWER_ANGLE_TRIM_2 0.0 - #define DELTA_TOWER_ANGLE_TRIM_3 0.0 + // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 + // measured in degrees anticlockwise looking from above the printer + #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate + + // delta radius and diaginal rod adjustments measured in mm + //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0} + //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0} #endif diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h index 419f47ca4..34b6d0215 100644 --- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h @@ -448,28 +448,30 @@ // See http://minow.blogspot.com/index.html#4918805519571907051 //#define DELTA_CALIBRATION_MENU + + + // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled + #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm + // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) - //#define DELTA_AUTO_CALIBRATION + #define DELTA_AUTO_CALIBRATION #if ENABLED(DELTA_AUTO_CALIBRATION) - #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) - #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points + #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7) #endif // After homing move down to a height where XY movement is unconstrained #define DELTA_HOME_TO_SAFE_ZONE - //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } + #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate // Trim adjustments for individual towers - #define DELTA_RADIUS_TRIM_TOWER_1 0.0 - #define DELTA_RADIUS_TRIM_TOWER_2 0.0 - #define DELTA_RADIUS_TRIM_TOWER_3 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 - #define DELTA_TOWER_ANGLE_TRIM_1 0.0 - #define DELTA_TOWER_ANGLE_TRIM_2 0.0 - #define DELTA_TOWER_ANGLE_TRIM_3 0.0 + // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 + // measured in degrees anticlockwise looking from above the printer + #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate + + // delta radius and diaginal rod adjustments measured in mm + //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0} + //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0} #endif diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h index 320e19bb1..b93620313 100644 --- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h @@ -466,28 +466,28 @@ // See http://minow.blogspot.com/index.html#4918805519571907051 //#define DELTA_CALIBRATION_MENU + // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled + #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm + // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) - //#define DELTA_AUTO_CALIBRATION + #define DELTA_AUTO_CALIBRATION #if ENABLED(DELTA_AUTO_CALIBRATION) - #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) - #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points + #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7) #endif // After homing move down to a height where XY movement is unconstrained #define DELTA_HOME_TO_SAFE_ZONE - //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } + #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate // Trim adjustments for individual towers - #define DELTA_RADIUS_TRIM_TOWER_1 0.0 - #define DELTA_RADIUS_TRIM_TOWER_2 0.0 - #define DELTA_RADIUS_TRIM_TOWER_3 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 - #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 - #define DELTA_TOWER_ANGLE_TRIM_1 0.0 - #define DELTA_TOWER_ANGLE_TRIM_2 0.0 - #define DELTA_TOWER_ANGLE_TRIM_3 0.0 + // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 + // measured in degrees anticlockwise looking from above the printer + #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate + + // delta radius and diaginal rod adjustments measured in mm + //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0} + //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0} #endif diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index bca731ddb..50c6fb580 100755 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1805,20 +1805,14 @@ void kill_screen(const char* lcd_msg) { lcd_goto_screen(_lcd_calibrate_homing); } - #if ENABLED(DELTA_AUTO_CALIBRATION) - #define _DELTA_TOWER_MOVE_RADIUS DELTA_CALIBRATION_RADIUS - #else - #define _DELTA_TOWER_MOVE_RADIUS DELTA_PRINTABLE_RADIUS - #endif - // Move directly to the tower position with uninterpolated moves // If we used interpolated moves it would cause this to become re-entrant void _goto_tower_pos(const float &a) { current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5; line_to_current(Z_AXIS); - current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : sin(a) * -(_DELTA_TOWER_MOVE_RADIUS); - current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : cos(a) * (_DELTA_TOWER_MOVE_RADIUS); + current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : sin(a) * -(delta_calibration_radius); + current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : cos(a) * (delta_calibration_radius); line_to_current(Z_AXIS); current_position[Z_AXIS] = 4.0;