Trim Adjustments for Delta Configurations
This commit is contained in:
Shane Francis
Richard Wackerbarth
parent
93a512cf97
commit
4c8330c15c
2 changed files with 73 additions and 36 deletions
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@ -260,23 +260,40 @@ extern float min_pos[3]; // axis[n].min_pos
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extern float max_pos[3]; // axis[n].max_pos
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extern bool axis_known_position[3]; // axis[n].is_known
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#if ENABLED(DELTA) || ENABLED(SCARA)
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void calculate_delta(float cartesian[3]);
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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extern float delta[3];
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extern float endstop_adj[3]; // axis[n].endstop_adj
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extern float delta_radius;
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#ifndef DELTA_RADIUS_TRIM_TOWER_1
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#define DELTA_RADIUS_TRIM_TOWER_1 0.0
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#endif
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#ifndef DELTA_RADIUS_TRIM_TOWER_2
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#define DELTA_RADIUS_TRIM_TOWER_2 0.0
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#endif
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#ifndef DELTA_RADIUS_TRIM_TOWER_3
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#define DELTA_RADIUS_TRIM_TOWER_3 0.0
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#endif
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extern float delta_diagonal_rod;
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_1
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
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#endif
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_2
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
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#endif
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
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#endif
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extern float delta_segments_per_second;
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void calculate_delta(float cartesian[3]);
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void recalc_delta_settings(float radius, float diagonal_rod);
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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extern int delta_grid_spacing[2];
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void adjust_delta(float cartesian[3]);
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#endif
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#elif ENABLED(SCARA)
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#elif ENABLED(SCARA)
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extern float axis_scaling[3]; // Build size scaling
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void calculate_delta(float cartesian[3]);
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void calculate_SCARA_forward_Transform(float f_scara[3]);
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#endif
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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@ -351,20 +351,31 @@ bool target_direction;
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#endif
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#if ENABLED(DELTA)
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#define TOWER_1 X_AXIS
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#define TOWER_2 Y_AXIS
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#define TOWER_3 Z_AXIS
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float delta[3] = { 0 };
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#define SIN_60 0.8660254037844386
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#define COS_60 0.5
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float endstop_adj[3] = { 0 };
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// these are the default values, can be overriden with M665
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float delta_radius = DELTA_RADIUS;
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float delta_tower1_x = -SIN_60 * delta_radius; // front left tower
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float delta_tower1_y = -COS_60 * delta_radius;
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float delta_tower2_x = SIN_60 * delta_radius; // front right tower
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float delta_tower2_y = -COS_60 * delta_radius;
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float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
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float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1);
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float delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
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float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2);
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float delta_tower3_x = 0; // back middle tower
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float delta_tower3_y = delta_radius;
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float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3);
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float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
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float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
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float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
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float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
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float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
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float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
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float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
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float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
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//float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
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float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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int delta_grid_spacing[2] = { 0, 0 };
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@ -4491,11 +4502,17 @@ inline void gcode_M206() {
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* L = diagonal rod
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* R = delta radius
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* S = segments per second
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* A = Alpha (Tower 1) diagonal rod trim
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* B = Beta (Tower 2) diagonal rod trim
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* C = Gamma (Tower 3) diagonal rod trim
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*/
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inline void gcode_M665() {
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if (code_seen('L')) delta_diagonal_rod = code_value();
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if (code_seen('R')) delta_radius = code_value();
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if (code_seen('S')) delta_segments_per_second = code_value();
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if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value();
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if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value();
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if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value();
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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}
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/**
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@ -6249,25 +6266,28 @@ void clamp_to_software_endstops(float target[3]) {
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#if ENABLED(DELTA)
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void recalc_delta_settings(float radius, float diagonal_rod) {
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delta_tower1_x = -SIN_60 * radius; // front left tower
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delta_tower1_y = -COS_60 * radius;
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delta_tower2_x = SIN_60 * radius; // front right tower
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delta_tower2_y = -COS_60 * radius;
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delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
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delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
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delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
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delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
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delta_tower3_x = 0.0; // back middle tower
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delta_tower3_y = radius;
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delta_diagonal_rod_2 = sq(diagonal_rod);
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delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
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delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
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delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
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delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
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}
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void calculate_delta(float cartesian[3]) {
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delta[X_AXIS] = sqrt(delta_diagonal_rod_2
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delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1
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- sq(delta_tower1_x-cartesian[X_AXIS])
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- sq(delta_tower1_y-cartesian[Y_AXIS])
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) + cartesian[Z_AXIS];
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delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
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delta[TOWER_2] = sqrt(delta_diagonal_rod_2_tower_2
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- sq(delta_tower2_x-cartesian[X_AXIS])
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- sq(delta_tower2_y-cartesian[Y_AXIS])
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) + cartesian[Z_AXIS];
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delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
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delta[TOWER_3] = sqrt(delta_diagonal_rod_2_tower_3
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- sq(delta_tower3_x-cartesian[X_AXIS])
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- sq(delta_tower3_y-cartesian[Y_AXIS])
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) + cartesian[Z_AXIS];
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@ -6276,9 +6296,9 @@ void clamp_to_software_endstops(float target[3]) {
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SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
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SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
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SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
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SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
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SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
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SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[TOWER_1]);
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SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[TOWER_2]);
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SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[TOWER_3]);
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*/
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}
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