Overhaul of G33 Delta Calibration (#8822)
This commit is contained in:
Luc Van Daele
Scott Lahteine
parent
ac2e0afb62
commit
646aa20b43
20 changed files with 516 additions and 478 deletions
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@ -320,7 +320,7 @@
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#define TEMP_SENSOR_2 0
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#define TEMP_SENSOR_3 0
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#define TEMP_SENSOR_4 0
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#define TEMP_SENSOR_BED 1 // measured to be satisfactorily accurate on centre of bed within +/- 1 degC.
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#define TEMP_SENSOR_BED 1 // measured to be satisfactorily accurate on center of bed within +/- 1 degC.
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#define TEMP_SENSOR_CHAMBER 0
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// Dummy thermistor constant temperature readings, for use with 998 and 999
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@ -620,7 +620,7 @@ Black rubber belt(MXL), 18 - tooth aluminium pulley : 87.489 step per mm (Huxley
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* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
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*/
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#define DEFAULT_MAX_Z_FEEDRATE 3.3 // older Huxley has problem with speeds > 3.3 mm/s on z axis
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#define DEFAULT_MAX_FEEDRATE { 200, 200, DEFAULT_MAX_Z_FEEDRATE, 25 }
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#define DEFAULT_MAX_FEEDRATE { 200, 200, DEFAULT_MAX_Z_FEEDRATE, 25 }
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/**
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* Default Max Acceleration (change/s) change = mm/s
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@ -532,19 +532,13 @@
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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// set the default number of probe points : n*n (1 -> 7)
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#define DELTA_CALIBRATION_DEFAULT_POINTS 4
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// Enable and set these values based on results of 'G33 A'
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//#define H_FACTOR 1.01
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//#define R_FACTOR 2.61
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//#define A_FACTOR 0.87
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#endif
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#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
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// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes
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// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
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#define DELTA_CALIBRATION_RADIUS 73.5 // mm
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// Set the steprate for papertest probing
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#define PROBE_MANUALLY_STEP 0.025
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#define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
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#endif
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// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
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@ -653,7 +647,15 @@
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* Override with M92
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* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
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*/
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#define DEFAULT_AXIS_STEPS_PER_UNIT { 100, 100, 100, 100 } // default steps per unit for Kossel (GT2, 20 tooth)
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// variables to calculate steps
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#define XYZ_FULL_STEPS_PER_ROTATION 200
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#define XYZ_MICROSTEPS 16
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#define XYZ_BELT_PITCH 2
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#define XYZ_PULLEY_TEETH 16
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// delta speeds must be the same on xyz
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#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
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#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 100 } // default steps per unit for Kossel (GT2, 20 tooth)
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/**
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* Default Max Feed Rate (mm/s)
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@ -532,19 +532,13 @@
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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// set the default number of probe points : n*n (1 -> 7)
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#define DELTA_CALIBRATION_DEFAULT_POINTS 7
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// Enable and set these values based on results of 'G33 A'
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//#define H_FACTOR 1.01
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//#define R_FACTOR 2.61
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//#define A_FACTOR 0.87
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#endif
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#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
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// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes
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// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
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#define DELTA_CALIBRATION_RADIUS 63 // mm
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// Set the steprate for papertest probing
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#define PROBE_MANUALLY_STEP 0.025
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#define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
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#endif
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// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
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@ -653,7 +647,15 @@
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* Override with M92
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* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
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*/
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#define DEFAULT_AXIS_STEPS_PER_UNIT { 100, 100, 100, 100 } // default steps per unit for Kossel (GT2, 20 tooth)
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// variables to calculate steps
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#define XYZ_FULL_STEPS_PER_ROTATION 200
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#define XYZ_MICROSTEPS 16
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#define XYZ_BELT_PITCH 2
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#define XYZ_PULLEY_TEETH 16
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// delta speeds must be the same on xyz
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#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
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#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 100 } // default steps per unit for Kossel (GT2, 20 tooth)
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/**
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* Default Max Feed Rate (mm/s)
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@ -532,19 +532,13 @@
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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// set the default number of probe points : n*n (1 -> 7)
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#define DELTA_CALIBRATION_DEFAULT_POINTS 4
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// Enable and set these values based on results of 'G33 A'
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//#define H_FACTOR 1.01
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//#define R_FACTOR 2.61
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//#define A_FACTOR 0.87
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#endif
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#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
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// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes
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// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
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#define DELTA_CALIBRATION_RADIUS 73.5 // mm
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// Set the steprate for papertest probing
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#define PROBE_MANUALLY_STEP 0.025
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#define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
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#endif
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// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
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@ -653,7 +647,15 @@
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* Override with M92
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* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
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*/
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#define DEFAULT_AXIS_STEPS_PER_UNIT { 100, 100, 100, 90 } // default steps per unit for Kossel (GT2, 20 tooth)
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// variables to calculate steps
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#define XYZ_FULL_STEPS_PER_ROTATION 200
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#define XYZ_MICROSTEPS 16
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#define XYZ_BELT_PITCH 2
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#define XYZ_PULLEY_TEETH 16
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// delta speeds must be the same on xyz
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#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
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#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 90 } // default steps per unit for Kossel (GT2, 20 tooth)
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/**
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* Default Max Feed Rate (mm/s)
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@ -537,19 +537,13 @@
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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// set the default number of probe points : n*n (1 -> 7)
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#define DELTA_CALIBRATION_DEFAULT_POINTS 4
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// Enable and set these values based on results of 'G33 A'
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//#define H_FACTOR 1.01
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//#define R_FACTOR 2.61
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//#define A_FACTOR 0.87
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#endif
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#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
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// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes
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// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
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#define DELTA_CALIBRATION_RADIUS 121.5 // mm
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// Set the steprate for papertest probing
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#define PROBE_MANUALLY_STEP 0.025
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#define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
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#endif
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// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
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@ -658,7 +652,15 @@
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* Override with M92
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* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
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*/
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#define DEFAULT_AXIS_STEPS_PER_UNIT { 100, 100, 100, 95 } // default steps per unit for Kossel (GT2, 20 tooth)
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// variables to calculate steps
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#define XYZ_FULL_STEPS_PER_ROTATION 200
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#define XYZ_MICROSTEPS 16
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#define XYZ_BELT_PITCH 2
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#define XYZ_PULLEY_TEETH 16
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// delta speeds must be the same on xyz
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#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
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#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 95 } // default steps per unit for Kossel (GT2, 20 tooth)
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/**
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* Default Max Feed Rate (mm/s)
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@ -522,19 +522,13 @@
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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// set the default number of probe points : n*n (1 -> 7)
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#define DELTA_CALIBRATION_DEFAULT_POINTS 4
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// Enable and set these values based on results of 'G33 A'
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//#define H_FACTOR 1.01
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//#define R_FACTOR 2.61
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//#define A_FACTOR 0.87
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#endif
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#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
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// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes
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// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
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#define DELTA_CALIBRATION_RADIUS 121.5 // mm
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// Set the steprate for papertest probing
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#define PROBE_MANUALLY_STEP 0.025
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#define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
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#endif
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// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
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@ -643,7 +637,15 @@
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* Override with M92
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* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
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*/
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#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 80, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth)
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// variables to calculate steps
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#define XYZ_FULL_STEPS_PER_ROTATION 200
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#define XYZ_MICROSTEPS 16
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#define XYZ_BELT_PITCH 2
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#define XYZ_PULLEY_TEETH 20
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// delta speeds must be the same on xyz
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#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
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#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth)
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/**
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* Default Max Feed Rate (mm/s)
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@ -522,19 +522,13 @@
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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// set the default number of probe points : n*n (1 -> 7)
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#define DELTA_CALIBRATION_DEFAULT_POINTS 4
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// Enable and set these values based on results of 'G33 A'
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//#define H_FACTOR 1.01
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//#define R_FACTOR 2.61
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//#define A_FACTOR 0.87
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#endif
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#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
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// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes
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// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
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#define DELTA_CALIBRATION_RADIUS 78.0 // mm
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// Set the steprate for papertest probing
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#define PROBE_MANUALLY_STEP 0.025
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#define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
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#endif
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// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
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@ -643,7 +637,15 @@
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* Override with M92
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* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
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*/
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#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 80, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth)
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// variables to calculate steps
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#define XYZ_FULL_STEPS_PER_ROTATION 200
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#define XYZ_MICROSTEPS 16
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#define XYZ_BELT_PITCH 2
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#define XYZ_PULLEY_TEETH 20
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// delta speeds must be the same on xyz
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#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
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#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth)
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/**
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* Default Max Feed Rate (mm/s)
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@ -508,19 +508,13 @@
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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// set the default number of probe points : n*n (1 -> 7)
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#define DELTA_CALIBRATION_DEFAULT_POINTS 4
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// Enable and set these values based on results of 'G33 A'
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//#define H_FACTOR 1.01
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//#define R_FACTOR 2.61
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//#define A_FACTOR 0.87
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#endif
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#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
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// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes
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// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
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#define DELTA_CALIBRATION_RADIUS 110.0 // mm
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// Set the steprate for papertest probing
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#define PROBE_MANUALLY_STEP 0.025
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#define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
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#endif
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// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
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@ -636,7 +630,15 @@
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* Override with M92
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* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
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*/
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#define DEFAULT_AXIS_STEPS_PER_UNIT { XYZ_STEPS, XYZ_STEPS, XYZ_STEPS, 184.8 }
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// variables to calculate steps
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#define XYZ_FULL_STEPS_PER_ROTATION 200
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#define XYZ_MICROSTEPS 32
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#define XYZ_BELT_PITCH 2
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#define XYZ_PULLEY_TEETH 20
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// delta speeds must be the same on xyz
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#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
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#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 184.8 } // default steps per unit for Kossel (GT2, 20 tooth)
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/**
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* Default Max Feed Rate (mm/s)
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@ -526,19 +526,13 @@
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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// set the default number of probe points : n*n (1 -> 7)
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#define DELTA_CALIBRATION_DEFAULT_POINTS 4
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// Enable and set these values based on results of 'G33 A'
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//#define H_FACTOR 1.01
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//#define R_FACTOR 2.61
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//#define A_FACTOR 0.87
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#endif
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#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
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// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes
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// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
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#define DELTA_CALIBRATION_RADIUS 121.5 // mm
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// Set the steprate for papertest probing
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#define PROBE_MANUALLY_STEP 0.025
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#define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
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#endif
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// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
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@ -626,15 +620,6 @@
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//=============================================================================
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// @section motion
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// variables to calculate steps
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#define XYZ_FULL_STEPS_PER_ROTATION 200
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#define XYZ_MICROSTEPS 16
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#define XYZ_BELT_PITCH 2
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#define XYZ_PULLEY_TEETH 16
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// delta speeds must be the same on xyz
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#define XYZ_STEPS (XYZ_FULL_STEPS_PER_ROTATION * XYZ_MICROSTEPS / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
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/**
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* Default Settings
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*
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@ -655,7 +640,15 @@
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* Override with M92
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* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
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*/
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#define DEFAULT_AXIS_STEPS_PER_UNIT { XYZ_STEPS, XYZ_STEPS, XYZ_STEPS, 158 } // default steps per unit for PowerWasp
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// variables to calculate steps
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#define XYZ_FULL_STEPS_PER_ROTATION 200
|
||||
#define XYZ_MICROSTEPS 16
|
||||
#define XYZ_BELT_PITCH 2
|
||||
#define XYZ_PULLEY_TEETH 16
|
||||
|
||||
// delta speeds must be the same on xyz
|
||||
#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
|
||||
#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 158 } // default steps per unit for PowerWasp
|
||||
|
||||
/**
|
||||
* Default Max Feed Rate (mm/s)
|
||||
|
|
|
|||
|
|
@ -287,8 +287,8 @@ void Max7219_idle_tasks() {
|
|||
#endif
|
||||
CRITICAL_SECTION_END
|
||||
#endif
|
||||
|
||||
static uint16_t refresh_cnt = 0; // The Max7219 circuit boards available for several dollars on eBay
|
||||
|
||||
static uint16_t refresh_cnt = 0; // The Max7219 circuit boards available for several dollars on eBay
|
||||
if (refresh_cnt++ > 50000) { // are vulnerable to electrical noise, especially with long wires
|
||||
Max7219_register_setup(); // next to high current wires. If the display becomes corrupted due
|
||||
Max7219_LED_Toggle(7, 0); // to electrical noise, this will fix it within a couple of seconds.
|
||||
|
|
|
|||
|
|
@ -26,12 +26,15 @@
|
|||
|
||||
#include "../gcode.h"
|
||||
#include "../../module/delta.h"
|
||||
#include "../../module/probe.h"
|
||||
#include "../../module/motion.h"
|
||||
#include "../../module/stepper.h"
|
||||
#include "../../module/endstops.h"
|
||||
#include "../../lcd/ultralcd.h"
|
||||
|
||||
#if HAS_BED_PROBE
|
||||
#include "../../module/probe.h"
|
||||
#endif
|
||||
|
||||
#if HOTENDS > 1
|
||||
#include "../../module/tool_change.h"
|
||||
#endif
|
||||
|
|
@ -43,7 +46,7 @@
|
|||
constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
|
||||
_4P_STEP = _7P_STEP * 2, // 4-point step
|
||||
NPP = _7P_STEP * 6; // number of calibration points on the radius
|
||||
enum CalEnum : char { // the 7 main calibration points - add definitions if needed
|
||||
enum CalEnum : char { // the 7 main calibration points - add definitions if needed
|
||||
CEN = 0,
|
||||
__A = 1,
|
||||
_AB = __A + _7P_STEP,
|
||||
|
|
@ -60,7 +63,54 @@ enum CalEnum : char { // the 7 main calibration po
|
|||
#define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
|
||||
#define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)
|
||||
|
||||
static void print_signed_float(const char * const prefix, const float &f) {
|
||||
#if HOTENDS > 1
|
||||
const uint8_t old_tool_index = active_extruder;
|
||||
#define AC_CLEANUP() ac_cleanup(old_tool_index)
|
||||
#else
|
||||
#define AC_CLEANUP() ac_cleanup()
|
||||
#endif
|
||||
|
||||
float lcd_probe_pt(const float &rx, const float &ry);
|
||||
|
||||
bool ac_home() {
|
||||
endstops.enable(true);
|
||||
if (!home_delta())
|
||||
return false;
|
||||
endstops.not_homing();
|
||||
return true;
|
||||
}
|
||||
|
||||
void ac_setup(const bool reset_bed) {
|
||||
#if HOTENDS > 1
|
||||
tool_change(0, 0, true);
|
||||
#endif
|
||||
|
||||
stepper.synchronize();
|
||||
setup_for_endstop_or_probe_move();
|
||||
|
||||
#if HAS_LEVELING
|
||||
if (reset_bed) reset_bed_level(); // After full calibration bed-level data is no longer valid
|
||||
#endif
|
||||
}
|
||||
|
||||
void ac_cleanup(
|
||||
#if HOTENDS > 1
|
||||
const uint8_t old_tool_index
|
||||
#endif
|
||||
) {
|
||||
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
|
||||
do_blocking_move_to_z(delta_clip_start_height);
|
||||
#endif
|
||||
#if HAS_BED_PROBE
|
||||
STOW_PROBE();
|
||||
#endif
|
||||
clean_up_after_endstop_or_probe_move();
|
||||
#if HOTENDS > 1
|
||||
tool_change(old_tool_index, 0, true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void print_signed_float(const char * const prefix, const float &f) {
|
||||
SERIAL_PROTOCOLPGM(" ");
|
||||
serialprintPGM(prefix);
|
||||
SERIAL_PROTOCOLCHAR(':');
|
||||
|
|
@ -68,7 +118,10 @@ static void print_signed_float(const char * const prefix, const float &f) {
|
|||
SERIAL_PROTOCOL_F(f, 2);
|
||||
}
|
||||
|
||||
static void print_G33_settings(const bool end_stops, const bool tower_angles) {
|
||||
/**
|
||||
* - Print the delta settings
|
||||
*/
|
||||
static void print_calibration_settings(const bool end_stops, const bool tower_angles) {
|
||||
SERIAL_PROTOCOLPAIR(".Height:", delta_height);
|
||||
if (end_stops) {
|
||||
print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
|
||||
|
|
@ -89,16 +142,25 @@ static void print_G33_settings(const bool end_stops, const bool tower_angles) {
|
|||
if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
|
||||
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
|
||||
}
|
||||
#if HAS_BED_PROBE
|
||||
if (!end_stops && !tower_angles) {
|
||||
SERIAL_PROTOCOL_SP(30);
|
||||
print_signed_float(PSTR("Offset"), zprobe_zoffset);
|
||||
}
|
||||
#endif
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
|
||||
/**
|
||||
* - Print the probe results
|
||||
*/
|
||||
static void print_calibration_results(const float z_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
|
||||
SERIAL_PROTOCOLPGM(". ");
|
||||
print_signed_float(PSTR("c"), z_at_pt[CEN]);
|
||||
print_signed_float(PSTR("c"), z_pt[CEN]);
|
||||
if (tower_points) {
|
||||
print_signed_float(PSTR(" x"), z_at_pt[__A]);
|
||||
print_signed_float(PSTR(" y"), z_at_pt[__B]);
|
||||
print_signed_float(PSTR(" z"), z_at_pt[__C]);
|
||||
print_signed_float(PSTR(" x"), z_pt[__A]);
|
||||
print_signed_float(PSTR(" y"), z_pt[__B]);
|
||||
print_signed_float(PSTR(" z"), z_pt[__C]);
|
||||
}
|
||||
if (tower_points && opposite_points) {
|
||||
SERIAL_EOL();
|
||||
|
|
@ -106,50 +168,63 @@ static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_poi
|
|||
SERIAL_PROTOCOL_SP(13);
|
||||
}
|
||||
if (opposite_points) {
|
||||
print_signed_float(PSTR("yz"), z_at_pt[_BC]);
|
||||
print_signed_float(PSTR("zx"), z_at_pt[_CA]);
|
||||
print_signed_float(PSTR("xy"), z_at_pt[_AB]);
|
||||
print_signed_float(PSTR("yz"), z_pt[_BC]);
|
||||
print_signed_float(PSTR("zx"), z_pt[_CA]);
|
||||
print_signed_float(PSTR("xy"), z_pt[_AB]);
|
||||
}
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
/**
|
||||
* After G33:
|
||||
* - Move to the print ceiling (DELTA_HOME_TO_SAFE_ZONE only)
|
||||
* - Stow the probe
|
||||
* - Restore endstops state
|
||||
* - Select the old tool, if needed
|
||||
* - Calculate the standard deviation from the zero plane
|
||||
*/
|
||||
static void G33_cleanup(
|
||||
#if HOTENDS > 1
|
||||
const uint8_t old_tool_index
|
||||
#endif
|
||||
) {
|
||||
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
|
||||
do_blocking_move_to_z(delta_clip_start_height);
|
||||
#endif
|
||||
STOW_PROBE();
|
||||
clean_up_after_endstop_or_probe_move();
|
||||
#if HOTENDS > 1
|
||||
tool_change(old_tool_index, 0, true);
|
||||
#endif
|
||||
static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool _1p_cal, const bool _4p_cal, const bool _4p_opp) {
|
||||
if (!_0p_cal) {
|
||||
float S2 = sq(z_pt[CEN]);
|
||||
int16_t N = 1;
|
||||
if (!_1p_cal) { // std dev from zero plane
|
||||
LOOP_CAL_ACT(rad, _4p_cal, _4p_opp) {
|
||||
S2 += sq(z_pt[rad]);
|
||||
N++;
|
||||
}
|
||||
return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
|
||||
}
|
||||
}
|
||||
return 0.00001;
|
||||
}
|
||||
|
||||
inline float calibration_probe(const float nx, const float ny, const bool stow) {
|
||||
/**
|
||||
* - Probe a point
|
||||
*/
|
||||
static float calibration_probe(const float &nx, const float &ny, const bool stow, const bool set_up) {
|
||||
#if HAS_BED_PROBE
|
||||
return probe_pt(nx, ny, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
|
||||
return probe_pt(nx, ny, set_up ? PROBE_PT_BIG_RAISE : stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
|
||||
#else
|
||||
UNUSED(stow);
|
||||
UNUSED(set_up);
|
||||
return lcd_probe_pt(nx, ny);
|
||||
#endif
|
||||
}
|
||||
|
||||
static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
|
||||
#if HAS_BED_PROBE
|
||||
static float probe_z_shift(const float center) {
|
||||
STOW_PROBE();
|
||||
endstops.enable_z_probe(false);
|
||||
float z_shift = lcd_probe_pt(0, 0) - center;
|
||||
endstops.enable_z_probe(true);
|
||||
return z_shift;
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* - Probe a grid
|
||||
*/
|
||||
static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each, const bool set_up) {
|
||||
const bool _0p_calibration = probe_points == 0,
|
||||
_1p_calibration = probe_points == 1,
|
||||
_1p_calibration = probe_points == 1 || probe_points == -1,
|
||||
_4p_calibration = probe_points == 2,
|
||||
_4p_opposite_points = _4p_calibration && !towers_set,
|
||||
_7p_calibration = probe_points >= 3 || probe_points == 0,
|
||||
_7p_calibration = probe_points >= 3,
|
||||
_7p_no_intermediates = probe_points == 3,
|
||||
_7p_1_intermediates = probe_points == 4,
|
||||
_7p_2_intermediates = probe_points == 5,
|
||||
|
|
@ -159,28 +234,28 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
|
|||
_7p_11_intermediates = probe_points == 9,
|
||||
_7p_14_intermediates = probe_points == 10,
|
||||
_7p_intermed_points = probe_points >= 4,
|
||||
_7p_6_centre = probe_points >= 5 && probe_points <= 7,
|
||||
_7p_9_centre = probe_points >= 8;
|
||||
_7p_6_center = probe_points >= 5 && probe_points <= 7,
|
||||
_7p_9_center = probe_points >= 8;
|
||||
|
||||
LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
|
||||
LOOP_CAL_ALL(rad) z_pt[rad] = 0.0;
|
||||
|
||||
if (!_0p_calibration) {
|
||||
|
||||
if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
|
||||
z_at_pt[CEN] += calibration_probe(0, 0, stow_after_each);
|
||||
if (isnan(z_at_pt[CEN])) return NAN;
|
||||
z_pt[CEN] += calibration_probe(0, 0, stow_after_each, set_up);
|
||||
if (isnan(z_pt[CEN])) return false;
|
||||
}
|
||||
|
||||
if (_7p_calibration) { // probe extra center points
|
||||
const float start = _7p_9_centre ? _CA + _7P_STEP / 3.0 : _7p_6_centre ? _CA : __C,
|
||||
steps = _7p_9_centre ? _4P_STEP / 3.0 : _7p_6_centre ? _7P_STEP : _4P_STEP;
|
||||
I_LOOP_CAL_PT(axis, start, steps) {
|
||||
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
|
||||
const float start = _7p_9_center ? _CA + _7P_STEP / 3.0 : _7p_6_center ? _CA : __C,
|
||||
steps = _7p_9_center ? _4P_STEP / 3.0 : _7p_6_center ? _7P_STEP : _4P_STEP;
|
||||
I_LOOP_CAL_PT(rad, start, steps) {
|
||||
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
|
||||
r = delta_calibration_radius * 0.1;
|
||||
z_at_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
|
||||
if (isnan(z_at_pt[CEN])) return NAN;
|
||||
z_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
|
||||
if (isnan(z_pt[CEN])) return false;
|
||||
}
|
||||
z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
|
||||
z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
|
||||
}
|
||||
|
||||
if (!_1p_calibration) { // probe the radius
|
||||
|
|
@ -195,182 +270,150 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
|
|||
_7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
|
||||
_4P_STEP; // .5r * 6 + 1c = 4
|
||||
bool zig_zag = true;
|
||||
F_LOOP_CAL_PT(axis, start, _7p_9_centre ? steps * 3 : steps) {
|
||||
const int8_t offset = _7p_9_centre ? 1 : 0;
|
||||
for (int8_t circle = -offset; circle <= offset; circle++) {
|
||||
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
|
||||
r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
|
||||
interpol = fmod(axis, 1);
|
||||
const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
|
||||
if (isnan(z_temp)) return NAN;
|
||||
F_LOOP_CAL_PT(rad, start, _7p_9_center ? steps * 3 : steps) {
|
||||
const int8_t offset = _7p_9_center ? 2 : 0;
|
||||
for (int8_t circle = 0; circle <= offset; circle++) {
|
||||
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
|
||||
r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
|
||||
interpol = fmod(rad, 1);
|
||||
const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
|
||||
if (isnan(z_temp)) return false;
|
||||
// split probe point to neighbouring calibration points
|
||||
z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
|
||||
z_at_pt[uint8_t(round(axis - interpol)) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
|
||||
z_pt[uint8_t(round(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
|
||||
z_pt[uint8_t(round(rad - interpol)) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
|
||||
}
|
||||
zig_zag = !zig_zag;
|
||||
}
|
||||
if (_7p_intermed_points)
|
||||
LOOP_CAL_RAD(axis)
|
||||
z_at_pt[axis] /= _7P_STEP / steps;
|
||||
}
|
||||
LOOP_CAL_RAD(rad)
|
||||
z_pt[rad] /= _7P_STEP / steps;
|
||||
|
||||
float S1 = z_at_pt[CEN],
|
||||
S2 = sq(z_at_pt[CEN]);
|
||||
int16_t N = 1;
|
||||
if (!_1p_calibration) { // std dev from zero plane
|
||||
LOOP_CAL_ACT(axis, _4p_calibration, _4p_opposite_points) {
|
||||
S1 += z_at_pt[axis];
|
||||
S2 += sq(z_at_pt[axis]);
|
||||
N++;
|
||||
}
|
||||
return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
|
||||
do_blocking_move_to_xy(0.0, 0.0);
|
||||
}
|
||||
}
|
||||
|
||||
return 0.00001;
|
||||
return true;
|
||||
}
|
||||
|
||||
#if HAS_BED_PROBE
|
||||
/**
|
||||
* kinematics routines and auto tune matrix scaling parameters:
|
||||
* see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
|
||||
* - formulae for approximative forward kinematics in the end-stop displacement matrix
|
||||
* - definition of the matrix scaling parameters
|
||||
*/
|
||||
static void reverse_kinematics_probe_points(float z_pt[NPP + 1], float mm_at_pt_axis[NPP + 1][ABC]) {
|
||||
float pos[XYZ] = { 0.0 };
|
||||
|
||||
static bool G33_auto_tune() {
|
||||
float z_at_pt[NPP + 1] = { 0.0 },
|
||||
z_at_pt_base[NPP + 1] = { 0.0 },
|
||||
z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
|
||||
|
||||
#define ZP(N,I) ((N) * z_at_pt[I])
|
||||
#define Z06(I) ZP(6, I)
|
||||
#define Z03(I) ZP(3, I)
|
||||
#define Z02(I) ZP(2, I)
|
||||
#define Z01(I) ZP(1, I)
|
||||
#define Z32(I) ZP(3/2, I)
|
||||
|
||||
SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
|
||||
SERIAL_EOL();
|
||||
if (isnan(probe_G33_points(z_at_pt_base, 3, true, false))) return false;
|
||||
print_G33_results(z_at_pt_base, true, true);
|
||||
|
||||
LOOP_XYZ(axis) {
|
||||
delta_endstop_adj[axis] -= 1.0;
|
||||
recalc_delta_settings();
|
||||
|
||||
endstops.enable(true);
|
||||
if (!home_delta()) return false;
|
||||
endstops.not_homing();
|
||||
|
||||
SERIAL_PROTOCOLPGM("Tuning E");
|
||||
SERIAL_CHAR(tolower(axis_codes[axis]));
|
||||
SERIAL_EOL();
|
||||
|
||||
if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
|
||||
LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
|
||||
print_G33_results(z_at_pt, true, true);
|
||||
delta_endstop_adj[axis] += 1.0;
|
||||
recalc_delta_settings();
|
||||
switch (axis) {
|
||||
case A_AXIS :
|
||||
h_fac += 4.0 / (Z03(CEN) +Z01(__A) +Z32(_CA) +Z32(_AB)); // Offset by X-tower end-stop
|
||||
break;
|
||||
case B_AXIS :
|
||||
h_fac += 4.0 / (Z03(CEN) +Z01(__B) +Z32(_BC) +Z32(_AB)); // Offset by Y-tower end-stop
|
||||
break;
|
||||
case C_AXIS :
|
||||
h_fac += 4.0 / (Z03(CEN) +Z01(__C) +Z32(_BC) +Z32(_CA) ); // Offset by Z-tower end-stop
|
||||
break;
|
||||
}
|
||||
}
|
||||
h_fac /= 3.0;
|
||||
h_fac *= norm; // Normalize to 1.02 for Kossel mini
|
||||
|
||||
for (int8_t zig_zag = -1; zig_zag < 2; zig_zag += 2) {
|
||||
delta_radius += 1.0 * zig_zag;
|
||||
recalc_delta_settings();
|
||||
|
||||
endstops.enable(true);
|
||||
if (!home_delta()) return false;
|
||||
endstops.not_homing();
|
||||
|
||||
SERIAL_PROTOCOLPGM("Tuning R");
|
||||
SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
|
||||
SERIAL_EOL();
|
||||
if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
|
||||
LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
|
||||
print_G33_results(z_at_pt, true, true);
|
||||
delta_radius -= 1.0 * zig_zag;
|
||||
recalc_delta_settings();
|
||||
r_fac -= zig_zag * 6.0 / (Z03(__A) +Z03(__B) +Z03(__C) +Z03(_BC) +Z03(_CA) +Z03(_AB)); // Offset by delta radius
|
||||
}
|
||||
r_fac /= 2.0;
|
||||
r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini
|
||||
|
||||
LOOP_XYZ(axis) {
|
||||
delta_tower_angle_trim[axis] += 1.0;
|
||||
delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
|
||||
delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
|
||||
z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
|
||||
delta_height -= z_temp;
|
||||
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
|
||||
recalc_delta_settings();
|
||||
|
||||
endstops.enable(true);
|
||||
if (!home_delta()) return false;
|
||||
endstops.not_homing();
|
||||
|
||||
SERIAL_PROTOCOLPGM("Tuning T");
|
||||
SERIAL_CHAR(tolower(axis_codes[axis]));
|
||||
SERIAL_EOL();
|
||||
|
||||
if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
|
||||
LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
|
||||
print_G33_results(z_at_pt, true, true);
|
||||
|
||||
delta_tower_angle_trim[axis] -= 1.0;
|
||||
delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
|
||||
delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
|
||||
z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
|
||||
delta_height -= z_temp;
|
||||
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
|
||||
recalc_delta_settings();
|
||||
switch (axis) {
|
||||
case A_AXIS :
|
||||
a_fac += 4.0 / ( Z06(__B) -Z06(__C) +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
|
||||
break;
|
||||
case B_AXIS :
|
||||
a_fac += 4.0 / (-Z06(__A) +Z06(__C) -Z06(_BC) +Z06(_AB)); // Offset by beta tower angle
|
||||
break;
|
||||
case C_AXIS :
|
||||
a_fac += 4.0 / (Z06(__A) -Z06(__B) +Z06(_BC) -Z06(_CA) ); // Offset by gamma tower angle
|
||||
break;
|
||||
}
|
||||
}
|
||||
a_fac /= 3.0;
|
||||
a_fac *= norm; // Normalize to 0.83 for Kossel mini
|
||||
|
||||
endstops.enable(true);
|
||||
if (!home_delta()) return false;
|
||||
endstops.not_homing();
|
||||
print_signed_float(PSTR( "H_FACTOR: "), h_fac);
|
||||
print_signed_float(PSTR(" R_FACTOR: "), r_fac);
|
||||
print_signed_float(PSTR(" A_FACTOR: "), a_fac);
|
||||
SERIAL_EOL();
|
||||
SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
|
||||
SERIAL_EOL();
|
||||
return true;
|
||||
LOOP_CAL_ALL(rad) {
|
||||
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
|
||||
r = (rad == CEN ? 0.0 : delta_calibration_radius);
|
||||
pos[X_AXIS] = cos(a) * r;
|
||||
pos[Y_AXIS] = sin(a) * r;
|
||||
pos[Z_AXIS] = z_pt[rad];
|
||||
inverse_kinematics(pos);
|
||||
LOOP_XYZ(axis) mm_at_pt_axis[rad][axis] = delta[axis];
|
||||
}
|
||||
}
|
||||
|
||||
#endif // HAS_BED_PROBE
|
||||
static void forward_kinematics_probe_points(float mm_at_pt_axis[NPP + 1][ABC], float z_pt[NPP + 1]) {
|
||||
const float r_quot = delta_calibration_radius / delta_radius;
|
||||
|
||||
#define ZPP(N,I,A) ((1 / 3.0 + r_quot * (N) / 3.0 ) * mm_at_pt_axis[I][A])
|
||||
#define Z00(I, A) ZPP( 0, I, A)
|
||||
#define Zp1(I, A) ZPP(+1, I, A)
|
||||
#define Zm1(I, A) ZPP(-1, I, A)
|
||||
#define Zp2(I, A) ZPP(+2, I, A)
|
||||
#define Zm2(I, A) ZPP(-2, I, A)
|
||||
|
||||
z_pt[CEN] = Z00(CEN, A_AXIS) + Z00(CEN, B_AXIS) + Z00(CEN, C_AXIS);
|
||||
z_pt[__A] = Zp2(__A, A_AXIS) + Zm1(__A, B_AXIS) + Zm1(__A, C_AXIS);
|
||||
z_pt[__B] = Zm1(__B, A_AXIS) + Zp2(__B, B_AXIS) + Zm1(__B, C_AXIS);
|
||||
z_pt[__C] = Zm1(__C, A_AXIS) + Zm1(__C, B_AXIS) + Zp2(__C, C_AXIS);
|
||||
z_pt[_BC] = Zm2(_BC, A_AXIS) + Zp1(_BC, B_AXIS) + Zp1(_BC, C_AXIS);
|
||||
z_pt[_CA] = Zp1(_CA, A_AXIS) + Zm2(_CA, B_AXIS) + Zp1(_CA, C_AXIS);
|
||||
z_pt[_AB] = Zp1(_AB, A_AXIS) + Zp1(_AB, B_AXIS) + Zm2(_AB, C_AXIS);
|
||||
}
|
||||
|
||||
static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], float delta_e[ABC], float delta_r, float delta_t[ABC]) {
|
||||
const float z_center = z_pt[CEN];
|
||||
float diff_mm_at_pt_axis[NPP + 1][ABC],
|
||||
new_mm_at_pt_axis[NPP + 1][ABC];
|
||||
|
||||
reverse_kinematics_probe_points(z_pt, diff_mm_at_pt_axis);
|
||||
|
||||
delta_radius += delta_r;
|
||||
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += delta_t[axis];
|
||||
recalc_delta_settings();
|
||||
reverse_kinematics_probe_points(z_pt, new_mm_at_pt_axis);
|
||||
|
||||
LOOP_XYZ(axis) LOOP_CAL_ALL(rad) diff_mm_at_pt_axis[rad][axis] -= new_mm_at_pt_axis[rad][axis] + delta_e[axis];
|
||||
forward_kinematics_probe_points(diff_mm_at_pt_axis, z_pt);
|
||||
|
||||
LOOP_CAL_RAD(rad) z_pt[rad] -= z_pt[CEN] - z_center;
|
||||
z_pt[CEN] = z_center;
|
||||
|
||||
delta_radius -= delta_r;
|
||||
LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= delta_t[axis];
|
||||
recalc_delta_settings();
|
||||
}
|
||||
|
||||
static float auto_tune_h() {
|
||||
const float r_quot = delta_calibration_radius / delta_radius;
|
||||
float h_fac = 0.0;
|
||||
|
||||
h_fac = r_quot / (2.0 / 3.0);
|
||||
h_fac = 1.0 / h_fac; // (2/3)/CR
|
||||
return h_fac;
|
||||
}
|
||||
|
||||
static float auto_tune_r() {
|
||||
const float diff = 0.01;
|
||||
float r_fac = 0.0,
|
||||
z_pt[NPP + 1] = { 0.0 },
|
||||
delta_e[ABC] = {0.0},
|
||||
delta_r = {0.0},
|
||||
delta_t[ABC] = {0.0};
|
||||
|
||||
delta_r = diff;
|
||||
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
|
||||
r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0;
|
||||
r_fac = diff / r_fac / 3.0; // 1/(3*delta_Z)
|
||||
return r_fac;
|
||||
}
|
||||
|
||||
static float auto_tune_a() {
|
||||
const float diff = 0.01;
|
||||
float a_fac = 0.0,
|
||||
z_pt[NPP + 1] = { 0.0 },
|
||||
delta_e[ABC] = {0.0},
|
||||
delta_r = {0.0},
|
||||
delta_t[ABC] = {0.0};
|
||||
|
||||
LOOP_XYZ(axis) {
|
||||
LOOP_XYZ(axis_2) delta_t[axis_2] = 0.0;
|
||||
delta_t[axis] = diff;
|
||||
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
|
||||
a_fac += z_pt[uint8_t((axis * _4P_STEP) - _7P_STEP + NPP) % NPP + 1] / 6.0;
|
||||
a_fac -= z_pt[uint8_t((axis * _4P_STEP) + 1 + _7P_STEP)] / 6.0;
|
||||
}
|
||||
a_fac = diff / a_fac / 3.0; // 1/(3*delta_Z)
|
||||
return a_fac;
|
||||
}
|
||||
|
||||
/**
|
||||
* G33 - Delta '1-4-7-point' Auto-Calibration
|
||||
* Calibrate height, endstops, delta radius, and tower angles.
|
||||
* Calibrate height, z_offset, endstops, delta radius, and tower angles.
|
||||
*
|
||||
* Parameters:
|
||||
*
|
||||
* S Setup mode; disables probe protection
|
||||
*
|
||||
* Pn Number of probe points:
|
||||
* P0 No probe. Normalize only.
|
||||
* P1 Probe center and set height only.
|
||||
* P2 Probe center and towers. Set height, endstops and delta radius.
|
||||
* P3 Probe all positions: center, towers and opposite towers. Set all.
|
||||
* P4-P10 Probe all positions + at different intermediate locations and average them.
|
||||
* P-1 Checks the z_offset with a center probe and paper test.
|
||||
* P0 Normalizes calibration.
|
||||
* P1 Calibrates height only with center probe.
|
||||
* P2 Probe center and towers. Calibrate height, endstops and delta radius.
|
||||
* P3 Probe all positions: center, towers and opposite towers. Calibrate all.
|
||||
* P4-P10 Probe all positions at different intermediate locations and average them.
|
||||
*
|
||||
* T Don't calibrate tower angle corrections
|
||||
*
|
||||
|
|
@ -378,8 +421,6 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
|
|||
*
|
||||
* Fn Force to run at least n iterations and take the best result
|
||||
*
|
||||
* A Auto-tune calibration factors (set in Configuration.h)
|
||||
*
|
||||
* Vn Verbose level:
|
||||
* V0 Dry-run mode. Report settings and probe results. No calibration.
|
||||
* V1 Report start and end settings only
|
||||
|
|
@ -390,19 +431,22 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
|
|||
*/
|
||||
void GcodeSuite::G33() {
|
||||
|
||||
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
|
||||
if (!WITHIN(probe_points, 0, 10)) {
|
||||
SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-10).");
|
||||
const bool set_up =
|
||||
#if HAS_BED_PROBE
|
||||
parser.seen('S');
|
||||
#else
|
||||
false;
|
||||
#endif
|
||||
|
||||
const int8_t probe_points = set_up ? 2 : parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
|
||||
if (!WITHIN(probe_points, -1, 10)) {
|
||||
SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (-1 - 10).");
|
||||
return;
|
||||
}
|
||||
|
||||
const int8_t verbose_level = parser.byteval('V', 1);
|
||||
if (!WITHIN(verbose_level, 0, 3)) {
|
||||
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-3).");
|
||||
return;
|
||||
}
|
||||
const bool towers_set = !parser.seen('T');
|
||||
|
||||
const float calibration_precision = parser.floatval('C', 0.0);
|
||||
const float calibration_precision = set_up ? Z_CLEARANCE_BETWEEN_PROBES / 5.0 : parser.floatval('C', 0.0);
|
||||
if (calibration_precision < 0) {
|
||||
SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
|
||||
return;
|
||||
|
|
@ -410,36 +454,52 @@ void GcodeSuite::G33() {
|
|||
|
||||
const int8_t force_iterations = parser.intval('F', 0);
|
||||
if (!WITHIN(force_iterations, 0, 30)) {
|
||||
SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
|
||||
SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0 - 30).");
|
||||
return;
|
||||
}
|
||||
|
||||
const bool towers_set = !parser.boolval('T'),
|
||||
auto_tune = parser.boolval('A'),
|
||||
stow_after_each = parser.boolval('E'),
|
||||
_0p_calibration = probe_points == 0,
|
||||
_1p_calibration = probe_points == 1,
|
||||
const int8_t verbose_level = parser.byteval('V', 1);
|
||||
if (!WITHIN(verbose_level, 0, 3)) {
|
||||
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0 - 3).");
|
||||
return;
|
||||
}
|
||||
|
||||
const bool stow_after_each = parser.seen('E');
|
||||
|
||||
if (set_up) {
|
||||
delta_height = 999.99;
|
||||
delta_radius = DELTA_PRINTABLE_RADIUS;
|
||||
ZERO(delta_endstop_adj);
|
||||
ZERO(delta_tower_angle_trim);
|
||||
recalc_delta_settings();
|
||||
}
|
||||
|
||||
const bool _0p_calibration = probe_points == 0,
|
||||
_1p_calibration = probe_points == 1 || probe_points == -1,
|
||||
_4p_calibration = probe_points == 2,
|
||||
_7p_9_centre = probe_points >= 8,
|
||||
_tower_results = (_4p_calibration && towers_set)
|
||||
|| probe_points >= 3 || probe_points == 0,
|
||||
_opposite_results = (_4p_calibration && !towers_set)
|
||||
|| probe_points >= 3 || probe_points == 0,
|
||||
_endstop_results = probe_points != 1,
|
||||
_angle_results = (probe_points >= 3 || probe_points == 0) && towers_set;
|
||||
_4p_opposite_points = _4p_calibration && !towers_set,
|
||||
_7p_9_center = probe_points >= 8,
|
||||
_tower_results = (_4p_calibration && towers_set) || probe_points >= 3,
|
||||
_opposite_results = (_4p_calibration && !towers_set) || probe_points >= 3,
|
||||
_endstop_results = probe_points != 1 && probe_points != -1 && probe_points != 0,
|
||||
_angle_results = probe_points >= 3 && towers_set;
|
||||
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
|
||||
int8_t iterations = 0;
|
||||
float test_precision,
|
||||
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
|
||||
zero_std_dev_min = zero_std_dev,
|
||||
zero_std_dev_old = zero_std_dev,
|
||||
h_factor,
|
||||
r_factor,
|
||||
a_factor,
|
||||
e_old[ABC] = {
|
||||
delta_endstop_adj[A_AXIS],
|
||||
delta_endstop_adj[B_AXIS],
|
||||
delta_endstop_adj[C_AXIS]
|
||||
},
|
||||
dr_old = delta_radius,
|
||||
zh_old = delta_height,
|
||||
ta_old[ABC] = {
|
||||
r_old = delta_radius,
|
||||
h_old = delta_height,
|
||||
a_old[ABC] = {
|
||||
delta_tower_angle_trim[A_AXIS],
|
||||
delta_tower_angle_trim[B_AXIS],
|
||||
delta_tower_angle_trim[C_AXIS]
|
||||
|
|
@ -447,10 +507,10 @@ void GcodeSuite::G33() {
|
|||
|
||||
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
|
||||
|
||||
if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
|
||||
if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
|
||||
LOOP_CAL_RAD(axis) {
|
||||
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
|
||||
r = delta_calibration_radius * (1 + (_7p_9_centre ? 0.1 : 0.0));
|
||||
r = delta_calibration_radius;
|
||||
if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
|
||||
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
|
||||
return;
|
||||
|
|
@ -458,159 +518,137 @@ void GcodeSuite::G33() {
|
|||
}
|
||||
}
|
||||
|
||||
stepper.synchronize();
|
||||
#if HAS_LEVELING
|
||||
reset_bed_level(); // After calibration bed-level data is no longer valid
|
||||
#endif
|
||||
|
||||
#if HOTENDS > 1
|
||||
const uint8_t old_tool_index = active_extruder;
|
||||
tool_change(0, 0, true);
|
||||
#define G33_CLEANUP() G33_cleanup(old_tool_index)
|
||||
#else
|
||||
#define G33_CLEANUP() G33_cleanup()
|
||||
#endif
|
||||
|
||||
setup_for_endstop_or_probe_move();
|
||||
endstops.enable(true);
|
||||
if (!_0p_calibration) {
|
||||
if (!home_delta())
|
||||
return;
|
||||
endstops.not_homing();
|
||||
}
|
||||
|
||||
if (auto_tune) {
|
||||
#if HAS_BED_PROBE
|
||||
G33_auto_tune();
|
||||
#else
|
||||
SERIAL_PROTOCOLLNPGM("A probe is needed for auto-tune");
|
||||
#endif
|
||||
G33_CLEANUP();
|
||||
return;
|
||||
}
|
||||
|
||||
// Report settings
|
||||
|
||||
PGM_P checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
|
||||
const char *checkingac = PSTR("Checking... AC");
|
||||
serialprintPGM(checkingac);
|
||||
if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
|
||||
if (set_up) SERIAL_PROTOCOLPGM(" (SET-UP)");
|
||||
SERIAL_EOL();
|
||||
lcd_setstatusPGM(checkingac);
|
||||
char mess[11];
|
||||
strcpy_P(mess, checkingac);
|
||||
lcd_setstatus(mess);
|
||||
|
||||
print_G33_settings(_endstop_results, _angle_results);
|
||||
print_calibration_settings(_endstop_results, _angle_results);
|
||||
|
||||
do {
|
||||
ac_setup(!_0p_calibration && !_1p_calibration);
|
||||
|
||||
if (!_0p_calibration)
|
||||
if (!ac_home()) return;
|
||||
|
||||
do { // start iterations
|
||||
|
||||
float z_at_pt[NPP + 1] = { 0.0 };
|
||||
|
||||
test_precision = zero_std_dev;
|
||||
|
||||
test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
|
||||
iterations++;
|
||||
|
||||
// Probe the points
|
||||
|
||||
zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
|
||||
if (isnan(zero_std_dev)) {
|
||||
SERIAL_PROTOCOLPGM("Correct delta_radius with M665 R or end-stops with M666 X Y Z");
|
||||
SERIAL_EOL();
|
||||
return G33_CLEANUP();
|
||||
zero_std_dev_old = zero_std_dev;
|
||||
if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each, set_up)) {
|
||||
SERIAL_PROTOCOLLNPGM("Correct delta settings with M665 and M666");
|
||||
return AC_CLEANUP();
|
||||
}
|
||||
zero_std_dev = std_dev_points(z_at_pt, _0p_calibration, _1p_calibration, _4p_calibration, _4p_opposite_points);
|
||||
|
||||
// Solve matrices
|
||||
|
||||
if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
|
||||
if (zero_std_dev < zero_std_dev_min) {
|
||||
COPY(e_old, delta_endstop_adj);
|
||||
dr_old = delta_radius;
|
||||
zh_old = delta_height;
|
||||
COPY(ta_old, delta_tower_angle_trim);
|
||||
}
|
||||
|
||||
float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
|
||||
const float r_diff = delta_radius - delta_calibration_radius,
|
||||
h_factor = 1 / 6.0 *
|
||||
#ifdef H_FACTOR
|
||||
(H_FACTOR), // Set in Configuration.h
|
||||
#else
|
||||
(1.00 + r_diff * 0.001), // 1.02 for r_diff = 20mm
|
||||
#endif
|
||||
r_factor = 1 / 6.0 *
|
||||
#ifdef R_FACTOR
|
||||
-(R_FACTOR), // Set in Configuration.h
|
||||
#else
|
||||
-(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), // 2.25 for r_diff = 20mm
|
||||
#endif
|
||||
a_factor = 1 / 6.0 *
|
||||
#ifdef A_FACTOR
|
||||
(A_FACTOR); // Set in Configuration.h
|
||||
#else
|
||||
(66.66 / delta_calibration_radius); // 0.83 for cal_rd = 80mm
|
||||
#endif
|
||||
|
||||
#define ZP(N,I) ((N) * z_at_pt[I])
|
||||
#define Z6(I) ZP(6, I)
|
||||
#define Z4(I) ZP(4, I)
|
||||
#define Z2(I) ZP(2, I)
|
||||
#define Z1(I) ZP(1, I)
|
||||
|
||||
#if !HAS_BED_PROBE
|
||||
test_precision = 0.00; // forced end
|
||||
#endif
|
||||
|
||||
if (zero_std_dev < zero_std_dev_min) {
|
||||
// set roll-back point
|
||||
COPY(e_old, delta_endstop_adj);
|
||||
r_old = delta_radius;
|
||||
h_old = delta_height;
|
||||
COPY(a_old, delta_tower_angle_trim);
|
||||
}
|
||||
|
||||
float e_delta[ABC] = { 0.0 },
|
||||
r_delta = 0.0,
|
||||
t_delta[ABC] = { 0.0 };
|
||||
|
||||
/**
|
||||
* convergence matrices:
|
||||
* see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
|
||||
* - definition of the matrix scaling parameters
|
||||
* - matrices for 4 and 7 point calibration
|
||||
*/
|
||||
#define ZP(N,I) ((N) * z_at_pt[I] / 4.0) // 4.0 = divider to normalize to integers
|
||||
#define Z12(I) ZP(12, I)
|
||||
#define Z4(I) ZP(4, I)
|
||||
#define Z2(I) ZP(2, I)
|
||||
#define Z1(I) ZP(1, I)
|
||||
#define Z0(I) ZP(0, I)
|
||||
|
||||
// calculate factors
|
||||
const float cr_old = delta_calibration_radius;
|
||||
if (_7p_9_center) delta_calibration_radius *= 0.9;
|
||||
h_factor = auto_tune_h();
|
||||
r_factor = auto_tune_r();
|
||||
a_factor = auto_tune_a();
|
||||
delta_calibration_radius = cr_old;
|
||||
|
||||
switch (probe_points) {
|
||||
case -1:
|
||||
#if HAS_BED_PROBE
|
||||
zprobe_zoffset += probe_z_shift(z_at_pt[CEN]);
|
||||
#endif
|
||||
|
||||
case 0:
|
||||
test_precision = 0.00; // forced end
|
||||
break;
|
||||
|
||||
case 1:
|
||||
test_precision = 0.00; // forced end
|
||||
LOOP_XYZ(axis) e_delta[axis] = Z1(CEN);
|
||||
LOOP_XYZ(axis) e_delta[axis] = +Z4(CEN);
|
||||
break;
|
||||
|
||||
case 2:
|
||||
if (towers_set) {
|
||||
e_delta[A_AXIS] = (Z6(CEN) +Z4(__A) -Z2(__B) -Z2(__C)) * h_factor;
|
||||
e_delta[B_AXIS] = (Z6(CEN) -Z2(__A) +Z4(__B) -Z2(__C)) * h_factor;
|
||||
e_delta[C_AXIS] = (Z6(CEN) -Z2(__A) -Z2(__B) +Z4(__C)) * h_factor;
|
||||
r_delta = (Z6(CEN) -Z2(__A) -Z2(__B) -Z2(__C)) * r_factor;
|
||||
if (towers_set) { // see 4 point calibration (towers) matrix
|
||||
e_delta[A_AXIS] = (+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor +Z4(CEN);
|
||||
e_delta[B_AXIS] = (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN);
|
||||
e_delta[C_AXIS] = (-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor +Z4(CEN);
|
||||
r_delta = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
|
||||
}
|
||||
else {
|
||||
e_delta[A_AXIS] = (Z6(CEN) -Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor;
|
||||
e_delta[B_AXIS] = (Z6(CEN) +Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor;
|
||||
e_delta[C_AXIS] = (Z6(CEN) +Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor;
|
||||
r_delta = (Z6(CEN) -Z2(_BC) -Z2(_CA) -Z2(_AB)) * r_factor;
|
||||
else { // see 4 point calibration (opposites) matrix
|
||||
e_delta[A_AXIS] = (-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
|
||||
e_delta[B_AXIS] = (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
|
||||
e_delta[C_AXIS] = (+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor +Z4(CEN);
|
||||
r_delta = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
e_delta[A_AXIS] = (Z6(CEN) +Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor;
|
||||
e_delta[B_AXIS] = (Z6(CEN) -Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor;
|
||||
e_delta[C_AXIS] = (Z6(CEN) -Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor;
|
||||
r_delta = (Z6(CEN) -Z1(__A) -Z1(__B) -Z1(__C) -Z1(_BC) -Z1(_CA) -Z1(_AB)) * r_factor;
|
||||
default: // see 7 point calibration (towers & opposites) matrix
|
||||
e_delta[A_AXIS] = (+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
|
||||
e_delta[B_AXIS] = (-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
|
||||
e_delta[C_AXIS] = (-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor +Z4(CEN);
|
||||
r_delta = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor;
|
||||
|
||||
if (towers_set) {
|
||||
t_delta[A_AXIS] = ( -Z4(__B) +Z4(__C) -Z4(_CA) +Z4(_AB)) * a_factor;
|
||||
t_delta[B_AXIS] = ( Z4(__A) -Z4(__C) +Z4(_BC) -Z4(_AB)) * a_factor;
|
||||
t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) -Z4(_BC) +Z4(_CA) ) * a_factor;
|
||||
e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
|
||||
e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
|
||||
e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
|
||||
if (towers_set) { // see 7 point tower angle calibration (towers & opposites) matrix
|
||||
t_delta[A_AXIS] = (+Z0(__A) -Z4(__B) +Z4(__C) +Z0(_BC) -Z4(_CA) +Z4(_AB) +Z0(CEN)) * a_factor;
|
||||
t_delta[B_AXIS] = (+Z4(__A) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor;
|
||||
t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
|
||||
delta_radius += r_delta;
|
||||
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
|
||||
}
|
||||
else if (zero_std_dev >= test_precision) { // step one back
|
||||
else if (zero_std_dev >= test_precision) {
|
||||
// roll back
|
||||
COPY(delta_endstop_adj, e_old);
|
||||
delta_radius = dr_old;
|
||||
delta_height = zh_old;
|
||||
COPY(delta_tower_angle_trim, ta_old);
|
||||
delta_radius = r_old;
|
||||
delta_height = h_old;
|
||||
COPY(delta_tower_angle_trim, a_old);
|
||||
}
|
||||
|
||||
if (verbose_level != 0) { // !dry run
|
||||
|
||||
// normalise angles to least squares
|
||||
if (_angle_results) {
|
||||
float a_sum = 0.0;
|
||||
|
|
@ -628,15 +666,15 @@ void GcodeSuite::G33() {
|
|||
|
||||
// print report
|
||||
|
||||
if (verbose_level > 2)
|
||||
print_G33_results(z_at_pt, _tower_results, _opposite_results);
|
||||
if (verbose_level == 3)
|
||||
print_calibration_results(z_at_pt, _tower_results, _opposite_results);
|
||||
|
||||
if (verbose_level != 0) { // !dry run
|
||||
if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
|
||||
if (verbose_level != 0) { // !dry run
|
||||
if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
|
||||
SERIAL_PROTOCOLPGM("Calibration OK");
|
||||
SERIAL_PROTOCOL_SP(32);
|
||||
#if HAS_BED_PROBE
|
||||
if (zero_std_dev >= test_precision && !_1p_calibration)
|
||||
if (zero_std_dev >= test_precision && !_1p_calibration && !_0p_calibration)
|
||||
SERIAL_PROTOCOLPGM("rolling back.");
|
||||
else
|
||||
#endif
|
||||
|
|
@ -652,11 +690,11 @@ void GcodeSuite::G33() {
|
|||
else
|
||||
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
|
||||
lcd_setstatus(mess);
|
||||
print_G33_settings(_endstop_results, _angle_results);
|
||||
print_calibration_settings(_endstop_results, _angle_results);
|
||||
serialprintPGM(save_message);
|
||||
SERIAL_EOL();
|
||||
}
|
||||
else { // !end iterations
|
||||
else { // !end iterations
|
||||
char mess[15];
|
||||
if (iterations < 31)
|
||||
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
|
||||
|
|
@ -669,11 +707,11 @@ void GcodeSuite::G33() {
|
|||
SERIAL_EOL();
|
||||
lcd_setstatus(mess);
|
||||
if (verbose_level > 1)
|
||||
print_G33_settings(_endstop_results, _angle_results);
|
||||
print_calibration_settings(_endstop_results, _angle_results);
|
||||
}
|
||||
}
|
||||
else { // dry run
|
||||
PGM_P enddryrun = PSTR("End DRY-RUN");
|
||||
else { // dry run
|
||||
const char *enddryrun = PSTR("End DRY-RUN");
|
||||
serialprintPGM(enddryrun);
|
||||
SERIAL_PROTOCOL_SP(35);
|
||||
SERIAL_PROTOCOLPGM("std dev:");
|
||||
|
|
@ -689,16 +727,11 @@ void GcodeSuite::G33() {
|
|||
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
|
||||
lcd_setstatus(mess);
|
||||
}
|
||||
|
||||
endstops.enable(true);
|
||||
if (!home_delta())
|
||||
return;
|
||||
endstops.not_homing();
|
||||
|
||||
if (!ac_home()) return;
|
||||
}
|
||||
while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
|
||||
|
||||
G33_CLEANUP();
|
||||
AC_CLEANUP();
|
||||
}
|
||||
|
||||
#endif // DELTA_AUTO_CALIBRATION
|
||||
|
|
|
|||
|
|
@ -40,7 +40,7 @@
|
|||
* B = delta calibration radius
|
||||
* X = Alpha (Tower 1) angle trim
|
||||
* Y = Beta (Tower 2) angle trim
|
||||
* Z = Rotate A and B by this angle
|
||||
* Z = Gamma (Tower 3) angle trim
|
||||
*/
|
||||
void GcodeSuite::M665() {
|
||||
if (parser.seen('H')) delta_height = parser.value_linear_units();
|
||||
|
|
|
|||
|
|
@ -202,7 +202,7 @@
|
|||
* M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
|
||||
* M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
|
||||
* M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
|
||||
* M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
|
||||
* M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
|
||||
* M666 - Set/get offsets for delta (Requires DELTA) or dual endstops (Requires [XYZ]_DUAL_ENDSTOPS).
|
||||
* M701 - Load filament (requires FILAMENT_LOAD_UNLOAD_GCODES)
|
||||
* M702 - Unload filament (requires FILAMENT_LOAD_UNLOAD_GCODES)
|
||||
|
|
|
|||
|
|
@ -870,6 +870,9 @@
|
|||
#ifndef MSG_DELTA_HEIGHT_CALIBRATE
|
||||
#define MSG_DELTA_HEIGHT_CALIBRATE _UxGT("Set Delta Height")
|
||||
#endif
|
||||
#ifndef MSG_DELTA_Z_OFFSET_CALIBRATE
|
||||
#define MSG_DELTA_Z_OFFSET_CALIBRATE _UxGT("Probe Z-offset")
|
||||
#endif
|
||||
#ifndef MSG_DELTA_DIAG_ROD
|
||||
#define MSG_DELTA_DIAG_ROD _UxGT("Diag Rod")
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -2712,29 +2712,22 @@ void kill_screen(const char* lcd_msg) {
|
|||
|
||||
float move_menu_scale;
|
||||
|
||||
#if ENABLED(DELTA_CALIBRATION_MENU) || (ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE)
|
||||
#if ENABLED(DELTA_CALIBRATION_MENU) || ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
|
||||
void lcd_move_z();
|
||||
|
||||
void _man_probe_pt(const float &rx, const float &ry) {
|
||||
#if HAS_LEVELING
|
||||
reset_bed_level(); // After calibration bed-level data is no longer valid
|
||||
#endif
|
||||
|
||||
line_to_z((Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5);
|
||||
current_position[X_AXIS] = rx;
|
||||
current_position[Y_AXIS] = ry;
|
||||
line_to_current_z();
|
||||
line_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
||||
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
||||
do_blocking_move_to_xy(rx, ry);
|
||||
|
||||
lcd_synchronize();
|
||||
move_menu_scale = PROBE_MANUALLY_STEP;
|
||||
lcd_goto_screen(lcd_move_z);
|
||||
}
|
||||
|
||||
#endif // DELTA_CALIBRATION_MENU || (DELTA_AUTO_CALIBRATION && !HAS_BED_PROBE)
|
||||
#endif // DELTA_CALIBRATION_MENU || DELTA_AUTO_CALIBRATION
|
||||
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
|
||||
float lcd_probe_pt(const float &rx, const float &ry) {
|
||||
_man_probe_pt(rx, ry);
|
||||
|
|
@ -2747,7 +2740,7 @@ void kill_screen(const char* lcd_msg) {
|
|||
return current_position[Z_AXIS];
|
||||
}
|
||||
|
||||
#endif // DELTA_AUTO_CALIBRATION && !HAS_BED_PROBE
|
||||
#endif // DELTA_AUTO_CALIBRATION
|
||||
|
||||
#if ENABLED(DELTA_CALIBRATION_MENU)
|
||||
|
||||
|
|
@ -2759,10 +2752,6 @@ void kill_screen(const char* lcd_msg) {
|
|||
}
|
||||
|
||||
void _lcd_delta_calibrate_home() {
|
||||
#if HAS_LEVELING
|
||||
reset_bed_level(); // After calibration bed-level data is no longer valid
|
||||
#endif
|
||||
|
||||
enqueue_and_echo_commands_P(PSTR("G28"));
|
||||
lcd_goto_screen(_lcd_calibrate_homing);
|
||||
}
|
||||
|
|
@ -2776,18 +2765,25 @@ void kill_screen(const char* lcd_msg) {
|
|||
|
||||
#if ENABLED(DELTA_CALIBRATION_MENU) || ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
|
||||
void _recalc_delta_settings() {
|
||||
#if HAS_LEVELING
|
||||
reset_bed_level(); // After changing kinematics bed-level data is no longer valid
|
||||
#endif
|
||||
recalc_delta_settings();
|
||||
}
|
||||
|
||||
void lcd_delta_settings() {
|
||||
START_MENU();
|
||||
MENU_BACK(MSG_DELTA_CALIBRATE);
|
||||
MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5.0, delta_diagonal_rod + 5.0, recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10.0, delta_height + 10.0, recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Ex", &delta_endstop_adj[A_AXIS], -5.0, 5.0, recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Ey", &delta_endstop_adj[B_AXIS], -5.0, 5.0, recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Ez", &delta_endstop_adj[C_AXIS], -5.0, 5.0, recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5.0, delta_radius + 5.0, recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5.0, 5.0, recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5.0, 5.0, recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Tz", &delta_tower_angle_trim[C_AXIS], -5.0, 5.0, recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10.0, delta_height + 10.0, _recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Ex", &delta_endstop_adj[A_AXIS], -5.0, 5.0, _recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Ey", &delta_endstop_adj[B_AXIS], -5.0, 5.0, _recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Ez", &delta_endstop_adj[C_AXIS], -5.0, 5.0, _recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5.0, delta_radius + 5.0, _recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5.0, 5.0, _recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5.0, 5.0, _recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float43, "Tz", &delta_tower_angle_trim[C_AXIS], -5.0, 5.0, _recalc_delta_settings);
|
||||
MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5.0, delta_diagonal_rod + 5.0, _recalc_delta_settings);
|
||||
END_MENU();
|
||||
}
|
||||
|
||||
|
|
@ -2797,6 +2793,7 @@ void kill_screen(const char* lcd_msg) {
|
|||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
|
||||
MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1"));
|
||||
MENU_ITEM(gcode, MSG_DELTA_Z_OFFSET_CALIBRATE, PSTR("G33 P-1"));
|
||||
#if ENABLED(EEPROM_SETTINGS)
|
||||
MENU_ITEM(function, MSG_STORE_EEPROM, lcd_store_settings);
|
||||
MENU_ITEM(function, MSG_LOAD_EEPROM, lcd_load_settings);
|
||||
|
|
@ -4590,7 +4587,7 @@ void kill_screen(const char* lcd_msg) {
|
|||
#if LCD_HEIGHT > _FC_LINES_G + 1
|
||||
STATIC_ITEM(" ");
|
||||
#endif
|
||||
HOTEND_STATUS_ITEM();
|
||||
HOTEND_STATUS_ITEM();
|
||||
END_SCREEN();
|
||||
}
|
||||
|
||||
|
|
@ -4645,7 +4642,7 @@ void kill_screen(const char* lcd_msg) {
|
|||
case ADVANCED_PAUSE_MESSAGE_OPTION: advanced_pause_menu_response = ADVANCED_PAUSE_RESPONSE_WAIT_FOR;
|
||||
return lcd_advanced_pause_option_menu;
|
||||
#if ENABLED(ADVANCED_PAUSE_CONTINUOUS_PURGE)
|
||||
case ADVANCED_PAUSE_MESSAGE_CONTINUOUS_PURGE: return lcd_advanced_pause_continuous_purge_menu;
|
||||
case ADVANCED_PAUSE_MESSAGE_CONTINUOUS_PURGE: return lcd_advanced_pause_continuous_purge_menu;
|
||||
#endif
|
||||
case ADVANCED_PAUSE_MESSAGE_STATUS:
|
||||
default: break;
|
||||
|
|
|
|||
|
|
@ -148,10 +148,6 @@
|
|||
float lcd_z_offset_edit();
|
||||
#endif
|
||||
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE
|
||||
float lcd_probe_pt(const float &rx, const float &ry);
|
||||
#endif
|
||||
|
||||
#else
|
||||
|
||||
inline void lcd_buttons_update() {}
|
||||
|
|
|
|||
|
|
@ -617,7 +617,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
|
|||
safe_delay(5);
|
||||
//*/
|
||||
#endif
|
||||
|
||||
|
||||
// Get the current position as starting point
|
||||
float raw[XYZE];
|
||||
COPY(raw, current_position);
|
||||
|
|
@ -1349,12 +1349,12 @@ void homeaxis(const AxisEnum axis) {
|
|||
// so here it re-homes each tower in turn.
|
||||
// Delta homing treats the axes as normal linear axes.
|
||||
|
||||
// retrace by the amount specified in delta_endstop_adj + additional 0.1mm in order to have minimum steps
|
||||
// retrace by the amount specified in delta_endstop_adj + additional dist in order to have minimum steps
|
||||
if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
|
||||
#endif
|
||||
do_homing_move(axis, delta_endstop_adj[axis] - 0.1 * Z_HOME_DIR);
|
||||
do_homing_move(axis, delta_endstop_adj[axis] - MIN_STEPS_PER_SEGMENT / planner.axis_steps_per_mm[axis] * Z_HOME_DIR);
|
||||
}
|
||||
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -673,8 +673,9 @@ float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/
|
|||
if (!DEPLOY_PROBE()) {
|
||||
measured_z = run_z_probe() + zprobe_zoffset;
|
||||
|
||||
if (raise_after == PROBE_PT_RAISE)
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
||||
const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
|
||||
if (big_raise || raise_after == PROBE_PT_RAISE)
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
||||
else if (raise_after == PROBE_PT_STOW)
|
||||
if (STOW_PROBE()) measured_z = NAN;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -38,7 +38,8 @@
|
|||
enum ProbePtRaise : unsigned char {
|
||||
PROBE_PT_NONE, // No raise or stow after run_z_probe
|
||||
PROBE_PT_STOW, // Do a complete stow after run_z_probe
|
||||
PROBE_PT_RAISE // Raise to "between" clearance after run_z_probe
|
||||
PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
|
||||
PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
|
||||
};
|
||||
float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
|
||||
#define DEPLOY_PROBE() set_probe_deployed(true)
|
||||
|
|
|
|||
Reference in a new issue