189 lines
6 KiB
C++
189 lines
6 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../inc/MarlinConfig.h"
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#if EITHER(NOZZLE_CLEAN_FEATURE, NOZZLE_PARK_FEATURE)
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#include "nozzle.h"
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#include "../Marlin.h"
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#include "../module/motion.h"
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#include "point_t.h"
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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/**
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* @brief Stroke clean pattern
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* @details Wipes the nozzle back and forth in a linear movement
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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*/
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void Nozzle::stroke(const point_t &start, const point_t &end, const uint8_t &strokes) {
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
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#endif
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// Move to the starting point
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do_blocking_move_to(start.x, start.y, start.z);
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// Start the stroke pattern
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for (uint8_t i = 0; i < (strokes >> 1); i++) {
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do_blocking_move_to_xy(end.x, end.y);
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do_blocking_move_to_xy(start.x, start.y);
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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do_blocking_move_to(ix, iy, iz);
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#endif
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}
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/**
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* @brief Zig-zag clean pattern
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* @details Apply a zig-zag cleaning pattern
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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* @param objects number of triangles to do
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*/
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void Nozzle::zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) {
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const float diffx = end.x - start.x, diffy = end.y - start.y;
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if (!diffx || !diffy) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
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#endif
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do_blocking_move_to(start.x, start.y, start.z);
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const uint8_t zigs = objects << 1;
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const bool horiz = ABS(diffx) >= ABS(diffy); // Do a horizontal wipe?
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const float P = (horiz ? diffx : diffy) / zigs; // Period of each zig / zag
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const point_t *side;
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for (uint8_t j = 0; j < strokes; j++) {
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for (int8_t i = 0; i < zigs; i++) {
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side = (i & 1) ? &end : &start;
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if (horiz)
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do_blocking_move_to_xy(start.x + i * P, side->y);
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else
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do_blocking_move_to_xy(side->x, start.y + i * P);
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}
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for (int8_t i = zigs; i >= 0; i--) {
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side = (i & 1) ? &end : &start;
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if (horiz)
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do_blocking_move_to_xy(start.x + i * P, side->y);
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else
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do_blocking_move_to_xy(side->x, start.y + i * P);
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}
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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do_blocking_move_to(ix, iy, iz);
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#endif
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}
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/**
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* @brief Circular clean pattern
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* @details Apply a circular cleaning pattern
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*
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* @param start point_t defining the middle of circle
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* @param strokes number of strokes to execute
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* @param radius radius of circle
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*/
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void Nozzle::circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) {
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if (strokes == 0) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
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#endif
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do_blocking_move_to(start.x, start.y, start.z);
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for (uint8_t s = 0; s < strokes; s++)
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for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++)
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do_blocking_move_to_xy(
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middle.x + sin((RADIANS(360) / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius,
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middle.y + cos((RADIANS(360) / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius
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);
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// Let's be safe
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do_blocking_move_to_xy(start.x, start.y);
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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do_blocking_move_to(ix, iy, iz);
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#endif
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}
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/**
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* @brief Clean the nozzle
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* @details Starts the selected clean procedure pattern
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*
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* @param pattern one of the available patterns
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* @param argument depends on the cleaning pattern
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*/
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void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects/*=0*/) {
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switch (pattern) {
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case 1:
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zigzag(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes, objects);
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break;
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case 2:
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circle(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
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break;
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default:
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stroke(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes);
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}
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}
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#endif // NOZZLE_CLEAN_FEATURE
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#if ENABLED(NOZZLE_PARK_FEATURE)
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void Nozzle::park(const uint8_t z_action, const point_t &park /*= NOZZLE_PARK_POINT*/) {
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const float fr_xy = NOZZLE_PARK_XY_FEEDRATE;
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const float fr_z = NOZZLE_PARK_Z_FEEDRATE;
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switch (z_action) {
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case 1: // Go to Z-park height
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do_blocking_move_to_z(park.z, fr_z);
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break;
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case 2: // Raise by Z-park height
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do_blocking_move_to_z(_MIN(current_position[Z_AXIS] + park.z, Z_MAX_POS), fr_z);
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break;
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default: // Raise to at least the Z-park height
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do_blocking_move_to_z(_MAX(park.z, current_position[Z_AXIS]), fr_z);
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}
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do_blocking_move_to_xy(park.x, park.y, fr_xy);
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report_current_position();
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}
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#endif // NOZZLE_PARK_FEATURE
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#endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE
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