SunRed/Marlin-Artillery-M600
Archived
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

Merge pull request #6410 from teemuatlut/LVD-Delta

Browse source 
Delta auto-calibration updates
This commit is contained in:
Scott Lahteine 2017-04-30 16:39:51 -05:00 committed by GitHub
parent 5d5c9a040a cafc48dff8
commit 671a44b8aa
19 changed files with 402 additions and 513 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

43
Marlin/Conditionals_post.h
View file

@ -693,43 +693,20 @@
* Delta radius/rod trimmers/angle trimmers * Delta radius/rod trimmers/angle trimmers
*/ */
#if ENABLED(DELTA) #if ENABLED(DELTA)
#ifndef DELTA_CALIBRATION_RADIUS
#define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - 10
#endif
#ifndef DELTA_ENDSTOP_ADJ #ifndef DELTA_ENDSTOP_ADJ
#define DELTA_ENDSTOP_ADJ { 0 } #define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
#endif #endif
#ifndef DELTA_RADIUS_TRIM_TOWER_1 #ifndef DELTA_TOWER_ANGLE_TRIM
#define DELTA_RADIUS_TRIM_TOWER_1 0.0 #define DELTA_TOWER_ANGLE_TRIM {0, 0, 0}
#endif #endif
#ifndef DELTA_RADIUS_TRIM_TOWER_2 #ifndef DELTA_RADIUS_TRIM_TOWER
#define DELTA_RADIUS_TRIM_TOWER_2 0.0 #define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
#endif #endif
#ifndef DELTA_RADIUS_TRIM_TOWER_3 #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER
#define DELTA_RADIUS_TRIM_TOWER_3 0.0 #define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#endif
#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_1
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
#endif
#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_2
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
#endif
#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
#endif
#ifndef DELTA_TOWER_ANGLE_TRIM_1
#define DELTA_TOWER_ANGLE_TRIM_1 0.0
#endif
#ifndef DELTA_TOWER_ANGLE_TRIM_2
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
#endif
#ifndef DELTA_TOWER_ANGLE_TRIM_3
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION)
#ifndef H_FACTOR
#define H_FACTOR 1.00
#endif
#ifndef R_FACTOR
#define R_FACTOR -2.25
#endif
#endif #endif
#endif #endif

4
Marlin/Marlin.h
View file

@ -302,9 +302,9 @@ float code_value_temp_diff();
extern float endstop_adj[ABC], extern float endstop_adj[ABC],
delta_radius, delta_radius,
delta_diagonal_rod, delta_diagonal_rod,
delta_calibration_radius,
delta_segments_per_second, delta_segments_per_second,
delta_diagonal_rod_trim[ABC], delta_tower_angle_trim[2],
delta_tower_angle_trim[ABC],
delta_clip_start_height; delta_clip_start_height;
void recalc_delta_settings(float radius, float diagonal_rod); void recalc_delta_settings(float radius, float diagonal_rod);
#elif IS_SCARA #elif IS_SCARA

446
Marlin/Marlin_main.cpp
View file

@ -61,7 +61,7 @@
* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location) * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
* G31 - Dock sled (Z_PROBE_SLED only) * G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only) * G32 - Undock sled (Z_PROBE_SLED only)
* G33 - Delta '4-point' auto calibration iteration * G33 - Delta '1-4-7-point' auto calibration : "G33 V<verbose> P<points> <A> <O> <T>" (Requires DELTA)
* G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes * G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
* G90 - Use Absolute Coordinates * G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates * G91 - Use Relative Coordinates
@ -585,10 +585,10 @@ static uint8_t target_extruder;
// These values are loaded or reset at boot time when setup() calls // These values are loaded or reset at boot time when setup() calls
// settings.load(), which calls recalc_delta_settings(). // settings.load(), which calls recalc_delta_settings().
float delta_radius, float delta_radius,
delta_tower_angle_trim[ABC], delta_tower_angle_trim[2],
delta_tower[ABC][2], delta_tower[ABC][2],
delta_diagonal_rod, delta_diagonal_rod,
delta_diagonal_rod_trim[ABC], delta_calibration_radius,
delta_diagonal_rod_2_tower[ABC], delta_diagonal_rod_2_tower[ABC],
delta_segments_per_second, delta_segments_per_second,
delta_clip_start_height = Z_MAX_POS; delta_clip_start_height = Z_MAX_POS;
@ -1830,6 +1830,9 @@ static void clean_up_after_endstop_or_probe_move() {
float z_dest = LOGICAL_Z_POSITION(z_raise); float z_dest = LOGICAL_Z_POSITION(z_raise);
if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset; if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
#if ENABLED(DELTA)
z_dest -= home_offset[Z_AXIS];
#endif
if (z_dest > current_position[Z_AXIS]) if (z_dest > current_position[Z_AXIS])
do_blocking_move_to_z(z_dest); do_blocking_move_to_z(z_dest);
@ -1837,7 +1840,8 @@ static void clean_up_after_endstop_or_probe_move() {
#endif //HAS_BED_PROBE #endif //HAS_BED_PROBE
#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE) #if HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE) || ENABLED(DELTA_AUTO_CALIBRATION)
bool axis_unhomed_error(const bool x, const bool y, const bool z) { bool axis_unhomed_error(const bool x, const bool y, const bool z) {
const bool xx = x && !axis_homed[X_AXIS], const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS], yy = y && !axis_homed[Y_AXIS],
@ -1857,6 +1861,7 @@ static void clean_up_after_endstop_or_probe_move() {
} }
return false; return false;
} }
#endif #endif
#if ENABLED(Z_PROBE_SLED) #if ENABLED(Z_PROBE_SLED)
@ -2308,6 +2313,9 @@ static void clean_up_after_endstop_or_probe_move() {
// move down quickly before doing the slow probe // move down quickly before doing the slow probe
float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES); float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
if (zprobe_zoffset < 0) z -= zprobe_zoffset; if (zprobe_zoffset < 0) z -= zprobe_zoffset;
#if ENABLED(DELTA)
z -= home_offset[Z_AXIS];
#endif
if (z < current_position[Z_AXIS]) if (z < current_position[Z_AXIS])
do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
@ -5009,11 +5017,12 @@ inline void gcode_G28() {
/** /**
* G30: Do a single Z probe at the current XY * G30: Do a single Z probe at the current XY
* Usage: *
* G30 <X#> <Y#> <S#> * Parameters:
* X = Probe X position (default=current probe position) *
* Y = Probe Y position (default=current probe position) * X Probe X position (default current X)
* S = Stows the probe if 1 (default=1) * Y Probe Y position (default current Y)
* S0 Leave the probe deployed
*/ */
inline void gcode_G30() { inline void gcode_G30() {
const float xpos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER, const float xpos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
@ -5056,32 +5065,25 @@ inline void gcode_G28() {
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
/** /**
* G33: Delta '4-point' auto calibration iteration * G33 - Delta '1-4-7-point' auto calibration (Requires DELTA)
* *
* Usage: G33 <Cn> <Vn> * Usage:
* * G33 <Vn> <Pn> <A> <O> <T>
* C (default) = Calibrate endstops, height and delta radius *
* * Vn = verbose level (n=0-2 default 1)
* -2, 1-4: n x n probe points, default 3 x 3 * n=0 dry-run mode: setting + probe results / no calibration
* * n=1 settings
* 1: probe center * n=2 setting + probe results
* set height only - useful when z_offset is changed * Pn = n=-7 -> +7 : n*n probe points
* 2: probe center and towers * calibrates height ('1 point'), endstops, and delta radius ('4 points')
* solve one '4 point' calibration * and tower angles with n > 2 ('7+ points')
* -2: probe center and opposite the towers * n=1 probes center / sets height only
* solve one '4 point' calibration * n=2 probes center and towers / sets height, endstops and delta radius
* 3: probe 3 center points, towers and opposite-towers * n=3 probes all points: center, towers and opposite towers / sets all
* averages between 2 '4 point' calibrations * n>3 probes all points multiple times and averages
* 4: probe 4 center points, towers, opposite-towers and itermediate points * A = abort 1 point delta height calibration after 1 probe
* averages between 4 '4 point' calibrations * O = use oposite tower points instead of tower points with 4 point calibration
* * T = do not calibrate tower angles with 7+ point calibration
* V Verbose level (0-3, default 1)
*
* 0: Dry-run mode: no calibration
* 1: Settings
* 2: Setting + probe results
* 3: Expert mode: setting + iteration factors (see Configuration_adv.h)
* This prematurely stops the iteration process when factors are found
*/ */
inline void gcode_G33() { inline void gcode_G33() {
@ -5091,49 +5093,55 @@ inline void gcode_G28() {
set_bed_leveling_enabled(false); set_bed_leveling_enabled(false);
#endif #endif
const int8_t pp = code_seen('C') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS, int8_t pp = (code_seen('P') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS),
probe_points = (WITHIN(pp, 1, 4) || pp == -2) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS; probe_mode = (WITHIN(pp, 1, 7) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS);
int8_t verbose_level = code_seen('V') ? code_value_byte() : 1; probe_mode = (code_seen('A') && probe_mode == 1 ? -probe_mode : probe_mode);
probe_mode = (code_seen('O') && probe_mode == 2 ? -probe_mode : probe_mode);
probe_mode = (code_seen('T') && probe_mode > 2 ? -probe_mode : probe_mode);
int8_t verbose_level = (code_seen('V') ? code_value_byte() : 1);
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE) if (!WITHIN(verbose_level, 0, 2)) verbose_level = 1;
#define _MAX_M33_V 3
if (verbose_level == 3 && probe_points == 1) verbose_level--; // needs at least 4 points
#else
#define _MAX_M33_V 2
if (verbose_level > 2)
SERIAL_PROTOCOLLNPGM("Enable DELTA_CALIBRATE_EXPERT_MODE in Configuration_adv.h");
#endif
if (!WITHIN(verbose_level, 0, _MAX_M33_V)) verbose_level = 1;
float zero_std_dev = verbose_level ? 999.0 : 0.0; // 0.0 in dry-run mode : forced end
gcode_G28(); gcode_G28();
float e_old[XYZ], const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
float test_precision,
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
e_old[XYZ] = {
endstop_adj[A_AXIS],
endstop_adj[B_AXIS],
endstop_adj[C_AXIS]
},
dr_old = delta_radius, dr_old = delta_radius,
zh_old = home_offset[Z_AXIS]; zh_old = home_offset[Z_AXIS],
COPY(e_old,endstop_adj); alpha_old = delta_tower_angle_trim[A_AXIS],
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE) beta_old = delta_tower_angle_trim[B_AXIS];
// expert variables int8_t iterations = 0,
float h_f_old = 1.00, r_f_old = 0.00, probe_points = abs(probe_mode);
h_diff_min = 1.00, r_diff_max = 0.10; const bool pp_equals_1 = (probe_points == 1),
#endif pp_equals_2 = (probe_points == 2),
pp_equals_3 = (probe_points == 3),
pp_equals_4 = (probe_points == 4),
pp_equals_5 = (probe_points == 5),
pp_equals_6 = (probe_points == 6),
pp_equals_7 = (probe_points == 7),
pp_greather_2 = (probe_points > 2),
pp_greather_3 = (probe_points > 3),
pp_greather_4 = (probe_points > 4),
pp_greather_5 = (probe_points > 5);
// print settings // print settings
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
SERIAL_PROTOCOLPGM("Checking... AC"); SERIAL_PROTOCOLPGM("Checking... AC");
if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)"); if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
if (verbose_level == 3) SERIAL_PROTOCOLPGM(" (EXPERT)");
#endif
SERIAL_EOL; SERIAL_EOL;
LCD_MESSAGEPGM("Checking... AC"); LCD_MESSAGEPGM("Checking... AC");
SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (abs(probe_points) > 1) { if (!pp_equals_1) {
SERIAL_PROTOCOLPGM(" Ex:"); SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+'); if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2); SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@ -5146,74 +5154,84 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
} }
SERIAL_EOL; SERIAL_EOL;
if (probe_mode > 2) { // negative disables tower angles
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ty:");
if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL;
}
#if ENABLED(Z_PROBE_SLED) #if ENABLED(Z_PROBE_SLED)
DEPLOY_PROBE(); DEPLOY_PROBE();
#endif #endif
float test_precision; do {
int8_t iterations = 0;
do { // start iterations float z_at_pt[13] = { 0 },
S1 = 0.0,
setup_for_endstop_or_probe_move(); S2 = 0.0;
int16_t N = 0;
test_precision =
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
// Expert mode : forced end at std_dev < 0.1
(verbose_level == 3 && zero_std_dev < 0.1) ? 0.0 :
#endif
zero_std_dev
;
float z_at_pt[13] = { 0 };
test_precision = zero_std_dev;
iterations++; iterations++;
// probe the points // probe the points
int16_t center_points = 0; if (!pp_equals_3 && !pp_equals_6) { // probe the centre
setup_for_endstop_or_probe_move();
if (probe_points != 3) {
z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1); z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
center_points = 1; clean_up_after_endstop_or_probe_move();
} }
if (pp_greather_2) { // probe extra centre points
int16_t step_axis = 4; for (int8_t axis = (pp_greather_4 ? 11 : 9); axis > 0; axis -= (pp_greather_4 ? 2 : 4)) {
if (probe_points >= 3) { setup_for_endstop_or_probe_move();
for (int8_t axis = 9; axis > 0; axis -= step_axis) { // uint8_t starts endless loop
z_at_pt[0] += probe_pt( z_at_pt[0] += probe_pt(
0.1 * cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius),
0.1 * sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1); sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1);
clean_up_after_endstop_or_probe_move();
} }
center_points += 3; z_at_pt[0] /= (pp_equals_5 ? 7 : probe_points);
z_at_pt[0] /= center_points;
} }
if (!pp_equals_1) { // probe the radius
float S1 = z_at_pt[0], S2 = sq(S1); float start_circles = (pp_equals_7 ? -1.5 : pp_equals_6 || pp_equals_5 ? -1 : 0),
end_circles = -start_circles;
int16_t N = 1, start = (probe_points == -2) ? 3 : 1; bool zig_zag = true;
step_axis = (abs(probe_points) == 2) ? 4 : (probe_points == 3) ? 2 : 1; for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13;
axis += (pp_equals_2 ? 4 : pp_equals_3 || pp_equals_5 ? 2 : 1)) {
if (probe_points != 1) { for (float circles = start_circles ; circles <= end_circles; circles++) {
for (uint8_t axis = start; axis < 13; axis += step_axis) setup_for_endstop_or_probe_move();
z_at_pt[axis] += probe_pt( z_at_pt[axis] += probe_pt(
cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), cos(RADIANS(180 + 30 * axis)) *
sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1 (1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius,
); sin(RADIANS(180 + 30 * axis)) *
(1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius, true, 1);
if (probe_points == 4) step_axis = 2; clean_up_after_endstop_or_probe_move();
}
start_circles += (pp_greather_5 ? (zig_zag ? 0.5 : -0.5) : 0);
end_circles = -start_circles;
zig_zag = !zig_zag;
z_at_pt[axis] /= (pp_equals_7 ? (zig_zag ? 4.0 : 3.0) :
pp_equals_6 ? (zig_zag ? 3.0 : 2.0) : pp_equals_5 ? 3 : 1);
}
} }
if (pp_greather_3 && !pp_equals_5) // average intermediates to tower and opposites
for (uint8_t axis = start; axis < 13; axis += step_axis) { for (uint8_t axis = 1; axis < 13; axis += 2)
if (probe_points == 4)
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0; z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
S1 += z_at_pt[axis]; S1 += z_at_pt[0];
S2 += sq(z_at_pt[axis]); S2 += sq(z_at_pt[0]);
N++; N++;
} if (!pp_equals_1) // std dev from zero plane
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001; // deviation from zero plane for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13; axis += (pp_equals_2 ? 4 : 2)) {
S1 += z_at_pt[axis];
S2 += sq(z_at_pt[axis]);
N++;
}
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
// Solve matrices // Solve matrices
@ -5221,28 +5239,33 @@ inline void gcode_G28() {
COPY(e_old, endstop_adj); COPY(e_old, endstop_adj);
dr_old = delta_radius; dr_old = delta_radius;
zh_old = home_offset[Z_AXIS]; zh_old = home_offset[Z_AXIS];
alpha_old = delta_tower_angle_trim[A_AXIS];
beta_old = delta_tower_angle_trim[B_AXIS];
float e_delta[XYZ] = { 0.0 }, r_delta = 0.0; float e_delta[XYZ] = { 0.0 }, r_delta = 0.0,
t_alpha = 0.0, t_beta = 0.0;
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE) const float r_diff = delta_radius - delta_calibration_radius,
float h_f_new = 0.0, r_f_new = 0.0 , t_f_new = 0.0, h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
h_diff = 0.00, r_diff = 0.00; r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
#endif a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
#define ZP(N,I) ((N) * z_at_pt[I]) #define ZP(N,I) ((N) * z_at_pt[I])
#define Z1000(I) ZP(1.00, I) #define Z1000(I) ZP(1.00, I)
#define Z1050(I) ZP(H_FACTOR, I) #define Z1050(I) ZP(h_factor, I)
#define Z0700(I) ZP((H_FACTOR) * 2.0 / 3.00, I) #define Z0700(I) ZP(h_factor * 2.0 / 3.00, I)
#define Z0350(I) ZP((H_FACTOR) / 3.00, I) #define Z0350(I) ZP(h_factor / 3.00, I)
#define Z0175(I) ZP((H_FACTOR) / 6.00, I) #define Z0175(I) ZP(h_factor / 6.00, I)
#define Z2250(I) ZP(R_FACTOR, I) #define Z2250(I) ZP(r_factor, I)
#define Z0750(I) ZP((R_FACTOR) / 3.00, I) #define Z0750(I) ZP(r_factor / 3.00, I)
#define Z0375(I) ZP((R_FACTOR) / 6.00, I) #define Z0375(I) ZP(r_factor / 6.00, I)
#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
switch (probe_points) { switch (probe_mode) {
case -1:
test_precision = 0.00;
case 1: case 1:
LOOP_XYZ(i) e_delta[i] = Z1000(0); LOOP_XYZ(i) e_delta[i] = Z1000(0);
r_delta = 0.00;
break; break;
case 2: case 2:
@ -5264,67 +5287,43 @@ inline void gcode_G28() {
e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3); e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3); e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3); r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
if (probe_mode > 0) { // negative disables tower angles
t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
t_beta = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3);
}
break; break;
} }
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
// Calculate h & r factors
if (verbose_level == 3) {
LOOP_XYZ(axis) h_f_new += e_delta[axis] / 3;
r_f_new = r_delta;
h_diff = (1.0 / H_FACTOR) * (h_f_old - h_f_new) / h_f_old;
if (h_diff < h_diff_min && h_diff > 0.9) h_diff_min = h_diff;
if (r_f_old != 0)
r_diff = ( 0.0301 * sq(R_FACTOR) * R_FACTOR
+ 0.311 * sq(R_FACTOR)
+ 1.1493 * R_FACTOR
+ 1.7952
) * (r_f_old - r_f_new) / r_f_old;
if (r_diff > r_diff_max && r_diff < 0.4444) r_diff_max = r_diff;
SERIAL_EOL;
h_f_old = h_f_new;
r_f_old = r_f_new;
}
#endif // DELTA_CALIBRATE_EXPERT_MODE
// Adjust delta_height and endstops by the max amount
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis]; LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
delta_radius += r_delta; delta_radius += r_delta;
delta_tower_angle_trim[A_AXIS] += t_alpha;
delta_tower_angle_trim[B_AXIS] -= t_beta;
const float z_temp = MAX3(endstop_adj[0], endstop_adj[1], endstop_adj[2]); // adjust delta_height and endstops by the max amount
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp; home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp; LOOP_XYZ(i) endstop_adj[i] -= z_temp;
recalc_delta_settings(delta_radius, delta_diagonal_rod); recalc_delta_settings(delta_radius, delta_diagonal_rod);
} }
else { // !iterate else { // step one back
// step one back
COPY(endstop_adj, e_old); COPY(endstop_adj, e_old);
delta_radius = dr_old; delta_radius = dr_old;
home_offset[Z_AXIS] = zh_old; home_offset[Z_AXIS] = zh_old;
delta_tower_angle_trim[A_AXIS] = alpha_old;
delta_tower_angle_trim[B_AXIS] = beta_old;
recalc_delta_settings(delta_radius, delta_diagonal_rod); recalc_delta_settings(delta_radius, delta_diagonal_rod);
} }
// print report // print report
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE) if (verbose_level != 1) {
if (verbose_level == 3) { SERIAL_PROTOCOLPGM(". c:");
const float r_factor = 22.902 * sq(r_diff_max) * r_diff_max
- 44.988 * sq(r_diff_max)
+ 31.697 * r_diff_max
- 9.4439;
SERIAL_PROTOCOLPAIR("h_factor:", 1.0 / h_diff_min);
SERIAL_PROTOCOLPAIR(" r_factor:", r_factor);
SERIAL_EOL;
}
#endif
if (verbose_level == 2) {
SERIAL_PROTOCOLPGM(". c:");
if (z_at_pt[0] > 0) SERIAL_CHAR('+'); if (z_at_pt[0] > 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[0], 2); SERIAL_PROTOCOL_F(z_at_pt[0], 2);
if (probe_points > 1) { if (probe_mode == 2 || pp_greather_2) {
SERIAL_PROTOCOLPGM(" x:"); SERIAL_PROTOCOLPGM(" x:");
if (z_at_pt[1] >= 0) SERIAL_CHAR('+'); if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[1], 2); SERIAL_PROTOCOL_F(z_at_pt[1], 2);
@ -5335,9 +5334,12 @@ inline void gcode_G28() {
if (z_at_pt[9] >= 0) SERIAL_CHAR('+'); if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[9], 2); SERIAL_PROTOCOL_F(z_at_pt[9], 2);
} }
if (probe_points > 0) SERIAL_EOL; if (probe_mode != -2) SERIAL_EOL;
if (probe_points > 2 || probe_points == -2) { if (probe_mode == -2 || pp_greather_2) {
if (probe_points > 2) SERIAL_PROTOCOLPGM(". "); if (pp_greather_2) {
SERIAL_CHAR('.');
SERIAL_PROTOCOL_SP(13);
}
SERIAL_PROTOCOLPGM(" yz:"); SERIAL_PROTOCOLPGM(" yz:");
if (z_at_pt[7] >= 0) SERIAL_CHAR('+'); if (z_at_pt[7] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[7], 2); SERIAL_PROTOCOL_F(z_at_pt[7], 2);
@ -5350,25 +5352,27 @@ inline void gcode_G28() {
SERIAL_EOL; SERIAL_EOL;
} }
} }
if (test_precision != 0.0) { // !forced end if (test_precision != 0.0) { // !forced end
if (zero_std_dev >= test_precision) { if (zero_std_dev >= test_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK"); SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOLLNPGM(" rolling back 1"); SERIAL_PROTOCOL_SP(36);
LCD_MESSAGEPGM("Calibration OK"); SERIAL_PROTOCOLPGM("rolling back.");
SERIAL_EOL; SERIAL_EOL;
LCD_MESSAGEPGM("Calibration OK");
} }
else { // !end iterations else { // !end iterations
char mess[15] = "No convergence"; char mess[15] = "No convergence";
if (iterations < 31) if (iterations < 31)
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations); sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
SERIAL_PROTOCOL(mess); SERIAL_PROTOCOL(mess);
SERIAL_PROTOCOLPGM(" std dev:"); SERIAL_PROTOCOL_SP(36);
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3); SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL; SERIAL_EOL;
lcd_setstatus(mess); lcd_setstatus(mess);
} }
SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (abs(probe_points) > 1) { if (!pp_equals_1) {
SERIAL_PROTOCOLPGM(" Ex:"); SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+'); if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2); SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@ -5381,23 +5385,38 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
} }
SERIAL_EOL; SERIAL_EOL;
if (probe_mode > 2) { // negative disables tower angles
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ty:");
if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL;
}
if (zero_std_dev >= test_precision) if (zero_std_dev >= test_precision)
SERIAL_PROTOCOLLNPGM("Save with M500"); serialprintPGM(save_message);
SERIAL_EOL;
} }
else { // forced end else { // forced end
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE) if (verbose_level == 0) {
if (verbose_level == 3) SERIAL_PROTOCOLPGM("End DRY-RUN");
SERIAL_PROTOCOLLNPGM("Copy to Configuration_adv.h"); SERIAL_PROTOCOL_SP(39);
else SERIAL_PROTOCOLPGM("std dev:");
#endif SERIAL_PROTOCOL_F(zero_std_dev, 3);
{ SERIAL_EOL;
SERIAL_PROTOCOLPGM("End DRY-RUN std dev:"); }
SERIAL_PROTOCOL_F(zero_std_dev, 3); else {
SERIAL_EOL; SERIAL_PROTOCOLLNPGM("Calibration OK");
} LCD_MESSAGEPGM("Calibration OK");
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
SERIAL_EOL;
serialprintPGM(save_message);
SERIAL_EOL;
}
} }
clean_up_after_endstop_or_probe_move();
stepper.synchronize(); stepper.synchronize();
gcode_G28(); gcode_G28();
@ -7620,12 +7639,13 @@ inline void gcode_M205() {
if (code_seen('L')) delta_diagonal_rod = code_value_linear_units(); if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
if (code_seen('R')) delta_radius = code_value_linear_units(); if (code_seen('R')) delta_radius = code_value_linear_units();
if (code_seen('S')) delta_segments_per_second = code_value_float(); if (code_seen('S')) delta_segments_per_second = code_value_float();
if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units(); if (code_seen('B')) delta_calibration_radius = code_value_float();
if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units(); if (code_seen('X')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units(); if (code_seen('Y')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units(); if (code_seen('Z')) { // rotate all 3 axis for Z = 0
if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units(); delta_tower_angle_trim[A_AXIS] -= code_value_linear_units();
if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units(); delta_tower_angle_trim[B_AXIS] -= code_value_linear_units();
}
recalc_delta_settings(delta_radius, delta_diagonal_rod); recalc_delta_settings(delta_radius, delta_diagonal_rod);
} }
/** /**
@ -7653,6 +7673,10 @@ inline void gcode_M205() {
SERIAL_ECHOLNPGM("<<< gcode_M666"); SERIAL_ECHOLNPGM("<<< gcode_M666");
} }
#endif #endif
// normalize endstops so all are <=0; set the residue to delta height
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
} }
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
@ -8564,7 +8588,7 @@ inline void gcode_M503() {
if (!isnan(last_zoffset)) { if (!isnan(last_zoffset)) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
const float diff = zprobe_zoffset - last_zoffset; const float diff = zprobe_zoffset - last_zoffset;
#endif #endif
@ -8586,6 +8610,10 @@ inline void gcode_M503() {
#else #else
UNUSED(no_babystep); UNUSED(no_babystep);
#endif #endif
#if ENABLED(DELTA) // correct the delta_height
home_offset[Z_AXIS] -= diff;
#endif
} }
last_zoffset = zprobe_zoffset; last_zoffset = zprobe_zoffset;
@ -10651,15 +10679,17 @@ void ok_to_send() {
* settings have been changed (e.g., by M665). * settings have been changed (e.g., by M665).
*/ */
void recalc_delta_settings(float radius, float diagonal_rod) { void recalc_delta_settings(float radius, float diagonal_rod) {
delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1); drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[B_AXIS][X_AXIS] = sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2); delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3); // back middle tower delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
delta_tower[C_AXIS][Y_AXIS] = cos(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3); delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]); delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]); delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]); delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
} }
#if ENABLED(DELTA_FAST_SQRT) #if ENABLED(DELTA_FAST_SQRT)

45
Marlin/configuration_store.cpp
View file

@ -42,7 +42,7 @@
#define EEPROM_OFFSET 100 #define EEPROM_OFFSET 100
/** /**
* V33 EEPROM Layout: * V35 EEPROM Layout:
* *
* 100 Version (char x4) * 100 Version (char x4)
* 104 EEPROM Checksum (uint16_t) * 104 EEPROM Checksum (uint16_t)
@ -97,12 +97,10 @@
* 360 M665 R delta_radius (float) * 360 M665 R delta_radius (float)
* 364 M665 L delta_diagonal_rod (float) * 364 M665 L delta_diagonal_rod (float)
* 368 M665 S delta_segments_per_second (float) * 368 M665 S delta_segments_per_second (float)
* 372 M665 A delta_diagonal_rod_trim[A] (float) * 372 M665 B delta_calibration_radius (float)
* 376 M665 B delta_diagonal_rod_trim[B] (float) * 376 M665 X delta_tower_angle_trim[A] (float)
* 380 M665 C delta_diagonal_rod_trim[C] (float) * 380 M665 Y delta_tower_angle_trim[B] (float)
* 384 M665 I delta_tower_angle_trim[A] (float) * --- M665 Z delta_tower_angle_trim[C] (float) is always 0.0
* 388 M665 J delta_tower_angle_trim[B] (float)
* 392 M665 K delta_tower_angle_trim[C] (float)
* *
* Z_DUAL_ENDSTOPS: 48 bytes * Z_DUAL_ENDSTOPS: 48 bytes
* 348 M666 Z z_endstop_adj (float) * 348 M666 Z z_endstop_adj (float)
@ -428,8 +426,10 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(delta_radius); // 1 float EEPROM_WRITE(delta_radius); // 1 float
EEPROM_WRITE(delta_diagonal_rod); // 1 float EEPROM_WRITE(delta_diagonal_rod); // 1 float
EEPROM_WRITE(delta_segments_per_second); // 1 float EEPROM_WRITE(delta_segments_per_second); // 1 float
EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats EEPROM_WRITE(delta_calibration_radius); // 1 float
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats EEPROM_WRITE(delta_tower_angle_trim); // 2 floats
dummy = 0.0f;
for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy);
#elif ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_WRITE(z_endstop_adj); // 1 float EEPROM_WRITE(z_endstop_adj); // 1 float
dummy = 0.0f; dummy = 0.0f;
@ -802,8 +802,10 @@ void MarlinSettings::postprocess() {
EEPROM_READ(delta_radius); // 1 float EEPROM_READ(delta_radius); // 1 float
EEPROM_READ(delta_diagonal_rod); // 1 float EEPROM_READ(delta_diagonal_rod); // 1 float
EEPROM_READ(delta_segments_per_second); // 1 float EEPROM_READ(delta_segments_per_second); // 1 float
EEPROM_READ(delta_diagonal_rod_trim); // 3 floats EEPROM_READ(delta_calibration_radius); // 1 float
EEPROM_READ(delta_tower_angle_trim); // 3 floats EEPROM_READ(delta_tower_angle_trim); // 2 floats
dummy = 0.0f;
for (uint8_t q=3; q--;) EEPROM_READ(dummy);
#elif ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_READ(z_endstop_adj); EEPROM_READ(z_endstop_adj);
dummy = 0.0f; dummy = 0.0f;
@ -1079,14 +1081,14 @@ void MarlinSettings::reset() {
#if ENABLED(DELTA) #if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ, const float adj[ABC] = DELTA_ENDSTOP_ADJ,
drt[ABC] = { DELTA_DIAGONAL_ROD_TRIM_TOWER_1, DELTA_DIAGONAL_ROD_TRIM_TOWER_2, DELTA_DIAGONAL_ROD_TRIM_TOWER_3 }, dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
dta[ABC] = { DELTA_TOWER_ANGLE_TRIM_1, DELTA_TOWER_ANGLE_TRIM_2, DELTA_TOWER_ANGLE_TRIM_3 };
COPY(endstop_adj, adj); COPY(endstop_adj, adj);
delta_radius = DELTA_RADIUS; delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD; delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
COPY(delta_diagonal_rod_trim, drt); delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
COPY(delta_tower_angle_trim, dta); delta_tower_angle_trim[A_AXIS] = dta[A_AXIS] - dta[C_AXIS];
delta_tower_angle_trim[B_AXIS] = dta[B_AXIS] - dta[C_AXIS];
home_offset[Z_AXIS] = 0; home_offset[Z_AXIS] = 0;
#elif ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS)
@ -1488,19 +1490,18 @@ void MarlinSettings::reset() {
SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(endstop_adj[Z_AXIS])); SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(endstop_adj[Z_AXIS]));
if (!forReplay) { if (!forReplay) {
CONFIG_ECHO_START; CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> ABC<diagonal_rod_[123]_trim>"); SERIAL_ECHOLNPGM("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> B<calibration radius> XYZ<tower angle corrections>");
} }
CONFIG_ECHO_START; CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M665 L", LINEAR_UNIT(delta_diagonal_rod)); SERIAL_ECHOPAIR(" M665 L", LINEAR_UNIT(delta_diagonal_rod));
SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius)); SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius));
SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS])); SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS]));
SERIAL_ECHOPAIR(" S", delta_segments_per_second); SERIAL_ECHOPAIR(" S", delta_segments_per_second);
SERIAL_ECHOPAIR(" A", LINEAR_UNIT(delta_diagonal_rod_trim[A_AXIS])); SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius));
SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_diagonal_rod_trim[B_AXIS])); SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
SERIAL_ECHOPAIR(" C", LINEAR_UNIT(delta_diagonal_rod_trim[C_AXIS])); SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]));
SERIAL_ECHOPAIR(" I", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS])); SERIAL_ECHOPAIR(" Z", 0.00);
SERIAL_ECHOPAIR(" J", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS])); SERIAL_EOL;
SERIAL_ECHOLNPAIR(" K", LINEAR_UNIT(delta_tower_angle_trim[C_AXIS]));
#elif ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS)
if (!forReplay) { if (!forReplay) {
CONFIG_ECHO_START; CONFIG_ECHO_START;

79
Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
View file

@ -1,4 +1,4 @@
/** /**
* Marlin 3D Printer Firmware * Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* *
@ -431,53 +431,47 @@
// and processor overload (too many expensive sqrt calls). // and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160 #define DELTA_SEGMENTS_PER_SECOND 160
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
// Center-to-center distance of the holes in the diagonal push rods. // Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 218.0 // mm #define DELTA_DIAGONAL_ROD 218.0 // mm
// Horizontal offset from middle of printer to smooth rod center.
//#define DELTA_SMOOTH_ROD_OFFSET 150.0 // mm
// Horizontal offset of the universal joints on the end effector.
//#define DELTA_EFFECTOR_OFFSET 24.0 // mm
// Horizontal offset of the universal joints on the carriages.
//#define DELTA_CARRIAGE_OFFSET 22.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 100.59 //mm // get this value from auto calibrate #define DELTA_RADIUS 100.00 //mm // get this value from auto calibrate
// height from z=0.00 to home position // height from z=0 to home position
#define DELTA_HEIGHT 298.95 // get this value from auto calibrate #define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 A at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 90.0 #define DELTA_PRINTABLE_RADIUS 85.0
// Delta calibration menu // Delta calibration menu
// uncomment to add three points calibration menu option.
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
#define DELTA_CALIBRATION_MENU #define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_AUTO_CALIBRATION #define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) #define DELTA_CALIBRATION_DEFAULT_POINTS 4 // set the default number of probe points : n*n (-7 -> +7)
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
#endif #endif
// After homing move down to a height where XY movement is unconstrained // After homing move down to a height where XY movement is unconstrained
#define DELTA_HOME_TO_SAFE_ZONE #define DELTA_HOME_TO_SAFE_ZONE
#define DELTA_ENDSTOP_ADJ { -0.05, -0.00, -0.02 } // get these from auto calibrate #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
#define DELTA_RADIUS_TRIM_TOWER_1 0.0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
#define DELTA_RADIUS_TRIM_TOWER_2 0.0 // measured in degrees anticlockwise looking from above the printer
#define DELTA_RADIUS_TRIM_TOWER_3 0.0 #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 // delta radius and diaginal rod adjustments measured in mm
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_1 0.0 //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
#endif #endif
@ -514,7 +508,7 @@
// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup). // Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
#define X_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define X_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Y_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Y_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Z_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define X_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define X_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Y_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Y_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
@ -696,8 +690,8 @@
* (0,0) * (0,0)
*/ */
#define X_PROBE_OFFSET_FROM_EXTRUDER 0 // X offset: -left +right [of the nozzle] #define X_PROBE_OFFSET_FROM_EXTRUDER 0 // X offset: -left +right [of the nozzle]
#define Y_PROBE_OFFSET_FROM_EXTRUDER 0 // Y offset: -front +behind [the nozzle] #define Y_PROBE_OFFSET_FROM_EXTRUDER 0 // Y offset: -front +behind [the nozzle]
#define Z_PROBE_OFFSET_FROM_EXTRUDER 0.25 // Z offset: -below +above [the nozzle] #define Z_PROBE_OFFSET_FROM_EXTRUDER 0.10 // Z offset: -below +above [the nozzle]
// X and Y axis travel speed (mm/m) between probes // X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 5000 #define XY_PROBE_SPEED 5000
@ -706,7 +700,7 @@
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z #define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the "accurate" probe of each point // Speed for the "accurate" probe of each point
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 4) #define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST) / 6
// Use double touch for probing // Use double touch for probing
//#define PROBE_DOUBLE_TOUCH //#define PROBE_DOUBLE_TOUCH
@ -775,8 +769,8 @@
* Example: `M851 Z-5` with a CLEARANCE of 4 => 9mm from bed to nozzle. * Example: `M851 Z-5` with a CLEARANCE of 4 => 9mm from bed to nozzle.
* But: `M851 Z+1` with a CLEARANCE of 2 => 2mm from bed to nozzle. * But: `M851 Z+1` with a CLEARANCE of 2 => 2mm from bed to nozzle.
*/ */
#define Z_CLEARANCE_DEPLOY_PROBE 10 // Z Clearance for Deploy/Stow #define Z_CLEARANCE_DEPLOY_PROBE 5 // Z Clearance for Deploy/Stow
#define Z_CLEARANCE_BETWEEN_PROBES 3 // Z Clearance between probe points #define Z_CLEARANCE_BETWEEN_PROBES 2 // Z Clearance between probe points
// For M851 give a range for adjusting the Z probe offset // For M851 give a range for adjusting the Z probe offset
#define Z_PROBE_OFFSET_RANGE_MIN -20 #define Z_PROBE_OFFSET_RANGE_MIN -20
@ -808,11 +802,11 @@
// @section machine // @section machine
// Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way. // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
#define INVERT_X_DIR true #define INVERT_X_DIR true // DELTA does not invert
#define INVERT_Y_DIR true #define INVERT_Y_DIR true
#define INVERT_Z_DIR true #define INVERT_Z_DIR true
// Enable this option for Toshiba stepper drivers // Enable this option for Toshiba steppers drivers
//#define CONFIG_STEPPERS_TOSHIBA //#define CONFIG_STEPPERS_TOSHIBA
// @section extruder // @section extruder
@ -910,7 +904,7 @@
*/ */
//#define AUTO_BED_LEVELING_3POINT //#define AUTO_BED_LEVELING_3POINT
//#define AUTO_BED_LEVELING_LINEAR //#define AUTO_BED_LEVELING_LINEAR
#define AUTO_BED_LEVELING_BILINEAR //#define AUTO_BED_LEVELING_BILINEAR
//#define AUTO_BED_LEVELING_UBL //#define AUTO_BED_LEVELING_UBL
//#define MESH_BED_LEVELING //#define MESH_BED_LEVELING
@ -931,8 +925,7 @@
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Set the number of grid points per dimension. // Set the number of grid points per dimension.
// Works best with 5 or more points in each dimension. #define GRID_MAX_POINTS_X 7
#define GRID_MAX_POINTS_X 9
#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
// Set the boundaries for probing (where the probe can reach). // Set the boundaries for probing (where the probe can reach).
@ -943,12 +936,13 @@
#define BACK_PROBE_BED_POSITION DELTA_PROBEABLE_RADIUS #define BACK_PROBE_BED_POSITION DELTA_PROBEABLE_RADIUS
// The Z probe minimum outer margin (to validate G29 parameters). // The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10 #define MIN_PROBE_EDGE 20
// Probe along the Y axis, advancing X after each column // Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST //#define PROBE_Y_FIRST
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// //
// Experimental Subdivision of the grid by Catmull-Rom method. // Experimental Subdivision of the grid by Catmull-Rom method.
// Synthesizes intermediate points to produce a more detailed mesh. // Synthesizes intermediate points to produce a more detailed mesh.
@ -1098,8 +1092,8 @@
// @section temperature // @section temperature
// Preheat Constants // Preheat Constants
#define PREHEAT_1_TEMP_HOTEND 185 #define PREHEAT_1_TEMP_HOTEND 195
#define PREHEAT_1_TEMP_BED 70 #define PREHEAT_1_TEMP_BED 60
#define PREHEAT_1_FAN_SPEED 0 // Value from 0 to 255 #define PREHEAT_1_FAN_SPEED 0 // Value from 0 to 255
#define PREHEAT_2_TEMP_HOTEND 240 #define PREHEAT_2_TEMP_HOTEND 240
@ -1345,6 +1339,7 @@
// //
// Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu. // Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu.
// //
// INDIVIDUAL_AXIS_HOMING_MENU is incompatible with DELTA kinematics.
//#define INDIVIDUAL_AXIS_HOMING_MENU //#define INDIVIDUAL_AXIS_HOMING_MENU
// //
@ -1673,8 +1668,8 @@
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 // Index of the extruder that has the filament sensor (0,1,2,3) #define FILAMENT_SENSOR_EXTRUDER_NUM 0 // Index of the extruder that has the filament sensor (0,1,2,3)
#define MEASUREMENT_DELAY_CM 14 // (cm) The distance from the filament sensor to the melting chamber #define MEASUREMENT_DELAY_CM 14 // (cm) The distance from the filament sensor to the melting chamber
#define MEASURED_UPPER_LIMIT 3.30 // (mm) Upper limit used to validate sensor reading #define MEASURED_UPPER_LIMIT 1.95 // (mm) Upper limit used to validate sensor reading
#define MEASURED_LOWER_LIMIT 1.90 // (mm) Lower limit used to validate sensor reading #define MEASURED_LOWER_LIMIT 1.20 // (mm) Lower limit used to validate sensor reading
#define MAX_MEASUREMENT_DELAY 20 // (bytes) Buffer size for stored measurements (1 byte per cm). Must be larger than MEASUREMENT_DELAY_CM. #define MAX_MEASUREMENT_DELAY 20 // (bytes) Buffer size for stored measurements (1 byte per cm). Must be larger than MEASUREMENT_DELAY_CM.
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA // Set measured to nominal initially #define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA // Set measured to nominal initially

19
Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration_adv.h
View file

@ -419,25 +419,6 @@
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS // Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
#if ENABLED(DELTA_AUTO_CALIBRATION)
/**
* Set the height short (H-10) with M665 Hx.xx.
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
* Run G33 Cx V3 (C2, C-2) with different values for C and R
* Take the average for R_FACTOR and maximum for H_FACTOR.
* Run the tests with default values!!!
*/
//#define DELTA_CALIBRATE_EXPERT_MODE
// Remove the comments of the folling 2 lines to overide default values
#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
#endif
//=========================================================================== //===========================================================================
//=============================Additional Features=========================== //=============================Additional Features===========================
//=========================================================================== //===========================================================================

28
Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
View file

@ -444,10 +444,10 @@
#define DELTA_CARRIAGE_OFFSET 22.0 // mm #define DELTA_CARRIAGE_OFFSET 22.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET)) #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 280 // get this value from auto calibrate #define DELTA_HEIGHT 280 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0 #define DELTA_PRINTABLE_RADIUS 85.0
@ -457,28 +457,28 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
#endif #endif
// After homing move down to a height where XY movement is unconstrained // After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE //#define DELTA_HOME_TO_SAFE_ZONE
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
#define DELTA_RADIUS_TRIM_TOWER_1 0.0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
#define DELTA_RADIUS_TRIM_TOWER_2 0.0 // measured in degrees anticlockwise looking from above the printer
#define DELTA_RADIUS_TRIM_TOWER_3 0.0 #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 // delta radius and diaginal rod adjustments measured in mm
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_1 0.0 //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
#endif #endif

21
Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration_adv.h
View file

@ -1,4 +1,4 @@
/** /**
* Marlin 3D Printer Firmware * Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* *
@ -419,25 +419,6 @@
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS // Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
#if ENABLED(DELTA_AUTO_CALIBRATION)
/**
* Set the height short (H-10) with M665 Hx.xx.
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
* Run G33 Cx V3 (C2, C-2) with different values for C and R
* Take the average for R_FACTOR and maximum for H_FACTOR.
* Run the tests with default values!!!
*/
//#define DELTA_CALIBRATE_EXPERT_MODE
// Remove the comments of the folling 2 lines to overide default values
#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
#endif
//=========================================================================== //===========================================================================
//=============================Additional Features=========================== //=============================Additional Features===========================
//=========================================================================== //===========================================================================

30
Marlin/example_configurations/delta/generic/Configuration.h
View file

@ -434,10 +434,10 @@
#define DELTA_CARRIAGE_OFFSET 18.0 // mm #define DELTA_CARRIAGE_OFFSET 18.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET)) #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate // height from z=0.00 to home position
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 250 // get this value from auto calibrate #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0 #define DELTA_PRINTABLE_RADIUS 140.0
@ -446,28 +446,28 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
#endif #endif
// After homing move down to a height where XY movement is unconstrained // After homing move down to a height where XY movement is unconstrained
#define DELTA_HOME_TO_SAFE_ZONE //#define DELTA_HOME_TO_SAFE_ZONE
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
#define DELTA_RADIUS_TRIM_TOWER_1 0.0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
#define DELTA_RADIUS_TRIM_TOWER_2 0.0 // measured in degrees anticlockwise looking from above the printer
#define DELTA_RADIUS_TRIM_TOWER_3 0.0 #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 // delta radius and diaginal rod adjustments measured in mm
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_1 0.0 //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
#endif #endif

21
Marlin/example_configurations/delta/generic/Configuration_adv.h
View file

@ -1,4 +1,4 @@
/** /**
* Marlin 3D Printer Firmware * Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* *
@ -419,25 +419,6 @@
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS // Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
#if ENABLED(DELTA_AUTO_CALIBRATION)
/**
* Set the height short (H-10) with M665 Hx.xx.
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
* Run G33 Cx V3 (C2, C-2) with different values for C and R
* Take the average for R_FACTOR and maximum for H_FACTOR.
* Run the tests with default values!!!
*/
//#define DELTA_CALIBRATE_EXPERT_MODE
// Remove the comments of the folling 2 lines to overide default values
//#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
//#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
#endif
//=========================================================================== //===========================================================================
//=============================Additional Features=========================== //=============================Additional Features===========================
//=========================================================================== //===========================================================================

30
Marlin/example_configurations/delta/kossel_mini/Configuration.h
View file

@ -434,10 +434,10 @@
#define DELTA_CARRIAGE_OFFSET 19.5 // mm #define DELTA_CARRIAGE_OFFSET 19.5 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET)) #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 250 // get this value from auto calibrate #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 90.0 #define DELTA_PRINTABLE_RADIUS 90.0
@ -446,28 +446,28 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 18) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
#endif #endif
// After homing move down to a height where XY movement is unconstrained // After homing move down to a height where XY movement is unconstrained
#define DELTA_HOME_TO_SAFE_ZONE //#define DELTA_HOME_TO_SAFE_ZONE
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
#define DELTA_RADIUS_TRIM_TOWER_1 0.0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
#define DELTA_RADIUS_TRIM_TOWER_2 0.0 // measured in degrees anticlockwise looking from above the printer
#define DELTA_RADIUS_TRIM_TOWER_3 0.0 #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 // delta radius and diaginal rod adjustments measured in mm
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_1 0.0 //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
#endif #endif

21
Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
View file

@ -1,4 +1,4 @@
/** /**
* Marlin 3D Printer Firmware * Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* *
@ -419,25 +419,6 @@
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS // Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
#if ENABLED(DELTA_AUTO_CALIBRATION)
/**
* Set the height short (H-10) with M665 Hx.xx.
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
* Run G33 Cx V3 (C2, C-2) with different values for C and R
* Take the average for R_FACTOR and maximum for H_FACTOR.
* Run the tests with default values!!!
*/
//#define DELTA_CALIBRATE_EXPERT_MODE
// Remove the comments of the folling 2 lines to overide default values
//#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
//#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
#endif
//=========================================================================== //===========================================================================
//=============================Additional Features=========================== //=============================Additional Features===========================
//=========================================================================== //===========================================================================

30
Marlin/example_configurations/delta/kossel_pro/Configuration.h
View file

@ -421,10 +421,10 @@
#define DELTA_CARRIAGE_OFFSET 30.0 // mm #define DELTA_CARRIAGE_OFFSET 30.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET)) #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 277 // get this value from auto calibrate #define DELTA_HEIGHT 277 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 127.0 #define DELTA_PRINTABLE_RADIUS 127.0
@ -433,28 +433,28 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 25.4) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
#endif #endif
// After homing move down to a height where XY movement is unconstrained // After homing move down to a height where XY movement is unconstrained
#define DELTA_HOME_TO_SAFE_ZONE //#define DELTA_HOME_TO_SAFE_ZONE
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
#define DELTA_RADIUS_TRIM_TOWER_1 0.0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
#define DELTA_RADIUS_TRIM_TOWER_2 0.0 // measured in degrees anticlockwise looking from above the printer
#define DELTA_RADIUS_TRIM_TOWER_3 0.0 #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 // delta radius and diaginal rod adjustments measured in mm
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_1 0.0 //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
#endif #endif

22
Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
View file

@ -1,4 +1,4 @@
/** /**
* Marlin 3D Printer Firmware * Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* *
@ -424,26 +424,6 @@
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS // Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
#if ENABLED(DELTA_AUTO_CALIBRATION)
/**
* Set the height short (H-10) with M665 Hx.xx.
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
* Run G33 Cx V3 (C2, C-2) with different values for C and R
* Take the average for R_FACTOR and maximum for H_FACTOR.
* Run the tests with default values!!!
*/
//#define DELTA_CALIBRATE_EXPERT_MODE
// Remove the comments of the folling 2 lines to overide default values
//#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
//#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
#endif
//=========================================================================== //===========================================================================
//=============================Additional Features=========================== //=============================Additional Features===========================
//=========================================================================== //===========================================================================

30
Marlin/example_configurations/delta/kossel_xl/Configuration.h
View file

@ -439,10 +439,10 @@
#define DELTA_CARRIAGE_OFFSET 22.0 // mm #define DELTA_CARRIAGE_OFFSET 22.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET) + 1) #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 380 // get this value from auto calibrate #define DELTA_HEIGHT 380 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0 #define DELTA_PRINTABLE_RADIUS 140.0
@ -451,28 +451,28 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4) #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
#endif #endif
// After homing move down to a height where XY movement is unconstrained // After homing move down to a height where XY movement is unconstrained
#define DELTA_HOME_TO_SAFE_ZONE //#define DELTA_HOME_TO_SAFE_ZONE
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
#define DELTA_RADIUS_TRIM_TOWER_1 0.0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
#define DELTA_RADIUS_TRIM_TOWER_2 0.0 // measured in degrees anticlockwise looking from above the printer
#define DELTA_RADIUS_TRIM_TOWER_3 0.0 #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 // delta radius and diaginal rod adjustments measured in mm
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_1 0.0 //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
#endif #endif

19
Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
View file

@ -419,25 +419,6 @@
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS // Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
#if ENABLED(DELTA_AUTO_CALIBRATION)
/**
* Set the height short (H-10) with M665 Hx.xx.
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
* Run G33 Cx V3 (C2, C-2) with different values for C and R
* Take the average for R_FACTOR and maximum for H_FACTOR.
* Run the tests with default values!!!
*/
//#define DELTA_CALIBRATE_EXPERT_MODE
// Remove the comments of the folling 2 lines to overide default values
//#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
//#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
#endif
//=========================================================================== //===========================================================================
//=============================Additional Features=========================== //=============================Additional Features===========================
//=========================================================================== //===========================================================================

2
Marlin/serial.cpp
View file

@ -32,3 +32,5 @@ void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P);
void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); } void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); } void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); } void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_spaces(uint8_t count) { while (count--) MYSERIAL.write(' '); }

5
Marlin/serial.h
View file

@ -84,6 +84,11 @@ FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopa
FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); } FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); }
FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(s_P, (unsigned long)v); } FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(s_P, (unsigned long)v); }
void serial_spaces(uint8_t count);
#define SERIAL_ECHO_SP(C) serial_spaces(C)
#define SERIAL_ERROR_SP(C) serial_spaces(C)
#define SERIAL_PROTOCOL_SP(C) serial_spaces(C)
// //
// Functions for serial printing from PROGMEM. (Saves loads of SRAM.) // Functions for serial printing from PROGMEM. (Saves loads of SRAM.)
// //

20
Marlin/ultralcd.cpp
View file

@ -1816,20 +1816,14 @@ void kill_screen(const char* lcd_msg) {
lcd_goto_screen(_lcd_calibrate_homing); lcd_goto_screen(_lcd_calibrate_homing);
} }
#if ENABLED(DELTA_AUTO_CALIBRATION)
#define _DELTA_TOWER_MOVE_RADIUS DELTA_CALIBRATION_RADIUS
#else
#define _DELTA_TOWER_MOVE_RADIUS DELTA_PRINTABLE_RADIUS
#endif
// Move directly to the tower position with uninterpolated moves // Move directly to the tower position with uninterpolated moves
// If we used interpolated moves it would cause this to become re-entrant // If we used interpolated moves it would cause this to become re-entrant
void _goto_tower_pos(const float &a) { void _goto_tower_pos(const float &a) {
current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5; current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5;
line_to_current(Z_AXIS); line_to_current(Z_AXIS);
current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : sin(a) * -(_DELTA_TOWER_MOVE_RADIUS); current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : cos(RADIANS(a)) * delta_calibration_radius;
current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : cos(a) * (_DELTA_TOWER_MOVE_RADIUS); current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : sin(RADIANS(a)) * delta_calibration_radius;
line_to_current(Z_AXIS); line_to_current(Z_AXIS);
current_position[Z_AXIS] = 4.0; current_position[Z_AXIS] = 4.0;
@ -1841,17 +1835,17 @@ void kill_screen(const char* lcd_msg) {
lcd_goto_screen(lcd_move_z); lcd_goto_screen(lcd_move_z);
} }
void _goto_tower_x() { _goto_tower_pos(RADIANS(120)); } void _goto_tower_x() { _goto_tower_pos(210); }
void _goto_tower_y() { _goto_tower_pos(RADIANS(240)); } void _goto_tower_y() { _goto_tower_pos(330); }
void _goto_tower_z() { _goto_tower_pos(0); } void _goto_tower_z() { _goto_tower_pos(90); }
void _goto_center() { _goto_tower_pos(-1); } void _goto_center() { _goto_tower_pos(-1); }
void lcd_delta_calibrate_menu() { void lcd_delta_calibrate_menu() {
START_MENU(); START_MENU();
MENU_BACK(MSG_MAIN); MENU_BACK(MSG_MAIN);
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33 C")); MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 C1")); MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1 A"));
#endif #endif
MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home); MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
if (axis_homed[Z_AXIS]) { if (axis_homed[Z_AXIS]) {