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Cleanup Nozzle class, fix XY vs Z move order

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master
Scott Lahteine 7 years ago
parent 95296191a2
commit 267c247da7
3 changed files with 157 additions and 245 deletions
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257
Marlin/nozzle.cpp
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@ -1,9 +1,37 @@
/**
* 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 "nozzle.h"
#include "Marlin.h" #include "Marlin.h"
#include "point_t.h" #include "point_t.h"
/** #if ENABLED(NOZZLE_CLEAN_FEATURE)
/**
* @brief Stroke clean pattern * @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement * @details Wipes the nozzle back and forth in a linear movement
* *
@ -11,101 +39,71 @@
* @param end point_t defining the ending point * @param end point_t defining the ending point
* @param strokes number of strokes to execute * @param strokes number of strokes to execute
*/ */
void Nozzle::stroke( void Nozzle::stroke(const point_t &start, const point_t &end, const uint8_t &strokes) {
_UNUSED point_t const &start,
_UNUSED point_t const &end,
_UNUSED uint8_t const &strokes
) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
#if ENABLED(NOZZLE_CLEAN_GOBACK) #if ENABLED(NOZZLE_CLEAN_GOBACK)
// Store the current coords const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
point_t const initial = { #endif
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif // NOZZLE_CLEAN_GOBACK
// Move to the starting point // Move to the starting point
do_blocking_move_to_xy(start.x, start.y); do_blocking_move_to(start.x, start.y, start.z);
do_blocking_move_to_z(start.z);
// Start the stroke pattern // 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(end.x, end.y);
do_blocking_move_to_xy(start.x, start.y); do_blocking_move_to_xy(start.x, start.y);
} }
#if ENABLED(NOZZLE_CLEAN_GOBACK) #if ENABLED(NOZZLE_CLEAN_GOBACK)
// Move the nozzle to the initial point do_blocking_move_to(ix, iy, iz);
do_blocking_move_to(initial.x, initial.y, initial.z); #endif
#endif // NOZZLE_CLEAN_GOBACK }
#endif // NOZZLE_CLEAN_FEATURE
}
/** /**
* @brief Zig-zag clean pattern * @brief Zig-zag clean pattern
* @details Apply a zig-zag cleanning pattern * @details Apply a zig-zag cleaning pattern
* *
* @param start point_t defining the starting point * @param start point_t defining the starting point
* @param end point_t defining the ending point * @param end point_t defining the ending point
* @param strokes number of strokes to execute * @param strokes number of strokes to execute
* @param objects number of objects to create * @param objects number of triangles to do
*/ */
void Nozzle::zigzag( void Nozzle::zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) {
_UNUSED point_t const &start, const float diffx = end.x - start.x, diffy = end.y - start.y;
_UNUSED point_t const &end, if (!diffx || !diffy) return;
_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;
#if ENABLED(NOZZLE_CLEAN_GOBACK) #if ENABLED(NOZZLE_CLEAN_GOBACK)
// Store the current coords const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
point_t const initial = { #endif
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif // NOZZLE_CLEAN_GOBACK
for (uint8_t j = 0; j < strokes; j++) { do_blocking_move_to(start.x, start.y, start.z);
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_xy(x, y); const uint8_t zigs = objects << 1;
if (i == 0) do_blocking_move_to_z(start.z); 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 (int8_t i = zigs; i >= 0; i--) {
for (int i = (objects << 1); i > -1; i--) { side = (i & 1) ? &end : &start;
float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) ); if (horiz)
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(start.x + i * P, side->y);
else
do_blocking_move_to_xy(x, y); do_blocking_move_to_xy(side->x, start.y + i * P);
} }
} }
#if ENABLED(NOZZLE_CLEAN_GOBACK) #if ENABLED(NOZZLE_CLEAN_GOBACK)
// Move the nozzle to the initial point do_blocking_move_to(ix, iy, iz);
do_blocking_move_to_z(initial.z); #endif
do_blocking_move_to_xy(initial.x, initial.y); }
#endif // NOZZLE_CLEAN_GOBACK
#endif // NOZZLE_CLEAN_FEATURE
}
/** /**
* @brief Circular clean pattern * @brief Circular clean pattern
* @details Apply a circular cleaning pattern * @details Apply a circular cleaning pattern
* *
@ -113,126 +111,75 @@ void Nozzle::zigzag(
* @param strokes number of strokes to execute * @param strokes number of strokes to execute
* @param radius radius of circle * @param radius radius of circle
*/ */
void Nozzle::circle( void Nozzle::circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) {
_UNUSED point_t const &start,
_UNUSED point_t const &middle,
_UNUSED uint8_t const &strokes,
_UNUSED float const &radius
) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
if (strokes == 0) return; if (strokes == 0) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK) #if ENABLED(NOZZLE_CLEAN_GOBACK)
// Store the current coords const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
point_t const initial = { #endif
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);
}
float x, y; do_blocking_move_to(start.x, start.y, start.z);
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_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 // Let's be safe
do_blocking_move_to_xy(start.x, start.y); do_blocking_move_to_xy(start.x, start.y);
#if ENABLED(NOZZLE_CLEAN_GOBACK) #if ENABLED(NOZZLE_CLEAN_GOBACK)
// Move the nozzle to the initial point do_blocking_move_to(ix, iy, iz);
if (start.z <= initial.z) { #endif
// 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 * @brief Clean the nozzle
* @details Starts the selected clean procedure pattern * @details Starts the selected clean procedure pattern
* *
* @param pattern one of the available patterns * @param pattern one of the available patterns
* @param argument depends on the cleaning pattern * @param argument depends on the cleaning pattern
*/ */
void Nozzle::clean( void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects/*=0*/) {
_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);
#endif
switch (pattern) { switch (pattern) {
case 1: case 1:
Nozzle::zigzag( zigzag(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes, objects);
NOZZLE_CLEAN_START_POINT,
NOZZLE_CLEAN_END_POINT, strokes, objects);
break; break;
case 2: case 2:
Nozzle::circle( circle(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
NOZZLE_CLEAN_START_POINT,
NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
break; break;
default: default:
Nozzle::stroke( stroke(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes);
NOZZLE_CLEAN_START_POINT, }
NOZZLE_CLEAN_END_POINT, strokes);
} }
#endif // NOZZLE_CLEAN_FEATURE
} #endif // NOZZLE_CLEAN_FEATURE
void Nozzle::park( #if ENABLED(NOZZLE_PARK_FEATURE)
_UNUSED uint8_t const &z_action
) { void Nozzle::park(const uint8_t &z_action) {
#if ENABLED(NOZZLE_PARK_FEATURE) const point_t park = NOZZLE_PARK_POINT;
float const z = current_position[Z_AXIS];
point_t const park = NOZZLE_PARK_POINT; switch (z_action) {
case 1: // Go to Z-park height
switch(z_action) {
case 1: // force Z-park height
do_blocking_move_to_z(park.z); do_blocking_move_to_z(park.z);
break; break;
case 2: // Raise by Z-park height case 2: // Raise by Z-park height
do_blocking_move_to_z( do_blocking_move_to_z(min(current_position[Z_AXIS] + park.z, Z_MAX_POS));
(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
break; break;
default: // Raise to Z-park height if lower default: // Raise to at least the Z-park height
if (current_position[Z_AXIS] < park.z) do_blocking_move_to_z(max(park.z, current_position[Z_AXIS]));
do_blocking_move_to_z(park.z);
} }
do_blocking_move_to_xy(park.x, park.y); do_blocking_move_to_xy(park.x, park.y);
}
#endif // NOZZLE_PARK_FEATURE
#endif // NOZZLE_PARK_FEATURE #endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE
}

57
Marlin/nozzle.h
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@ -26,14 +26,6 @@
#include "Marlin.h" #include "Marlin.h"
#include "point_t.h" #include "point_t.h"
#if ENABLED(NOZZLE_CLEAN_FEATURE)
constexpr float nozzle_clean_start_point[4] = NOZZLE_CLEAN_START_POINT,
nozzle_clean_end_point[4] = NOZZLE_CLEAN_END_POINT,
nozzle_clean_length = FABS(nozzle_clean_start_point[X_AXIS] - nozzle_clean_end_point[X_AXIS]), //abs x size of wipe pad
nozzle_clean_height = FABS(nozzle_clean_start_point[Y_AXIS] - nozzle_clean_end_point[Y_AXIS]); //abs y size of wipe pad
constexpr bool nozzle_clean_horizontal = nozzle_clean_length >= nozzle_clean_height; //whether to zig-zag horizontally or vertically
#endif // NOZZLE_CLEAN_FEATURE
/** /**
* @brief Nozzle class * @brief Nozzle class
* *
@ -41,6 +33,9 @@
*/ */
class Nozzle { class Nozzle {
private: private:
#if ENABLED(NOZZLE_CLEAN_FEATURE)
/** /**
* @brief Stroke clean pattern * @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement * @details Wipes the nozzle back and forth in a linear movement
@ -49,11 +44,7 @@ class Nozzle {
* @param end point_t defining the ending point * @param end point_t defining the ending point
* @param strokes number of strokes to execute * @param strokes number of strokes to execute
*/ */
static void stroke( static void stroke(const point_t &start, const point_t &end, const uint8_t &strokes) _Os;
_UNUSED point_t const &start,
_UNUSED point_t const &end,
_UNUSED uint8_t const &strokes
) _Os;
/** /**
* @brief Zig-zag clean pattern * @brief Zig-zag clean pattern
@ -64,12 +55,7 @@ class Nozzle {
* @param strokes number of strokes to execute * @param strokes number of strokes to execute
* @param objects number of objects to create * @param objects number of objects to create
*/ */
static void zigzag( static void zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) _Os;
_UNUSED point_t const &start,
_UNUSED point_t const &end,
_UNUSED uint8_t const &strokes,
_UNUSED uint8_t const &objects
) _Os;
/** /**
* @brief Circular clean pattern * @brief Circular clean pattern
@ -79,14 +65,14 @@ class Nozzle {
* @param strokes number of strokes to execute * @param strokes number of strokes to execute
* @param radius radius of circle * @param radius radius of circle
*/ */
static void circle( static void circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) _Os;
_UNUSED point_t const &start,
_UNUSED point_t const &middle, #endif // NOZZLE_CLEAN_FEATURE
_UNUSED uint8_t const &strokes,
_UNUSED float const &radius
) _Os;
public: public:
#if ENABLED(NOZZLE_CLEAN_FEATURE)
/** /**
* @brief Clean the nozzle * @brief Clean the nozzle
* @details Starts the selected clean procedure pattern * @details Starts the selected clean procedure pattern
@ -94,16 +80,15 @@ class Nozzle {
* @param pattern one of the available patterns * @param pattern one of the available patterns
* @param argument depends on the cleaning pattern * @param argument depends on the cleaning pattern
*/ */
static void clean( static void clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects=0) _Os;
_UNUSED uint8_t const &pattern,
_UNUSED uint8_t const &strokes, #endif // NOZZLE_CLEAN_FEATURE
_UNUSED float const &radius,
_UNUSED uint8_t const &objects = 0 #if ENABLED(NOZZLE_PARK_FEATURE)
) _Os;
static void park(const uint8_t &z_action) _Os;
static void park(
_UNUSED uint8_t const &z_action #endif
) _Os;
}; };
#endif #endif // __NOZZLE_H__

30
Marlin/point_t.h
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@ -31,22 +31,9 @@
* @param x The x-coordinate of the point. * @param x The x-coordinate of the point.
* @param y The y-coordinate of the point. * @param y The y-coordinate of the point.
* @param z The z-coordinate of the point. * @param z The z-coordinate of the point.
* @param e The e-coordinate of the point.
*/ */
struct point_t { struct point_t {
float x; float x, y, z;
float y;
float z;
float e;
/**
* @brief Two dimensional point constructor
*
* @param x The x-coordinate of the point.
* @param y The y-coordinate of the point.
*/
point_t(float const x, float const y)
: point_t(x, y, NAN, NAN) {}
/** /**
* @brief Three dimensional point constructor * @brief Three dimensional point constructor
@ -55,23 +42,16 @@ struct point_t {
* @param y The y-coordinate of the point. * @param y The y-coordinate of the point.
* @param z The z-coordinate of the point. * @param z The z-coordinate of the point.
*/ */
point_t(float const x, float const y, float const z) point_t(const float x, const float y, const float z) : x(x), y(y), z(z) {}
: point_t(x, y, z, NAN) {}
/** /**
* @brief Tree dimensional point constructor with extrusion length * @brief Two dimensional point constructor
* *
* @param x The x-coordinate of the point. * @param x The x-coordinate of the point.
* @param y The y-coordinate of the point. * @param y The y-coordinate of the point.
* @param z The z-coordinate of the point.
* @param e The e-coordinate of the point.
*/ */
point_t(float const x, float const y, float const z, float const e) { point_t(const float x, const float y) : point_t(x, y, NAN) {}
this->x = x;
this->y = y;
this->z = z;
this->e = e;
}
}; };
#endif // __POINT_T__ #endif // __POINT_T__

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