Merge pull request #8248 from thinkyhead/bf1_nozzle_cleanup
[1.1] Cleanup Nozzle class, fix XY vs Z move ordermaster
Scott Lahteine
7 years ago
committed by
GitHub
commit
1b870377b1
@ -1,238 +1,185 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "MarlinConfig.h"
|
||||
|
||||
#if ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
|
||||
|
||||
#include "nozzle.h"
|
||||
|
||||
#include "Marlin.h"
|
||||
#include "point_t.h"
|
||||
|
||||
/**
|
||||
* @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
|
||||
|
||||
#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;
|
||||
do_blocking_move_to(ix, iy, iz);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @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
|
||||
|
||||
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(start.x, start.y, start.z);
|
||||
|
||||
do_blocking_move_to_xy(x, y);
|
||||
if (i == 0) do_blocking_move_to_z(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
|
||||
point_t *side;
|
||||
for (uint8_t j = 0; j < strokes; j++) {
|
||||
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
|
||||
|
||||
#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)
|
||||
do_blocking_move_to(ix, iy, iz);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @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
|
||||
|
||||
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);
|
||||
}
|
||||
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
|
||||
#endif
|
||||
|
||||
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(start.x, start.y, start.z);
|
||||
|
||||
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;
|
||||
|
||||
switch(z_action) {
|
||||
case 1: // force Z-park height
|
||||
}
|
||||
|
||||
#endif // NOZZLE_CLEAN_FEATURE
|
||||
|
||||
#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
|
||||
|
||||
Loading…
Reference in new issue