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Improves G12 zig-zag pattern

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master
João Brázio 8 years ago
parent b05a75655a
commit 021544f572
3 changed files with 61 additions and 34 deletions
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27
Marlin/Configuration.h
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@ -801,15 +801,20 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
// "strokes" i.e. back-and-forth movements between the starting and end
// points.
//
// P1: This starts a zig-zag pattern between (Xs, Ys) and (Xe, Ye), "S"
// defines the number of zig-zag triangles to be done. Each "side"
// cannot be less than 5mm. As an example "G12 P1 S3" will execute:
//
// /| /| /| (Xe, Ye)
// / | / | / |
// / | / | / |
// (Xs, Ys) / |/ |/ |
//
// P1: This starts a zig-zag pattern between (X0, Y0) and (X1, Y1), "T"
// defines the number of zig-zag triangles to be done. "S" defines the
// number of strokes aka one back-and-forth movement. As an example
// sending "G12 P1 S1 T3" will execute:
//
// --
// | (X0, Y1) | /\ /\ /\ | (X1, Y1)
// | | / \ / \ / \ |
// A | | / \ / \ / \ |
// | | / \ / \ / \ |
// | (X0, Y0) | / \/ \/ \ | (X1, Y0)
// -- +--------------------------------+
// |________|_________|_________|
// T1 T2 T3
//
// Caveats: End point Z should use the same value as Start point Z.
//
@ -820,8 +825,8 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
#if ENABLED(CLEAN_NOZZLE_FEATURE)
#define CLEAN_NOZZLE_STROKES 12
#define CLEAN_NOZZLE_START_PT { 30, 30, (Z_MIN_POS + 1), 0}
#define CLEAN_NOZZLE_END_PT {100, 60, (Z_MIN_POS + 1), 0}
#define CLEAN_NOZZLE_START_PT { 30, 30, (Z_MIN_POS + 5), 0}
#define CLEAN_NOZZLE_END_PT {100, 60, (Z_MIN_POS + 5), 0}
// { X, Y, Z, E}
#endif

5
Marlin/Marlin_main.cpp
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@ -2718,7 +2718,7 @@ inline void gcode_G4() {
#endif //FWRETRACT
#if ENABLED(CLEAN_NOZZLE_FEATURE) && ENABLED(AUTO_BED_LEVELING_FEATURE)
#include "clean_nozzle.h"
#include "nozzle.h"
inline void gcode_G12() {
// Don't allow nozzle cleaning without homing first
@ -2729,8 +2729,9 @@ inline void gcode_G4() {
uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
uint8_t const strokes = code_seen('S') ? code_value_ushort() : CLEAN_NOZZLE_STROKES;
uint8_t const objects = code_seen('T') ? code_value_ushort() : 3;
CleanNozzle::start(pattern, strokes);
Nozzle::clean(pattern, strokes, objects);
}
#endif

63
Marlin/clean_nozzle.h → Marlin/nozzle.h
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@ -27,13 +27,13 @@
#include "point_t.h"
/**
* @brief CleanNozzle class
* @brief Nozzle class
*
* @todo: Do not ignore the end.z value and allow XYZ movements
* @todo: Currently this feature needs AUTO_BED_LEVELING_FEATURE to be active
* due to the do_blocking_move_to*() functions.
*/
class CleanNozzle {
class Nozzle {
private:
/**
* @brief Stroke clean pattern
@ -62,26 +62,46 @@ class CleanNozzle {
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param triangles number of triangles to execute
* @param strokes number of strokes to execute
* @param objects number of objects to create
*/
static void zigzag(point_t const &start, point_t const &end, uint8_t const &triangles)
static void zigzag(point_t const &start,
point_t const &end, uint8_t const &strokes, uint8_t const &objects)
__attribute__ ((optimize ("Os"))) {
// Move to the starting point
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_z(start.z);
float A = fabs(end.y - start.y); // [twice the] Amplitude
float P = fabs(end.x - start.x) / (objects << 1); // Period
// Calculate the triangle side
float const a = fabs(end.x - start.x) / triangles;
// Don't allow impossible triangles
if (A <= 0.0f || P <= 0.0f ) return;
// Don't allow the sides (a, b) to be smaller than 5mm
if (a < 5 || fabs(end.y - start.y) < 5) return;
// Store the current coords
point_t const home = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
// Start the zig-zag pattern
for (uint8_t i = 0; i < triangles; i++) {
float const x = start.x + (a * (i + 1));
do_blocking_move_to_xy(x, end.y);
do_blocking_move_to_y(start.y);
for (uint8_t j = 0; j < strokes; j++) {
for (uint8_t i = 0; i < (objects << 1); i++) {
float const x = start.x + i * P;
float const y = start.y + (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 (int i = (objects << 1); i > -1; i--) {
float const x = start.x + i * P;
float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
do_blocking_move_to_xy(x, y);
}
}
// Move to home/start position
do_blocking_move_to_z(home.z);
do_blocking_move_to_xy(home.x, home.y);
}
public:
@ -92,19 +112,20 @@ class CleanNozzle {
* @param pattern one of the available patterns
* @param argument depends on the cleaning pattern
*/
static void start(uint8_t const &pattern, uint8_t const &argument)
static void clean(uint8_t const &pattern,
uint8_t const &strokes, uint8_t const &objects = 0)
__attribute__ ((optimize ("Os"))) {
switch (pattern) {
case 1:
CleanNozzle::zigzag(
Nozzle::zigzag(
CLEAN_NOZZLE_START_PT,
CLEAN_NOZZLE_END_PT, argument);
CLEAN_NOZZLE_END_PT, strokes, objects);
break;
default:
CleanNozzle::stroke(
Nozzle::stroke(
CLEAN_NOZZLE_START_PT,
CLEAN_NOZZLE_END_PT, argument);
CLEAN_NOZZLE_END_PT, strokes);
}
}
};
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