Scott Lahteine
7 years ago
parent
95296191a2
commit
267c247da7
@ -1,238 +1,185 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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 "MarlinConfig.h"
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#if ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
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#include "nozzle.h"
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#include "Marlin.h"
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#include "point_t.h"
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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(
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_UNUSED point_t const &start,
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_UNUSED point_t const &end,
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_UNUSED uint8_t const &strokes
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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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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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // 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_xy(start.x, start.y);
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do_blocking_move_to_z(start.z);
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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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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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// Move the nozzle to the initial point
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do_blocking_move_to(initial.x, initial.y, initial.z);
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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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 cleanning 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 objects to create
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*/
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void Nozzle::zigzag(
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_UNUSED point_t const &start,
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_UNUSED point_t const &end,
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_UNUSED uint8_t const &strokes,
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_UNUSED uint8_t const &objects
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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const float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length, // [twice the] Amplitude
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P = (nozzle_clean_horizontal ? nozzle_clean_length : nozzle_clean_height) / (objects << 1); // Period
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// Don't allow impossible triangles
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if (A <= 0.0f || P <= 0.0f ) return;
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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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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // 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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for (uint8_t j = 0; j < strokes; j++) {
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for (uint8_t i = 0; i < (objects << 1); i++) {
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
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do_blocking_move_to(start.x, start.y, start.z);
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do_blocking_move_to_xy(x, y);
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if (i == 0) do_blocking_move_to_z(start.z);
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const uint8_t zigs = objects << 1;
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const bool horiz = FABS(diffx) >= FABS(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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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 (int i = (objects << 1); i > -1; i--) {
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
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do_blocking_move_to_xy(x, y);
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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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// Move the nozzle to the initial point
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do_blocking_move_to_z(initial.z);
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do_blocking_move_to_xy(initial.x, initial.y);
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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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(
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_UNUSED point_t const &start,
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_UNUSED point_t const &middle,
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_UNUSED uint8_t const &strokes,
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_UNUSED float const &radius
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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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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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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if (start.z <= current_position[Z_AXIS]) {
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// Order of movement is pretty darn important here
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_z(start.z);
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}
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else {
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do_blocking_move_to_z(start.z);
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do_blocking_move_to_xy(start.x, start.y);
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}
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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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float x, y;
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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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x = middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
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y = middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
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do_blocking_move_to(start.x, start.y, start.z);
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do_blocking_move_to_xy(x, y);
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}
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}
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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((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius,
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middle.y + cos((M_2_PI / 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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// Move the nozzle to the initial point
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if (start.z <= initial.z) {
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// As above order is important
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do_blocking_move_to_z(initial.z);
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do_blocking_move_to_xy(initial.x, initial.y);
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}
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else {
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do_blocking_move_to_xy(initial.x, initial.y);
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do_blocking_move_to_z(initial.z);
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}
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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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(
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_UNUSED uint8_t const &pattern,
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_UNUSED uint8_t const &strokes,
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_UNUSED float const &radius,
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_UNUSED uint8_t const &objects
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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#if ENABLED(DELTA)
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if (current_position[Z_AXIS] > delta_clip_start_height)
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do_blocking_move_to_z(delta_clip_start_height);
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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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Nozzle::zigzag(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes, objects);
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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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Nozzle::circle(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
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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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Nozzle::stroke(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes);
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stroke(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes);
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}
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#endif // NOZZLE_CLEAN_FEATURE
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}
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void Nozzle::park(
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_UNUSED uint8_t const &z_action
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) {
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#if ENABLED(NOZZLE_PARK_FEATURE)
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float const z = current_position[Z_AXIS];
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point_t const park = NOZZLE_PARK_POINT;
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switch(z_action) {
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case 1: // force Z-park height
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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) {
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const point_t park = NOZZLE_PARK_POINT;
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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);
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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(
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(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
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do_blocking_move_to_z(min(current_position[Z_AXIS] + park.z, Z_MAX_POS));
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break;
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default: // Raise to Z-park height if lower
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if (current_position[Z_AXIS] < park.z)
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do_blocking_move_to_z(park.z);
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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]));
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}
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do_blocking_move_to_xy(park.x, park.y);
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}
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#endif // NOZZLE_PARK_FEATURE
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#endif // NOZZLE_PARK_FEATURE
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}
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#endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE
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