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Added support for delta tower angle corrections.

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master
Jimmy Envall 8 years ago committed by Scott Lahteine
parent 7c9e2e2a1a
commit 00b6b3da79
4 changed files with 48 additions and 15 deletions
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11
Marlin/Conditionals_post.h
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@ -630,7 +630,7 @@
#endif #endif
/** /**
* Delta radius/rod trimmers * Delta radius/rod trimmers/angle trimmers
*/ */
#if ENABLED(DELTA) #if ENABLED(DELTA)
#ifndef DELTA_RADIUS_TRIM_TOWER_1 #ifndef DELTA_RADIUS_TRIM_TOWER_1
@ -651,6 +651,15 @@
#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3 #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
#endif #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
#endif #endif
/** /**

3
Marlin/Marlin.h
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@ -335,6 +335,9 @@ float code_value_temp_diff();
delta_diagonal_rod_trim_tower_1, delta_diagonal_rod_trim_tower_1,
delta_diagonal_rod_trim_tower_2, delta_diagonal_rod_trim_tower_2,
delta_diagonal_rod_trim_tower_3, delta_diagonal_rod_trim_tower_3,
delta_tower_angle_trim_1,
delta_tower_angle_trim_2,
delta_tower_angle_trim_3,
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

30
Marlin/Marlin_main.cpp
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@ -564,12 +564,15 @@ static uint8_t target_extruder;
// these are the default values, can be overriden with M665 // these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS, float delta_radius = DELTA_RADIUS,
delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower delta_tower_angle_trim_1 = DELTA_TOWER_ANGLE_TRIM_1,
delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), delta_tower_angle_trim_2 = DELTA_TOWER_ANGLE_TRIM_2,
delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower delta_tower_angle_trim_3 = DELTA_TOWER_ANGLE_TRIM_3,
delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), delta_tower1_x = -sin( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
delta_tower3_x = 0, // back middle tower delta_tower1_y = -cos( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), delta_tower2_x = sin( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
delta_tower2_y = -cos( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
delta_tower3_x = -sin( ( delta_tower_angle_trim_3) * PI/180), // back middle tower
delta_tower3_y = cos( ( delta_tower_angle_trim_3) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
delta_diagonal_rod = DELTA_DIAGONAL_ROD, delta_diagonal_rod = DELTA_DIAGONAL_ROD,
delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1, delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1,
delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2, delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2,
@ -6337,6 +6340,9 @@ inline void gcode_M205() {
if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units(); if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units(); if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units(); if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
if (code_seen('I')) delta_tower_angle_trim_1 = code_value_linear_units();
if (code_seen('J')) delta_tower_angle_trim_2 = code_value_linear_units();
if (code_seen('K')) delta_tower_angle_trim_3 = code_value_linear_units();
recalc_delta_settings(delta_radius, delta_diagonal_rod); recalc_delta_settings(delta_radius, delta_diagonal_rod);
} }
/** /**
@ -9140,12 +9146,12 @@ 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_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower delta_tower1_x = -sin( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); delta_tower1_y = -cos( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower delta_tower2_x = sin( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); delta_tower2_y = -cos( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
delta_tower3_x = 0.0; // back middle tower delta_tower3_x = -sin( ( delta_tower_angle_trim_3) * PI/180), // back middle tower
delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3); delta_tower3_y = cos( ( delta_tower_angle_trim_3) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1); delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2); delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3); delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);

19
Marlin/configuration_store.cpp
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@ -84,7 +84,7 @@
* 308 G29 L F bilinear_start (int x2) * 308 G29 L F bilinear_start (int x2)
* 312 bed_level_grid[][] (float x9, up to float x256) +988 * 312 bed_level_grid[][] (float x9, up to float x256) +988
* *
* DELTA (if deltabot): 36 bytes * DELTA (if deltabot): 48 bytes
* 348 M666 XYZ endstop_adj (float x3) * 348 M666 XYZ endstop_adj (float x3)
* 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)
@ -92,6 +92,9 @@
* 372 M665 A delta_diagonal_rod_trim_tower_1 (float) * 372 M665 A delta_diagonal_rod_trim_tower_1 (float)
* 376 M665 B delta_diagonal_rod_trim_tower_2 (float) * 376 M665 B delta_diagonal_rod_trim_tower_2 (float)
* 380 M665 C delta_diagonal_rod_trim_tower_3 (float) * 380 M665 C delta_diagonal_rod_trim_tower_3 (float)
* 384 M665 I delta_tower_angle_trim_1 (float)
* 388 M665 J delta_tower_angle_trim_2 (float)
* 392 M665 K delta_tower_angle_trim_3 (float)
* *
* Z_DUAL_ENDSTOPS: 4 bytes * Z_DUAL_ENDSTOPS: 4 bytes
* 384 M666 Z z_endstop_adj (float) * 384 M666 Z z_endstop_adj (float)
@ -356,6 +359,9 @@ void Config_Postprocess() {
EEPROM_WRITE(delta_diagonal_rod_trim_tower_1); // 1 float EEPROM_WRITE(delta_diagonal_rod_trim_tower_1); // 1 float
EEPROM_WRITE(delta_diagonal_rod_trim_tower_2); // 1 float EEPROM_WRITE(delta_diagonal_rod_trim_tower_2); // 1 float
EEPROM_WRITE(delta_diagonal_rod_trim_tower_3); // 1 float EEPROM_WRITE(delta_diagonal_rod_trim_tower_3); // 1 float
EEPROM_WRITE(delta_tower_angle_trim_1); // 1 float
EEPROM_WRITE(delta_tower_angle_trim_2); // 1 float
EEPROM_WRITE(delta_tower_angle_trim_3); // 1 float
#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;
@ -681,6 +687,9 @@ void Config_Postprocess() {
EEPROM_READ(delta_diagonal_rod_trim_tower_1); // 1 float EEPROM_READ(delta_diagonal_rod_trim_tower_1); // 1 float
EEPROM_READ(delta_diagonal_rod_trim_tower_2); // 1 float EEPROM_READ(delta_diagonal_rod_trim_tower_2); // 1 float
EEPROM_READ(delta_diagonal_rod_trim_tower_3); // 1 float EEPROM_READ(delta_diagonal_rod_trim_tower_3); // 1 float
EEPROM_READ(delta_tower_angle_trim_1); // 1 float
EEPROM_READ(delta_tower_angle_trim_2); // 1 float
EEPROM_READ(delta_tower_angle_trim_3); // 1 float
#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;
@ -909,6 +918,9 @@ void Config_ResetDefault() {
delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1; delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2; delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3; delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
delta_tower_angle_trim_1 = DELTA_TOWER_ANGLE_TRIM_1;
delta_tower_angle_trim_2 = DELTA_TOWER_ANGLE_TRIM_2;
delta_tower_angle_trim_3 = DELTA_TOWER_ANGLE_TRIM_3;
#elif ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS)
z_endstop_adj = 0; z_endstop_adj = 0;
#endif #endif
@ -1179,7 +1191,7 @@ void Config_ResetDefault() {
SERIAL_EOL; SERIAL_EOL;
CONFIG_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Delta settings: L=diagonal_rod, R=radius, S=segments_per_second, ABC=diagonal_rod_trim_tower_[123]"); SERIAL_ECHOLNPGM("Delta settings: L=diagonal_rod, R=radius, S=segments_per_second, ABC=diagonal_rod_trim_tower_[123], IJK=tower_angle_trim[123]");
CONFIG_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod); SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod);
@ -1188,6 +1200,9 @@ void Config_ResetDefault() {
SERIAL_ECHOPAIR(" A", delta_diagonal_rod_trim_tower_1); SERIAL_ECHOPAIR(" A", delta_diagonal_rod_trim_tower_1);
SERIAL_ECHOPAIR(" B", delta_diagonal_rod_trim_tower_2); SERIAL_ECHOPAIR(" B", delta_diagonal_rod_trim_tower_2);
SERIAL_ECHOPAIR(" C", delta_diagonal_rod_trim_tower_3); SERIAL_ECHOPAIR(" C", delta_diagonal_rod_trim_tower_3);
SERIAL_ECHOPAIR(" I", delta_tower_angle_trim_1);
SERIAL_ECHOPAIR(" J", delta_tower_angle_trim_2);
SERIAL_ECHOPAIR(" K", delta_tower_angle_trim_3);
SERIAL_EOL; SERIAL_EOL;
#elif ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS)
CONFIG_ECHO_START; CONFIG_ECHO_START;

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