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
@ -0,0 +1,154 @@
|
|||||||
|
/*
|
||||||
|
* 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/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef __NOZZLE_H__
|
||||||
|
#define __NOZZLE_H__
|
||||||
|
|
||||||
|
#include "Marlin.h"
|
||||||
|
#include "point_t.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Nozzle class
|
||||||
|
*
|
||||||
|
* @todo: Do not ignore the end.z value and allow XYZ movements
|
||||||
|
* @todo: Currently this feature needs HAS_BED_PROBE to be active
|
||||||
|
* due to the do_blocking_move_to*() functions.
|
||||||
|
*/
|
||||||
|
class Nozzle {
|
||||||
|
private:
|
||||||
|
/**
|
||||||
|
* @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
|
||||||
|
*/
|
||||||
|
static void stroke(point_t const &start, point_t const &end, uint8_t const &strokes)
|
||||||
|
__attribute__ ((optimize ("Os"))) {
|
||||||
|
|
||||||
|
#if ENABLED(NOZZLE_CLEAN_PARK)
|
||||||
|
// 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
|
||||||
|
|
||||||
|
// Move to the starting point
|
||||||
|
do_blocking_move_to_xy(start.x, start.y);
|
||||||
|
do_blocking_move_to_z(start.z);
|
||||||
|
|
||||||
|
// Start the stroke pattern
|
||||||
|
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_PARK)
|
||||||
|
// Move the nozzle to the initial point
|
||||||
|
do_blocking_move_to_z(initial.z);
|
||||||
|
do_blocking_move_to_xy(initial.x, initial.y);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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
|
||||||
|
*/
|
||||||
|
static void zigzag(point_t const &start,
|
||||||
|
point_t const &end, uint8_t const &strokes, uint8_t const &objects)
|
||||||
|
__attribute__ ((optimize ("Os"))) {
|
||||||
|
float A = fabs(end.y - start.y); // [twice the] Amplitude
|
||||||
|
float P = fabs(end.x - start.x) / (objects << 1); // Period
|
||||||
|
|
||||||
|
// Don't allow impossible triangles
|
||||||
|
if (A <= 0.0f || P <= 0.0f ) return;
|
||||||
|
|
||||||
|
#if ENABLED(NOZZLE_CLEAN_PARK)
|
||||||
|
// 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
|
||||||
|
|
||||||
|
for (uint8_t j = 0; j < strokes; j++) {
|
||||||
|
for (uint8_t i = 0; i < (objects << 1); i++) {
|
||||||
|
float const x = start.x + i * P;
|
||||||
|
float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
|
||||||
|
|
||||||
|
do_blocking_move_to_xy(x, y);
|
||||||
|
if (i == 0) do_blocking_move_to_z(start.z);
|
||||||
|
}
|
||||||
|
|
||||||
|
for (int i = (objects << 1); i > -1; i--) {
|
||||||
|
float const x = start.x + i * P;
|
||||||
|
float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
|
||||||
|
|
||||||
|
do_blocking_move_to_xy(x, y);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#if ENABLED(NOZZLE_CLEAN_PARK)
|
||||||
|
// Move the nozzle to the initial point
|
||||||
|
do_blocking_move_to_z(initial.z);
|
||||||
|
do_blocking_move_to_xy(initial.x, initial.y);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
public:
|
||||||
|
/**
|
||||||
|
* @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
|
||||||
|
*/
|
||||||
|
static void clean(uint8_t const &pattern,
|
||||||
|
uint8_t const &strokes, uint8_t const &objects = 0)
|
||||||
|
__attribute__ ((optimize ("Os"))) {
|
||||||
|
switch (pattern) {
|
||||||
|
case 1:
|
||||||
|
Nozzle::zigzag(
|
||||||
|
NOZZLE_CLEAN_START_PT,
|
||||||
|
NOZZLE_CLEAN_END_PT, strokes, objects);
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
Nozzle::stroke(
|
||||||
|
NOZZLE_CLEAN_START_PT,
|
||||||
|
NOZZLE_CLEAN_END_PT, strokes);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -0,0 +1,46 @@
|
|||||||
|
/**
|
||||||
|
* 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/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef __POINT_T__
|
||||||
|
#define __POINT_T__
|
||||||
|
|
||||||
|
struct point_t {
|
||||||
|
float x;
|
||||||
|
float y;
|
||||||
|
float z;
|
||||||
|
float e;
|
||||||
|
|
||||||
|
point_t(float const x, float const y)
|
||||||
|
: point_t(x, y, NAN, NAN) {}
|
||||||
|
|
||||||
|
point_t(float const x, float const y, float const z)
|
||||||
|
: point_t(x, y, z, NAN) {}
|
||||||
|
|
||||||
|
point_t(float const x, float const y, float const z, float const e) {
|
||||||
|
this->x = x;
|
||||||
|
this->y = y;
|
||||||
|
this->z = z;
|
||||||
|
this->e = e;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
Loading…
Reference in new issue