Merge pull request #4054 from jbrazio/feature/g12-clean-tool
Implements clean nozzle feature (Lulzbot's REWIPE)master
Scott Lahteine
8 years ago
committed by
GitHub
commit
8bf6861af8
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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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#ifndef __NOZZLE_H__
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#define __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 Nozzle class
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*
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* @todo: Do not ignore the end.z value and allow XYZ movements
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* @todo: Currently this feature needs HAS_BED_PROBE to be active
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* due to the do_blocking_move_to*() functions.
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*/
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class Nozzle {
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private:
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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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static void stroke(point_t const &start, point_t const &end, uint8_t const &strokes)
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__attribute__ ((optimize ("Os"))) {
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#if ENABLED(NOZZLE_CLEAN_PARK)
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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
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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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// Start the stroke pattern
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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_PARK)
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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
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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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static void zigzag(point_t const &start,
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point_t const &end, uint8_t const &strokes, uint8_t const &objects)
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__attribute__ ((optimize ("Os"))) {
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float A = fabs(end.y - start.y); // [twice the] Amplitude
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float P = fabs(end.x - start.x) / (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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#if ENABLED(NOZZLE_CLEAN_PARK)
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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
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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 + i * P;
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float const y = start.y + (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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if (i == 0) do_blocking_move_to_z(start.z);
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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 + i * P;
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float const y = start.y + (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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}
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}
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#if ENABLED(NOZZLE_CLEAN_PARK)
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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
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}
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public:
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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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static void clean(uint8_t const &pattern,
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uint8_t const &strokes, uint8_t const &objects = 0)
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__attribute__ ((optimize ("Os"))) {
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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_PT,
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NOZZLE_CLEAN_END_PT, strokes, objects);
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break;
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default:
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Nozzle::stroke(
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NOZZLE_CLEAN_START_PT,
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NOZZLE_CLEAN_END_PT, strokes);
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}
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}
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};
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#endif
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@ -0,0 +1,46 @@
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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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#ifndef __POINT_T__
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#define __POINT_T__
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struct point_t {
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float x;
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float y;
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float z;
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float e;
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point_t(float const x, float const y)
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: point_t(x, y, NAN, NAN) {}
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point_t(float const x, float const y, float const z)
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: point_t(x, y, z, NAN) {}
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point_t(float const x, float const y, float const z, float const e) {
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this->x = x;
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this->y = y;
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this->z = z;
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this->e = e;
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}
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};
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#endif
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