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Cleanup Nozzle class, fix XY vs Z move order

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This commit is contained in:
Scott Lahteine 2017-11-03 20:44:56 -05:00
parent 2e33c3bdc2
commit be73d5cc08
3 changed files with 128 additions and 239 deletions
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287
Marlin/src/libs/nozzle.cpp
View file

@ -20,246 +20,167 @@
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
#include "nozzle.h"
#include "../Marlin.h"
#include "../module/motion.h"
#include "point_t.h"
#if ENABLED(DELTA)
#include "../module/delta.h"
#endif
/**
* @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param strokes number of strokes to execute
*/
void Nozzle::stroke(
_UNUSED point_t const &start,
_UNUSED point_t const &end,
_UNUSED uint8_t const &strokes
) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
#if ENABLED(NOZZLE_CLEAN_FEATURE)
/**
* @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param strokes number of strokes to execute
*/
void Nozzle::stroke(const point_t &start, const point_t &end, const uint8_t &strokes) {
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Store the current coords
point_t const initial = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif // NOZZLE_CLEAN_GOBACK
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
#endif
// Move to the starting point
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_z(start.z);
do_blocking_move_to(start.x, start.y, start.z);
// Start the stroke pattern
for (uint8_t i = 0; i < (strokes >>1); i++) {
for (uint8_t i = 0; i < (strokes >> 1); i++) {
do_blocking_move_to_xy(end.x, end.y);
do_blocking_move_to_xy(start.x, start.y);
}
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Move the nozzle to the initial point
do_blocking_move_to(initial.x, initial.y, initial.z);
#endif // NOZZLE_CLEAN_GOBACK
do_blocking_move_to(ix, iy, iz);
#endif
}
#endif // NOZZLE_CLEAN_FEATURE
}
/**
* @brief Zig-zag clean pattern
* @details Apply a zig-zag cleanning pattern
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param strokes number of strokes to execute
* @param objects number of objects to create
*/
void Nozzle::zigzag(
_UNUSED point_t const &start,
_UNUSED point_t const &end,
_UNUSED uint8_t const &strokes,
_UNUSED uint8_t const &objects
) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
const float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length, // [twice the] Amplitude
P = (nozzle_clean_horizontal ? nozzle_clean_length : nozzle_clean_height) / (objects << 1); // Period
// Don't allow impossible triangles
if (A <= 0.0f || P <= 0.0f ) return;
/**
* @brief Zig-zag clean pattern
* @details Apply a zig-zag cleaning pattern
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param strokes number of strokes to execute
* @param objects number of triangles to do
*/
void Nozzle::zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) {
const float diffx = end.x - start.x, diffy = end.y - start.y;
if (!diffx || !diffy) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Store the current coords
point_t const initial = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif // NOZZLE_CLEAN_GOBACK
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
#endif
do_blocking_move_to(start.x, start.y, start.z);
const uint8_t zigs = objects << 1;
const bool horiz = FABS(diffx) >= FABS(diffy); // Do a horizontal wipe?
const float P = (horiz ? diffx : diffy) / zigs; // Period of each zig / zag
const point_t *side;
for (uint8_t j = 0; j < strokes; j++) {
for (uint8_t i = 0; i < (objects << 1); i++) {
float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
do_blocking_move_to_xy(x, y);
if (i == 0) do_blocking_move_to_z(start.z);
for (int8_t i = 0; i < zigs; i++) {
side = (i & 1) ? &end : &start;
if (horiz)
do_blocking_move_to_xy(start.x + i * P, side->y);
else
do_blocking_move_to_xy(side->x, start.y + i * P);
}
for (int i = (objects << 1); i > -1; i--) {
float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
do_blocking_move_to_xy(x, y);
for (int8_t i = zigs; i >= 0; i--) {
side = (i & 1) ? &end : &start;
if (horiz)
do_blocking_move_to_xy(start.x + i * P, side->y);
else
do_blocking_move_to_xy(side->x, start.y + i * P);
}
}
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Move the nozzle to the initial point
do_blocking_move_to_z(initial.z);
do_blocking_move_to_xy(initial.x, initial.y);
#endif // NOZZLE_CLEAN_GOBACK
do_blocking_move_to(ix, iy, iz);
#endif
}
#endif // NOZZLE_CLEAN_FEATURE
}
/**
* @brief Circular clean pattern
* @details Apply a circular cleaning pattern
*
* @param start point_t defining the middle of circle
* @param strokes number of strokes to execute
* @param radius radius of circle
*/
void Nozzle::circle(
_UNUSED point_t const &start,
_UNUSED point_t const &middle,
_UNUSED uint8_t const &strokes,
_UNUSED float const &radius
) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
/**
* @brief Circular clean pattern
* @details Apply a circular cleaning pattern
*
* @param start point_t defining the middle of circle
* @param strokes number of strokes to execute
* @param radius radius of circle
*/
void Nozzle::circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) {
if (strokes == 0) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Store the current coords
point_t const initial = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif // NOZZLE_CLEAN_GOBACK
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
#endif
if (start.z <= current_position[Z_AXIS]) {
// Order of movement is pretty darn important here
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_z(start.z);
}
else {
do_blocking_move_to_z(start.z);
do_blocking_move_to_xy(start.x, start.y);
}
do_blocking_move_to(start.x, start.y, start.z);
float x, y;
for (uint8_t s = 0; s < strokes; s++) {
for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++) {
x = middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
y = middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
do_blocking_move_to_xy(x, y);
}
}
for (uint8_t s = 0; s < strokes; s++)
for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++)
do_blocking_move_to_xy(
middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius,
middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius
);
// Let's be safe
do_blocking_move_to_xy(start.x, start.y);
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Move the nozzle to the initial point
if (start.z <= initial.z) {
// As above order is important
do_blocking_move_to_z(initial.z);
do_blocking_move_to_xy(initial.x, initial.y);
}
else {
do_blocking_move_to_xy(initial.x, initial.y);
do_blocking_move_to_z(initial.z);
}
#endif // NOZZLE_CLEAN_GOBACK
#endif // NOZZLE_CLEAN_FEATURE
}
/**
* @brief Clean the nozzle
* @details Starts the selected clean procedure pattern
*
* @param pattern one of the available patterns
* @param argument depends on the cleaning pattern
*/
void Nozzle::clean(
_UNUSED uint8_t const &pattern,
_UNUSED uint8_t const &strokes,
_UNUSED float const &radius,
_UNUSED uint8_t const &objects
) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
#if ENABLED(DELTA)
if (current_position[Z_AXIS] > delta_clip_start_height)
do_blocking_move_to_z(delta_clip_start_height);
do_blocking_move_to(ix, iy, iz);
#endif
}
/**
* @brief Clean the nozzle
* @details Starts the selected clean procedure pattern
*
* @param pattern one of the available patterns
* @param argument depends on the cleaning pattern
*/
void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects/*=0*/) {
switch (pattern) {
case 1:
Nozzle::zigzag(
NOZZLE_CLEAN_START_POINT,
NOZZLE_CLEAN_END_POINT, strokes, objects);
zigzag(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes, objects);
break;
case 2:
Nozzle::circle(
NOZZLE_CLEAN_START_POINT,
NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
circle(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
break;
default:
Nozzle::stroke(
NOZZLE_CLEAN_START_POINT,
NOZZLE_CLEAN_END_POINT, strokes);
stroke(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes);
}
#endif // NOZZLE_CLEAN_FEATURE
}
}
void Nozzle::park(
_UNUSED uint8_t const &z_action
) {
#if ENABLED(NOZZLE_PARK_FEATURE)
float const z = current_position[Z_AXIS];
point_t const park = NOZZLE_PARK_POINT;
#endif // NOZZLE_CLEAN_FEATURE
switch(z_action) {
case 1: // force Z-park height
#if ENABLED(NOZZLE_PARK_FEATURE)
void Nozzle::park(const uint8_t &z_action) {
const point_t park = NOZZLE_PARK_POINT;
switch (z_action) {
case 1: // Go to Z-park height
do_blocking_move_to_z(park.z);
break;
case 2: // Raise by Z-park height
do_blocking_move_to_z(
(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
do_blocking_move_to_z(min(current_position[Z_AXIS] + park.z, Z_MAX_POS));
break;
default: // Raise to Z-park height if lower
if (current_position[Z_AXIS] < park.z)
do_blocking_move_to_z(park.z);
default: // Raise to at least the Z-park height
do_blocking_move_to_z(max(park.z, current_position[Z_AXIS]));
}
do_blocking_move_to_xy(park.x, park.y);
}
#endif // NOZZLE_PARK_FEATURE
}
#endif // NOZZLE_PARK_FEATURE
#endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE

53
Marlin/src/libs/nozzle.h
View file

@ -26,14 +26,6 @@
#include "../inc/MarlinConfig.h"
#include "point_t.h"
#if ENABLED(NOZZLE_CLEAN_FEATURE)
constexpr float nozzle_clean_start_point[4] = NOZZLE_CLEAN_START_POINT,
nozzle_clean_end_point[4] = NOZZLE_CLEAN_END_POINT,
nozzle_clean_length = FABS(nozzle_clean_start_point[X_AXIS] - nozzle_clean_end_point[X_AXIS]), //abs x size of wipe pad
nozzle_clean_height = FABS(nozzle_clean_start_point[Y_AXIS] - nozzle_clean_end_point[Y_AXIS]); //abs y size of wipe pad
constexpr bool nozzle_clean_horizontal = nozzle_clean_length >= nozzle_clean_height; //whether to zig-zag horizontally or vertically
#endif // NOZZLE_CLEAN_FEATURE
/**
* @brief Nozzle class
*
@ -41,6 +33,9 @@
*/
class Nozzle {
private:
#if ENABLED(NOZZLE_CLEAN_FEATURE)
/**
* @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement
@ -49,11 +44,7 @@ class Nozzle {
* @param end point_t defining the ending point
* @param strokes number of strokes to execute
*/
static void stroke(
_UNUSED point_t const &start,
_UNUSED point_t const &end,
_UNUSED uint8_t const &strokes
) _Os;
static void stroke(const point_t &start, const point_t &end, const uint8_t &strokes) _Os;
/**
* @brief Zig-zag clean pattern
@ -64,12 +55,7 @@ class Nozzle {
* @param strokes number of strokes to execute
* @param objects number of objects to create
*/
static void zigzag(
_UNUSED point_t const &start,
_UNUSED point_t const &end,
_UNUSED uint8_t const &strokes,
_UNUSED uint8_t const &objects
) _Os;
static void zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) _Os;
/**
* @brief Circular clean pattern
@ -79,14 +65,14 @@ class Nozzle {
* @param strokes number of strokes to execute
* @param radius radius of circle
*/
static void circle(
_UNUSED point_t const &start,
_UNUSED point_t const &middle,
_UNUSED uint8_t const &strokes,
_UNUSED float const &radius
) _Os;
static void circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) _Os;
#endif // NOZZLE_CLEAN_FEATURE
public:
#if ENABLED(NOZZLE_CLEAN_FEATURE)
/**
* @brief Clean the nozzle
* @details Starts the selected clean procedure pattern
@ -94,16 +80,15 @@ class Nozzle {
* @param pattern one of the available patterns
* @param argument depends on the cleaning pattern
*/
static void clean(
_UNUSED uint8_t const &pattern,
_UNUSED uint8_t const &strokes,
_UNUSED float const &radius,
_UNUSED uint8_t const &objects = 0
) _Os;
static void clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects=0) _Os;
static void park(
_UNUSED uint8_t const &z_action
) _Os;
#endif // NOZZLE_CLEAN_FEATURE
#if ENABLED(NOZZLE_PARK_FEATURE)
static void park(const uint8_t &z_action) _Os;
#endif
};
#endif // __NOZZLE_H__

27
Marlin/src/libs/point_t.h
View file

@ -31,19 +31,9 @@
* @param x The x-coordinate of the point.
* @param y The y-coordinate of the point.
* @param z The z-coordinate of the point.
* @param e The e-coordinate of the point.
*/
struct point_t {
float x, y, z, e;
/**
* @brief Two dimensional point constructor
*
* @param x The x-coordinate of the point.
* @param y The y-coordinate of the point.
*/
point_t(float const x, float const y)
: point_t(x, y, NAN, NAN) {}
float x, y, z;
/**
* @brief Three dimensional point constructor
@ -52,23 +42,16 @@ struct point_t {
* @param y The y-coordinate of the point.
* @param z The z-coordinate of the point.
*/
point_t(float const x, float const y, float const z)
: point_t(x, y, z, NAN) {}
point_t(const float x, const float y, const float z) : x(x), y(y), z(z) {}
/**
* @brief Tree dimensional point constructor with extrusion length
* @brief Two dimensional point constructor
*
* @param x The x-coordinate of the point.
* @param y The y-coordinate of the point.
* @param z The z-coordinate of the point.
* @param e The e-coordinate of the point.
*/
point_t(float const x, float const y, float const z, float const e) {
this->x = x;
this->y = y;
this->z = z;
this->e = e;
}
point_t(const float x, const float y) : point_t(x, y, NAN) {}
};
#endif // __POINT_T__