From a6feb58837fa97167f5340abaa7b1175ca858450 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 16 Mar 2018 00:46:42 -0500 Subject: [PATCH] Delta support for multiple hotends with offsets (#10118) --- Marlin/src/gcode/calibrate/G28.cpp | 6 ++++-- Marlin/src/gcode/config/M218.cpp | 5 +++++ Marlin/src/gcode/feature/pause/M125.cpp | 2 +- Marlin/src/gcode/feature/pause/M600.cpp | 2 +- Marlin/src/module/delta.cpp | 27 +++++++++++++++++-------- Marlin/src/module/motion.cpp | 2 +- Marlin/src/module/tool_change.cpp | 17 ++++++++++++++-- 7 files changed, 46 insertions(+), 15 deletions(-) diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 44950b786..e15ddb5e5 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -191,7 +191,9 @@ void GcodeSuite::G28(const bool always_home_all) { // Always home with tool 0 active #if HOTENDS > 1 - const uint8_t old_tool_index = active_extruder; + #if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE) + const uint8_t old_tool_index = active_extruder; + #endif tool_change(0, 0, true); #endif @@ -331,7 +333,7 @@ void GcodeSuite::G28(const bool always_home_all) { clean_up_after_endstop_or_probe_move(); // Restore the active tool after homing - #if HOTENDS > 1 + #if HOTENDS > 1 && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)) #if ENABLED(PARKING_EXTRUDER) #define NO_FETCH false // fetch the previous toolhead #else diff --git a/Marlin/src/gcode/config/M218.cpp b/Marlin/src/gcode/config/M218.cpp index 144abb289..80e04694f 100644 --- a/Marlin/src/gcode/config/M218.cpp +++ b/Marlin/src/gcode/config/M218.cpp @@ -70,6 +70,11 @@ void GcodeSuite::M218() { } SERIAL_EOL(); } + + #if ENABLED(DELTA) + if (target_extruder == active_extruder) + do_blocking_move_to_xy(current_position[X_AXIS], current_position[Y_AXIS], planner.max_feedrate_mm_s[X_AXIS]); + #endif } #endif // HOTENDS > 1 diff --git a/Marlin/src/gcode/feature/pause/M125.cpp b/Marlin/src/gcode/feature/pause/M125.cpp index 735f40f3a..f25b0907d 100644 --- a/Marlin/src/gcode/feature/pause/M125.cpp +++ b/Marlin/src/gcode/feature/pause/M125.cpp @@ -65,7 +65,7 @@ void GcodeSuite::M125() { // Lift Z axis if (parser.seenval('Z')) park_point.z = parser.linearval('Z'); - #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) + #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA) park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0); park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0); #endif diff --git a/Marlin/src/gcode/feature/pause/M600.cpp b/Marlin/src/gcode/feature/pause/M600.cpp index dd7a77359..2a34f5baa 100644 --- a/Marlin/src/gcode/feature/pause/M600.cpp +++ b/Marlin/src/gcode/feature/pause/M600.cpp @@ -87,7 +87,7 @@ void GcodeSuite::M600() { // Lift Z axis if (parser.seenval('Z')) park_point.z = parser.linearval('Z'); - #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) + #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA) park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0); park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0); #endif diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp index d93bbdc76..4c17bf901 100644 --- a/Marlin/src/module/delta.cpp +++ b/Marlin/src/module/delta.cpp @@ -115,18 +115,29 @@ void recalc_delta_settings() { } #endif -#define DELTA_DEBUG() do { \ - SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \ - SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \ - SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \ +#define DELTA_DEBUG(VAR) do { \ + SERIAL_ECHOPAIR("cartesian X:", VAR[X_AXIS]); \ + SERIAL_ECHOPAIR(" Y:", VAR[Y_AXIS]); \ + SERIAL_ECHOLNPAIR(" Z:", VAR[Z_AXIS]); \ SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \ SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \ SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \ }while(0) void inverse_kinematics(const float raw[XYZ]) { - DELTA_IK(raw); - // DELTA_DEBUG(); + #if HOTENDS > 1 + // Delta hotend offsets must be applied in Cartesian space with no "spoofing" + const float pos[XYZ] = { + raw[X_AXIS] - hotend_offset[X_AXIS][active_extruder], + raw[Y_AXIS] - hotend_offset[Y_AXIS][active_extruder], + raw[Z_AXIS] + }; + DELTA_IK(pos); + //DELTA_DEBUG(pos); + #else + DELTA_IK(raw); + //DELTA_DEBUG(raw); + #endif } /** @@ -136,10 +147,10 @@ void inverse_kinematics(const float raw[XYZ]) { float delta_safe_distance_from_top() { float cartesian[XYZ] = { 0, 0, 0 }; inverse_kinematics(cartesian); - float distance = delta[A_AXIS]; + float centered_extent = delta[A_AXIS]; cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS; inverse_kinematics(cartesian); - return FABS(distance - delta[A_AXIS]); + return FABS(centered_extent - delta[A_AXIS]); } /** diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index f3ec0dfe7..f38e7a610 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -610,7 +610,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, LOOP_XYZE(i) raw[i] += segment_distance[i]; - #if ENABLED(DELTA) + #if ENABLED(DELTA) && HOTENDS < 2 DELTA_IK(raw); // Delta can inline its kinematics #else inverse_kinematics(raw); diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index 83cff7a64..93a16442b 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -382,7 +382,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder], z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0); - // Always raise by some amount (destination copied from current_position earlier) + // Always raise by some amount current_position[Z_AXIS] += z_raise; planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); move_nozzle_servo(tmp_extruder); @@ -492,11 +492,24 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n // Tell the planner the new "current position" SYNC_PLAN_POSITION_KINEMATIC(); + #if ENABLED(DELTA) + //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function + // Do a small lift to avoid the workpiece in the move back (below) + const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1; + if (safe_to_move && !no_move && IsRunning()) { + ++current_position[Z_AXIS]; + planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); + } + #else + constexpr bool safe_to_move = true; + #endif + // Move to the "old position" (move the extruder into place) #if ENABLED(SWITCHING_NOZZLE) destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back" #endif - if (!no_move && IsRunning()) { + + if (safe_to_move && !no_move && IsRunning()) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination); #endif