|
|
|
|
@ -30,8 +30,6 @@
|
|
|
|
|
* @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:
|
|
|
|
|
@ -43,34 +41,40 @@ class Nozzle {
|
|
|
|
|
* @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);
|
|
|
|
|
static void stroke(
|
|
|
|
|
__attribute__((unused)) point_t const &start,
|
|
|
|
|
__attribute__((unused)) point_t const &end,
|
|
|
|
|
__attribute__((unused)) uint8_t const &strokes
|
|
|
|
|
) __attribute__((optimize ("Os"))) {
|
|
|
|
|
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
|
|
|
|
|
|
|
|
|
#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 // NOZZLE_CLEAN_PARK
|
|
|
|
|
|
|
|
|
|
// Move to the starting point
|
|
|
|
|
do_blocking_move_to_xy(start.x, start.y);
|
|
|
|
|
}
|
|
|
|
|
do_blocking_move_to_z(start.z);
|
|
|
|
|
|
|
|
|
|
#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
|
|
|
|
|
// 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 // NOZZLE_CLEAN_PARK
|
|
|
|
|
|
|
|
|
|
#endif // NOZZLE_CLEAN_FEATURE
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
@ -82,47 +86,53 @@ class Nozzle {
|
|
|
|
|
* @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);
|
|
|
|
|
static void zigzag(
|
|
|
|
|
__attribute__((unused)) point_t const &start,
|
|
|
|
|
__attribute__((unused)) point_t const &end,
|
|
|
|
|
__attribute__((unused)) uint8_t const &strokes,
|
|
|
|
|
__attribute__((unused)) uint8_t const &objects
|
|
|
|
|
) __attribute__((optimize ("Os"))) {
|
|
|
|
|
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
|
|
|
|
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 // NOZZLE_CLEAN_PARK
|
|
|
|
|
|
|
|
|
|
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);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
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));
|
|
|
|
|
#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 // NOZZLE_CLEAN_PARK
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
#endif // NOZZLE_CLEAN_FEATURE
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public:
|
|
|
|
|
@ -133,21 +143,52 @@ class Nozzle {
|
|
|
|
|
* @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);
|
|
|
|
|
}
|
|
|
|
|
static void clean(
|
|
|
|
|
__attribute__((unused)) uint8_t const &pattern,
|
|
|
|
|
__attribute__((unused)) uint8_t const &strokes,
|
|
|
|
|
__attribute__((unused)) uint8_t const &objects = 0
|
|
|
|
|
) __attribute__((optimize ("Os"))) {
|
|
|
|
|
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
|
|
|
|
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 // NOZZLE_CLEAN_FEATURE
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static void park(
|
|
|
|
|
__attribute__((unused)) uint8_t const &z_action
|
|
|
|
|
) __attribute__((optimize ("Os"))) {
|
|
|
|
|
#if ENABLED(NOZZLE_PARK_FEATURE)
|
|
|
|
|
float const z = current_position[Z_AXIS];
|
|
|
|
|
point_t const park = NOZZLE_PARK_POINT;
|
|
|
|
|
|
|
|
|
|
switch(z_action) {
|
|
|
|
|
case 1: // force Z-park height
|
|
|
|
|
do_blocking_move_to_z(park.z);
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
case 2: // Raise by Z-park height
|
|
|
|
|
do_blocking_move_to_z(
|
|
|
|
|
(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
default: // Raise to Z-park height if lower
|
|
|
|
|
if (current_position[Z_AXIS] < park.z)
|
|
|
|
|
do_blocking_move_to_z(park.z);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
do_blocking_move_to_xy(park.x, park.y);
|
|
|
|
|
|
|
|
|
|
#endif // NOZZLE_PARK_FEATURE
|
|
|
|
|
}
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
Scott Lahteine
9 years ago
committed by