From 6671c064cd83e3e8495c73ec4dbd2406811f36ea Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 11 May 2018 02:15:14 -0500 Subject: [PATCH] Use arc moves for G26 if enabled (#10696) Co-Authored-By: ManuelMcLure --- Marlin/src/gcode/bedlevel/G26.cpp | 192 +++++++++++++++++++++--------- 1 file changed, 137 insertions(+), 55 deletions(-) diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp index 9f3f4c03c..c1de81448 100644 --- a/Marlin/src/gcode/bedlevel/G26.cpp +++ b/Marlin/src/gcode/bedlevel/G26.cpp @@ -56,6 +56,10 @@ #define G26_OK false #define G26_ERR true +#if ENABLED(ARC_SUPPORT) + void plan_arc(const float (&cart)[XYZE], const float (&offset)[2], const uint8_t clockwise); +#endif + /** * G26 Mesh Validation Tool * @@ -219,9 +223,9 @@ mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) { void G26_line_to_destination(const float &feed_rate) { const float save_feedrate = feedrate_mm_s; - feedrate_mm_s = feed_rate; // use specified feed rate + feedrate_mm_s = feed_rate; prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_SEGMENTED - feedrate_mm_s = save_feedrate; // restore global feed rate + feedrate_mm_s = save_feedrate; } void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) { @@ -729,21 +733,25 @@ void GcodeSuite::G26() { //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern.")); - /** - * Pre-generate radius offset values at 30 degree intervals to reduce CPU load. - */ - #define A_INT 30 - #define _ANGS (360 / A_INT) - #define A_CNT (_ANGS / 2) - #define _IND(A) ((A + _ANGS * 8) % _ANGS) - #define _COS(A) (trig_table[_IND(A) % A_CNT] * (_IND(A) >= A_CNT ? -1 : 1)) - #define _SIN(A) (-_COS((A + A_CNT / 2) % _ANGS)) - #if A_CNT & 1 - #error "A_CNT must be a positive value. Please change A_INT." - #endif - float trig_table[A_CNT]; - for (uint8_t i = 0; i < A_CNT; i++) - trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * A_INT)); + #if DISABLED(ARC_SUPPORT) + + /** + * Pre-generate radius offset values at 30 degree intervals to reduce CPU load. + */ + #define A_INT 30 + #define _ANGS (360 / A_INT) + #define A_CNT (_ANGS / 2) + #define _IND(A) ((A + _ANGS * 8) % _ANGS) + #define _COS(A) (trig_table[_IND(A) % A_CNT] * (_IND(A) >= A_CNT ? -1 : 1)) + #define _SIN(A) (-_COS((A + A_CNT / 2) % _ANGS)) + #if A_CNT & 1 + #error "A_CNT must be a positive value. Please change A_INT." + #endif + float trig_table[A_CNT]; + for (uint8_t i = 0; i < A_CNT; i++) + trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * A_INT)); + + #endif // !ARC_SUPPORT mesh_index_pair location; do { @@ -761,54 +769,128 @@ void GcodeSuite::G26() { // Determine where to start and end the circle, // which is always drawn counter-clockwise. const uint8_t xi = location.x_index, yi = location.y_index; - const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1; - int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00) - if (xi == 0) { // Left edge? Just right half. - start_ind = f ? 0 : -3; // 03:00 to 12:00 for front-left - end_ind = b ? 0 : 2; // 06:00 to 03:00 for back-left - } - else if (r) { // Right edge? Just left half. - start_ind = b ? 6 : 3; // 12:00 to 09:00 for front-right - end_ind = f ? 5 : 8; // 09:00 to 06:00 for back-right - } - else if (f) { // Front edge? Just back half. - start_ind = 0; // 03:00 - end_ind = 5; // 09:00 - } - else if (b) { // Back edge? Just front half. - start_ind = 6; // 09:00 - end_ind = 11; // 03:00 - } + const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1; - for (int8_t ind = start_ind; ind <= end_ind; ind++) { + #if ENABLED(ARC_SUPPORT) + #define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * PI * (quarters) / 2) + float sx = circle_x + INTERSECTION_CIRCLE_RADIUS, // default to full circle + ex = circle_x + INTERSECTION_CIRCLE_RADIUS, + sy = circle_y, ey = circle_y, + arc_length = ARC_LENGTH(4); + + // Figure out where to start and end the arc - we always print counterclockwise + if (xi == 0) { // left edge + sx = f ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x; + ex = b ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x; + sy = f ? circle_y : circle_y - INTERSECTION_CIRCLE_RADIUS; + ey = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS; + arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2); + } + else if (r) { // right edge + sx = b ? circle_x - INTERSECTION_CIRCLE_RADIUS : circle_x; + ex = f ? circle_x - INTERSECTION_CIRCLE_RADIUS : circle_x; + sy = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS; + ey = f ? circle_y : circle_y - INTERSECTION_CIRCLE_RADIUS; + arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2); + } + else if (f) { + sx = circle_x + INTERSECTION_CIRCLE_RADIUS; + ex = circle_x - INTERSECTION_CIRCLE_RADIUS; + sy = ey = circle_y; + arc_length = ARC_LENGTH(2); + } + else if (b) { + sx = circle_x - INTERSECTION_CIRCLE_RADIUS; + ex = circle_x + INTERSECTION_CIRCLE_RADIUS; + sy = ey = circle_y; + arc_length = ARC_LENGTH(2); + } + const float arc_offset[2] = { + circle_x - sx, + circle_y - sy + }; + + const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual circle + dy_s = current_position[Y_AXIS] - sy, + dist_start = HYPOT2(dx_s, dy_s); + const float endpoint[XYZE] = { + ex, ey, + g26_layer_height, + current_position[E_AXIS] + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier) + }; + + if (dist_start > 2.0) { + retract_filament(destination); + //todo: parameterize the bump height with a define + move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping + move_to(sx, sy, g26_layer_height + 0.500, 0.0); // Get to the starting point with no extrusion while bumped + } + + move_to(sx, sy, g26_layer_height, 0.0); // Get to the starting point with no extrusion / un-Z bump + + recover_filament(destination); + const float save_feedrate = feedrate_mm_s; + feedrate_mm_s = PLANNER_XY_FEEDRATE() / 10.0; + plan_arc(endpoint, arc_offset, false); // Draw a counter-clockwise arc + feedrate_mm_s = save_feedrate; + set_destination_from_current(); #if ENABLED(NEWPANEL) - if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation + if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation #endif - float rx = circle_x + _COS(ind), // For speed, these are now a lookup table entry - ry = circle_y + _SIN(ind), - xe = circle_x + _COS(ind + 1), - ye = circle_y + _SIN(ind + 1); + #else // !ARC_SUPPORT - #if IS_KINEMATIC - // Check to make sure this segment is entirely on the bed, skip if not. - if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue; - #else // not, we need to skip - rx = constrain(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops - ry = constrain(ry, Y_MIN_POS + 1, Y_MAX_POS - 1); - xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1); - ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1); - #endif + int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00) + if (xi == 0) { // Left edge? Just right half. + start_ind = f ? 0 : -3; // 03:00 to 12:00 for front-left + end_ind = b ? 0 : 2; // 06:00 to 03:00 for back-left + } + else if (r) { // Right edge? Just left half. + start_ind = b ? 6 : 3; // 12:00 to 09:00 for front-right + end_ind = f ? 5 : 8; // 09:00 to 06:00 for back-right + } + else if (f) { // Front edge? Just back half. + start_ind = 0; // 03:00 + end_ind = 5; // 09:00 + } + else if (b) { // Back edge? Just front half. + start_ind = 6; // 09:00 + end_ind = 11; // 03:00 + } + for (int8_t ind = start_ind; ind <= end_ind; ind++) { - print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height); - SERIAL_FLUSH(); // Prevent host M105 buffer overrun. - } - if (look_for_lines_to_connect()) - goto LEAVE; + #if ENABLED(NEWPANEL) + if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation + #endif + + float rx = circle_x + _COS(ind), // For speed, these are now a lookup table entry + ry = circle_y + _SIN(ind), + xe = circle_x + _COS(ind + 1), + ye = circle_y + _SIN(ind + 1); + + #if IS_KINEMATIC + // Check to make sure this segment is entirely on the bed, skip if not. + if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue; + #else // not, we need to skip + rx = constrain(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops + ry = constrain(ry, Y_MIN_POS + 1, Y_MAX_POS - 1); + xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1); + ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1); + #endif + + print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height); + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + } + + #endif // !ARC_SUPPORT + + if (look_for_lines_to_connect()) goto LEAVE; } + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + } while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0); LEAVE: