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Add an option to segment leveled moves

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master
Scott Lahteine 7 years ago
parent a0fc5f7b52
commit d786fb99e2
4 changed files with 106 additions and 20 deletions
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6
Marlin/Conditionals_post.h
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@ -890,7 +890,7 @@
/**
* Set granular options based on the specific type of leveling
*/
#define UBL_DELTA (ENABLED(AUTO_BED_LEVELING_UBL) && (ENABLED(DELTA) || ENABLED(UBL_GRANULAR_SEGMENTATION_FOR_CARTESIAN)))
#define UBL_DELTA (ENABLED(AUTO_BED_LEVELING_UBL) && (ENABLED(DELTA) || ENABLED(SEGMENT_LEVELED_MOVES)))
#define ABL_PLANAR (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT))
#define ABL_GRID (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR))
#define OLDSCHOOL_ABL (ABL_PLANAR || ABL_GRID)
@ -905,6 +905,10 @@
#define PROBE_BED_HEIGHT abs(BACK_PROBE_BED_POSITION - (FRONT_PROBE_BED_POSITION))
#endif
#if ENABLED(SEGMENT_LEVELED_MOVES) && !defined(LEVELED_SEGMENT_LENGTH)
#define LEVELED_SEGMENT_LENGTH 5
#endif
/**
* Bed Probing rectangular bounds
* These can be further constrained in code for Delta and SCARA

5
Marlin/Configuration.h
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@ -891,6 +891,11 @@
// The height can be set with M420 Z<height>
#define ENABLE_LEVELING_FADE_HEIGHT
// For Cartesian machines, instead of dividing moves on mesh boundaries,
// split up moves into short segments like a Delta.
#define SEGMENT_LEVELED_MOVES
#define LEVELED_SEGMENT_LENGTH 5.0 // (mm) Length of all segments (except the last one)
/**
* Enable the G26 Mesh Validation Pattern tool.
*/

113
Marlin/Marlin_main.cpp
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@ -12531,7 +12531,81 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
current_position[axis] = cartes[axis];
}
#if ENABLED(MESH_BED_LEVELING)
#if IS_CARTESIAN
#if ENABLED(SEGMENT_LEVELED_MOVES)
/**
* Prepare a segmented move on a CARTESIAN setup.
*
* This calls planner.buffer_line several times, adding
* small incremental moves. This allows the planner to
* apply more detailed bed leveling to the full move.
*/
inline void segmented_line_to_destination(const float fr_mm_s, const float segment_size=LEVELED_SEGMENT_LENGTH) {
const float xdiff = destination[X_AXIS] - current_position[X_AXIS],
ydiff = destination[Y_AXIS] - current_position[Y_AXIS];
// If the move is only in Z/E don't split up the move
if (!xdiff && !ydiff) {
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder);
return;
}
// Remaining cartesian distances
const float zdiff = destination[Z_AXIS] - current_position[Z_AXIS],
ediff = destination[E_AXIS] - current_position[E_AXIS];
// Get the linear distance in XYZ
// If the move is very short, check the E move distance
// No E move either? Game over.
float cartesian_mm = SQRT(sq(xdiff) + sq(ydiff) + sq(zdiff));
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(ediff);
if (UNEAR_ZERO(cartesian_mm)) return;
// The length divided by the segment size
// At least one segment is required
uint16_t segments = cartesian_mm / segment_size;
NOLESS(segments, 1);
// The approximate length of each segment
const float inv_segments = 1.0 / float(segments),
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
zdiff * inv_segments,
ediff * inv_segments
};
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// Drop one segment so the last move is to the exact target.
// If there's only 1 segment, loops will be skipped entirely.
--segments;
// Get the raw current position as starting point
float raw[XYZE];
COPY(raw, current_position);
// Calculate and execute the segments
for (uint16_t s = segments + 1; --s;) {
static millis_t next_idle_ms = millis() + 200UL;
thermalManager.manage_heater(); // This returns immediately if not really needed.
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
}
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder);
}
#elif ENABLED(MESH_BED_LEVELING)
/**
* Prepare a mesh-leveled linear move in a Cartesian setup,
@ -12592,7 +12666,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
#define CELL_INDEX(A,V) ((V - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
@ -12656,6 +12730,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
}
#endif // AUTO_BED_LEVELING_BILINEAR
#endif // IS_CARTESIAN
#if !UBL_DELTA
#if IS_KINEMATIC
@ -12674,8 +12749,11 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// Get the top feedrate of the move in the XY plane
const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
const float xdiff = rtarget[X_AXIS] - current_position[X_AXIS],
ydiff = rtarget[Y_AXIS] - current_position[Y_AXIS];
// If the move is only in Z/E don't split up the move
if (rtarget[X_AXIS] == current_position[X_AXIS] && rtarget[Y_AXIS] == current_position[Y_AXIS]) {
if (!xdiff && !ydiff) {
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
return false;
}
@ -12683,21 +12761,15 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// Fail if attempting move outside printable radius
if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) return true;
// Get the cartesian distances moved in XYZE
const float difference[XYZE] = {
rtarget[X_AXIS] - current_position[X_AXIS],
rtarget[Y_AXIS] - current_position[Y_AXIS],
rtarget[Z_AXIS] - current_position[Z_AXIS],
rtarget[E_AXIS] - current_position[E_AXIS]
};
// Remaining cartesian distances
const float zdiff = rtarget[Z_AXIS] - current_position[Z_AXIS],
ediff = rtarget[E_AXIS] - current_position[E_AXIS];
// Get the linear distance in XYZ
float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
// If the move is very short, check the E move distance
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]);
// No E move either? Game over.
float cartesian_mm = SQRT(sq(xdiff) + sq(ydiff) + sq(zdiff));
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(ediff);
if (UNEAR_ZERO(cartesian_mm)) return true;
// Minimum number of seconds to move the given distance
@ -12718,10 +12790,10 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// The approximate length of each segment
const float inv_segments = 1.0 / float(segments),
segment_distance[XYZE] = {
difference[X_AXIS] * inv_segments,
difference[Y_AXIS] * inv_segments,
difference[Z_AXIS] * inv_segments,
difference[E_AXIS] * inv_segments
xdiff * inv_segments,
ydiff * inv_segments,
zdiff * inv_segments,
ediff * inv_segments
};
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
@ -12806,10 +12878,13 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
*/
inline bool prepare_move_to_destination_cartesian() {
#if HAS_MESH
if (planner.leveling_active) {
if (planner.leveling_active && planner.leveling_active_at_z(destination[Z_AXIS])) {
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.line_to_destination_cartesian(MMS_SCALED(feedrate_mm_s), active_extruder); // UBL's motion routine needs to know about
return true; // all moves, including Z-only moves.
#elif ENABLED(SEGMENT_LEVELED_MOVES)
segmented_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false;
#else
/**
* For MBL and ABL-BILINEAR only segment moves when X or Y are involved.

2
Marlin/SanityCheck.h
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@ -220,6 +220,8 @@
#error "ENABLE_MESH_EDIT_GFX_OVERLAY is now MESH_EDIT_GFX_OVERLAY. Please update your configuration."
#elif defined(BABYSTEP_ZPROBE_GFX_REVERSE)
#error "BABYSTEP_ZPROBE_GFX_REVERSE is now set by OVERLAY_GFX_REVERSE. Please update your configurations."
#elif defined(UBL_GRANULAR_SEGMENTATION_FOR_CARTESIAN)
#error "UBL_GRANULAR_SEGMENTATION_FOR_CARTESIAN is now SEGMENT_LEVELED_MOVES. Please update your configuration."
#endif
/**

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