Adjustable delta_diagonal_rod_trim (#18423)
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31349fd69a
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4 changed files with 24 additions and 10 deletions
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@ -40,6 +40,9 @@
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* X = Alpha (Tower 1) angle trim
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* X = Alpha (Tower 1) angle trim
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* Y = Beta (Tower 2) angle trim
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* Y = Beta (Tower 2) angle trim
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* Z = Gamma (Tower 3) angle trim
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* Z = Gamma (Tower 3) angle trim
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* A = Alpha (Tower 1) digonal rod trim
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* B = Beta (Tower 2) digonal rod trim
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* C = Gamma (Tower 3) digonal rod trim
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*/
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*/
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void GcodeSuite::M665() {
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void GcodeSuite::M665() {
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if (parser.seen('H')) delta_height = parser.value_linear_units();
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if (parser.seen('H')) delta_height = parser.value_linear_units();
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@ -49,6 +52,9 @@
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if (parser.seen('X')) delta_tower_angle_trim.a = parser.value_float();
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if (parser.seen('X')) delta_tower_angle_trim.a = parser.value_float();
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if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
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if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
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if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();
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if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();
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if (parser.seen('A')) delta_diagonal_rod_trim.a = parser.value_float();
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if (parser.seen('B')) delta_diagonal_rod_trim.b = parser.value_float();
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if (parser.seen('C')) delta_diagonal_rod_trim.c = parser.value_float();
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recalc_delta_settings();
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recalc_delta_settings();
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}
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}
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@ -257,11 +257,12 @@ typedef struct SettingsDataStruct {
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//
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//
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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float delta_height; // M666 H
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float delta_height; // M666 H
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abc_float_t delta_endstop_adj; // M666 XYZ
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abc_float_t delta_endstop_adj; // M666 X Y Z
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float delta_radius, // M665 R
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float delta_radius, // M665 R
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delta_diagonal_rod, // M665 L
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delta_diagonal_rod, // M665 L
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delta_segments_per_second; // M665 S
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delta_segments_per_second; // M665 S
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abc_float_t delta_tower_angle_trim; // M665 XYZ
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abc_float_t delta_tower_angle_trim, // M665 X Y Z
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delta_diagonal_rod_trim; // M665 A B C
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#elif HAS_EXTRA_ENDSTOPS
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#elif HAS_EXTRA_ENDSTOPS
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float x2_endstop_adj, // M666 X
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float x2_endstop_adj, // M666 X
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y2_endstop_adj, // M666 Y
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y2_endstop_adj, // M666 Y
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@ -775,6 +776,7 @@ void MarlinSettings::postprocess() {
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EEPROM_WRITE(delta_diagonal_rod); // 1 float
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EEPROM_WRITE(delta_diagonal_rod); // 1 float
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EEPROM_WRITE(delta_segments_per_second); // 1 float
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EEPROM_WRITE(delta_segments_per_second); // 1 float
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EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
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EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
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EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats
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#elif HAS_EXTRA_ENDSTOPS
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#elif HAS_EXTRA_ENDSTOPS
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@ -1638,6 +1640,7 @@ void MarlinSettings::postprocess() {
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EEPROM_READ(delta_diagonal_rod); // 1 float
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EEPROM_READ(delta_diagonal_rod); // 1 float
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EEPROM_READ(delta_segments_per_second); // 1 float
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EEPROM_READ(delta_segments_per_second); // 1 float
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EEPROM_READ(delta_tower_angle_trim); // 3 floats
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EEPROM_READ(delta_tower_angle_trim); // 3 floats
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EEPROM_READ(delta_diagonal_rod_trim); // 3 floats
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#elif HAS_EXTRA_ENDSTOPS
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#elif HAS_EXTRA_ENDSTOPS
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@ -2510,13 +2513,14 @@ void MarlinSettings::reset() {
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//
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//
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM;
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const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
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delta_height = DELTA_HEIGHT;
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delta_height = DELTA_HEIGHT;
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delta_endstop_adj = adj;
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delta_endstop_adj = adj;
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delta_radius = DELTA_RADIUS;
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delta_radius = DELTA_RADIUS;
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delta_diagonal_rod = DELTA_DIAGONAL_ROD;
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delta_diagonal_rod = DELTA_DIAGONAL_ROD;
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delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
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delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
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delta_tower_angle_trim = dta;
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delta_tower_angle_trim = dta;
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delta_diagonal_rod_trim = ddr;
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#endif
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS)
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#if ENABLED(X_DUAL_ENDSTOPS)
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@ -3065,7 +3069,7 @@ void MarlinSettings::reset() {
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, SP_Z_STR, LINEAR_UNIT(delta_endstop_adj.c)
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, SP_Z_STR, LINEAR_UNIT(delta_endstop_adj.c)
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);
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);
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CONFIG_ECHO_HEADING("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> XYZ<tower angle corrections>");
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CONFIG_ECHO_HEADING("Delta settings: L<diagonal rod> R<radius> H<height> S<segments per sec> XYZ<tower angle trim> ABC<rod trim>");
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CONFIG_ECHO_START();
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CONFIG_ECHO_START();
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SERIAL_ECHOLNPAIR_P(
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SERIAL_ECHOLNPAIR_P(
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PSTR(" M665 L"), LINEAR_UNIT(delta_diagonal_rod)
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PSTR(" M665 L"), LINEAR_UNIT(delta_diagonal_rod)
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@ -3075,6 +3079,9 @@ void MarlinSettings::reset() {
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, SP_X_STR, LINEAR_UNIT(delta_tower_angle_trim.a)
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, SP_X_STR, LINEAR_UNIT(delta_tower_angle_trim.a)
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, SP_Y_STR, LINEAR_UNIT(delta_tower_angle_trim.b)
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, SP_Y_STR, LINEAR_UNIT(delta_tower_angle_trim.b)
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, SP_Z_STR, LINEAR_UNIT(delta_tower_angle_trim.c)
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, SP_Z_STR, LINEAR_UNIT(delta_tower_angle_trim.c)
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, PSTR(" A"), LINEAR_UNIT(delta_diagonal_rod_trim.a)
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, PSTR(" B"), LINEAR_UNIT(delta_diagonal_rod_trim.b)
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, PSTR(" C"), LINEAR_UNIT(delta_diagonal_rod_trim.c)
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);
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);
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#elif HAS_EXTRA_ENDSTOPS
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#elif HAS_EXTRA_ENDSTOPS
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@ -59,6 +59,7 @@ abc_float_t delta_tower_angle_trim;
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xy_float_t delta_tower[ABC];
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xy_float_t delta_tower[ABC];
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abc_float_t delta_diagonal_rod_2_tower;
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abc_float_t delta_diagonal_rod_2_tower;
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float delta_clip_start_height = Z_MAX_POS;
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float delta_clip_start_height = Z_MAX_POS;
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abc_float_t delta_diagonal_rod_trim;
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float delta_safe_distance_from_top();
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float delta_safe_distance_from_top();
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@ -67,17 +68,16 @@ float delta_safe_distance_from_top();
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* settings have been changed (e.g., by M665).
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* settings have been changed (e.g., by M665).
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*/
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*/
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void recalc_delta_settings() {
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void recalc_delta_settings() {
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constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER,
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constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER;
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drt = DELTA_DIAGONAL_ROD_TRIM_TOWER;
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delta_tower[A_AXIS].set(cos(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a), // front left tower
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delta_tower[A_AXIS].set(cos(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a), // front left tower
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sin(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a));
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sin(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a));
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delta_tower[B_AXIS].set(cos(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b), // front right tower
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delta_tower[B_AXIS].set(cos(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b), // front right tower
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sin(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b));
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sin(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b));
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delta_tower[C_AXIS].set(cos(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c), // back middle tower
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delta_tower[C_AXIS].set(cos(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c), // back middle tower
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sin(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c));
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sin(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c));
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delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + drt.a),
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delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + delta_diagonal_rod_trim.a),
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sq(delta_diagonal_rod + drt.b),
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sq(delta_diagonal_rod + delta_diagonal_rod_trim.b),
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sq(delta_diagonal_rod + drt.c));
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sq(delta_diagonal_rod + delta_diagonal_rod_trim.c));
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update_software_endstops(Z_AXIS);
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update_software_endstops(Z_AXIS);
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set_all_unhomed();
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set_all_unhomed();
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}
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}
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@ -37,6 +37,7 @@ extern abc_float_t delta_tower_angle_trim;
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extern xy_float_t delta_tower[ABC];
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extern xy_float_t delta_tower[ABC];
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extern abc_float_t delta_diagonal_rod_2_tower;
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extern abc_float_t delta_diagonal_rod_2_tower;
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extern float delta_clip_start_height;
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extern float delta_clip_start_height;
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extern abc_float_t delta_diagonal_rod_trim;
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/**
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/**
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* Recalculate factors used for delta kinematics whenever
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* Recalculate factors used for delta kinematics whenever
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