From 4c8330c15cc0b490cf76c2371f0618e9eda638ad Mon Sep 17 00:00:00 2001 From: Shane Francis Date: Thu, 3 Sep 2015 00:38:47 -0500 Subject: [PATCH] Trim Adjustments for Delta Configurations --- Marlin/Marlin.h | 47 ++++++++++++++++++++++----------- Marlin/Marlin_main.cpp | 60 ++++++++++++++++++++++++++++-------------- 2 files changed, 72 insertions(+), 35 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 1496913dd..1acc4596d 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -260,23 +260,40 @@ extern float min_pos[3]; // axis[n].min_pos extern float max_pos[3]; // axis[n].max_pos extern bool axis_known_position[3]; // axis[n].is_known -#if ENABLED(DELTA) || ENABLED(SCARA) +#if ENABLED(DELTA) + extern float delta[3]; + extern float endstop_adj[3]; // axis[n].endstop_adj + extern float delta_radius; + #ifndef DELTA_RADIUS_TRIM_TOWER_1 + #define DELTA_RADIUS_TRIM_TOWER_1 0.0 + #endif + #ifndef DELTA_RADIUS_TRIM_TOWER_2 + #define DELTA_RADIUS_TRIM_TOWER_2 0.0 + #endif + #ifndef DELTA_RADIUS_TRIM_TOWER_3 + #define DELTA_RADIUS_TRIM_TOWER_3 0.0 + #endif + extern float delta_diagonal_rod; + #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_1 + #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0 + #endif + #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_2 + #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0 + #endif + #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3 + #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 + #endif + extern float delta_segments_per_second; void calculate_delta(float cartesian[3]); - #if ENABLED(DELTA) - extern float delta[3]; - extern float endstop_adj[3]; // axis[n].endstop_adj - extern float delta_radius; - extern float delta_diagonal_rod; - extern float delta_segments_per_second; - void recalc_delta_settings(float radius, float diagonal_rod); - #if ENABLED(AUTO_BED_LEVELING_FEATURE) - extern int delta_grid_spacing[2]; - void adjust_delta(float cartesian[3]); - #endif - #elif ENABLED(SCARA) - extern float axis_scaling[3]; // Build size scaling - void calculate_SCARA_forward_Transform(float f_scara[3]); + void recalc_delta_settings(float radius, float diagonal_rod); + #if ENABLED(AUTO_BED_LEVELING_FEATURE) + extern int delta_grid_spacing[2]; + void adjust_delta(float cartesian[3]); #endif +#elif ENABLED(SCARA) + extern float axis_scaling[3]; // Build size scaling + void calculate_delta(float cartesian[3]); + void calculate_SCARA_forward_Transform(float f_scara[3]); #endif #if ENABLED(Z_DUAL_ENDSTOPS) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 413880387..88a67473d 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -351,20 +351,31 @@ bool target_direction; #endif #if ENABLED(DELTA) + + #define TOWER_1 X_AXIS + #define TOWER_2 Y_AXIS + #define TOWER_3 Z_AXIS + float delta[3] = { 0 }; #define SIN_60 0.8660254037844386 #define COS_60 0.5 float endstop_adj[3] = { 0 }; // these are the default values, can be overriden with M665 float delta_radius = DELTA_RADIUS; - float delta_tower1_x = -SIN_60 * delta_radius; // front left tower - float delta_tower1_y = -COS_60 * delta_radius; - float delta_tower2_x = SIN_60 * delta_radius; // front right tower - float delta_tower2_y = -COS_60 * delta_radius; - float delta_tower3_x = 0; // back middle tower - float delta_tower3_y = delta_radius; + float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower + float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); + float delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower + float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); + float delta_tower3_x = 0; // back middle tower + float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3); float delta_diagonal_rod = DELTA_DIAGONAL_ROD; - float delta_diagonal_rod_2 = sq(delta_diagonal_rod); + float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1; + float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2; + float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3; + float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1); + float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2); + float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3); + //float delta_diagonal_rod_2 = sq(delta_diagonal_rod); float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; #if ENABLED(AUTO_BED_LEVELING_FEATURE) int delta_grid_spacing[2] = { 0, 0 }; @@ -4491,11 +4502,17 @@ inline void gcode_M206() { * L = diagonal rod * R = delta radius * S = segments per second + * A = Alpha (Tower 1) diagonal rod trim + * B = Beta (Tower 2) diagonal rod trim + * C = Gamma (Tower 3) diagonal rod trim */ inline void gcode_M665() { if (code_seen('L')) delta_diagonal_rod = code_value(); if (code_seen('R')) delta_radius = code_value(); if (code_seen('S')) delta_segments_per_second = code_value(); + if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value(); + if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value(); + if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value(); recalc_delta_settings(delta_radius, delta_diagonal_rod); } /** @@ -6249,25 +6266,28 @@ void clamp_to_software_endstops(float target[3]) { #if ENABLED(DELTA) void recalc_delta_settings(float radius, float diagonal_rod) { - delta_tower1_x = -SIN_60 * radius; // front left tower - delta_tower1_y = -COS_60 * radius; - delta_tower2_x = SIN_60 * radius; // front right tower - delta_tower2_y = -COS_60 * radius; - delta_tower3_x = 0.0; // back middle tower - delta_tower3_y = radius; - delta_diagonal_rod_2 = sq(diagonal_rod); + delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower + delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); + delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower + delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); + delta_tower3_x = 0.0; // back middle tower + delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3); + delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1); + delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2); + delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3); } void calculate_delta(float cartesian[3]) { - delta[X_AXIS] = sqrt(delta_diagonal_rod_2 + + delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1 - sq(delta_tower1_x-cartesian[X_AXIS]) - sq(delta_tower1_y-cartesian[Y_AXIS]) ) + cartesian[Z_AXIS]; - delta[Y_AXIS] = sqrt(delta_diagonal_rod_2 + delta[TOWER_2] = sqrt(delta_diagonal_rod_2_tower_2 - sq(delta_tower2_x-cartesian[X_AXIS]) - sq(delta_tower2_y-cartesian[Y_AXIS]) ) + cartesian[Z_AXIS]; - delta[Z_AXIS] = sqrt(delta_diagonal_rod_2 + delta[TOWER_3] = sqrt(delta_diagonal_rod_2_tower_3 - sq(delta_tower3_x-cartesian[X_AXIS]) - sq(delta_tower3_y-cartesian[Y_AXIS]) ) + cartesian[Z_AXIS]; @@ -6276,9 +6296,9 @@ void clamp_to_software_endstops(float target[3]) { SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]); SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]); - SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]); - SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]); - SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]); + SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[TOWER_1]); + SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[TOWER_2]); + SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[TOWER_3]); */ }