Added tweaks for Mini 2.

- Added experimental backlash compensation.
- Adjusted stallguard value.
- Fixes backoff from endstops after homing.
master
Marcio Teixeira 7 years ago
parent f200566360
commit f8563ee120

@ -13,7 +13,7 @@
* got disabled. * got disabled.
*/ */
#define LULZBOT_FW_VERSION ".29" // Change this with each update #define LULZBOT_FW_VERSION ".31" // Change this with each update
#if ( \ #if ( \
!defined(LULZBOT_Gladiola_Mini) && \ !defined(LULZBOT_Gladiola_Mini) && \
@ -118,7 +118,6 @@
#define LULZBOT_TWO_PIECE_BED #define LULZBOT_TWO_PIECE_BED
#define LULZBOT_USE_AUTOLEVELING #define LULZBOT_USE_AUTOLEVELING
#define LULZBOT_SENSORLESS_HOMING #define LULZBOT_SENSORLESS_HOMING
#define LULZBOT_SENSORLESS_HOMING_Z
#define LULZBOT_USE_Z_BELT #define LULZBOT_USE_Z_BELT
#define LULZBOT_BAUDRATE 250000 #define LULZBOT_BAUDRATE 250000
#define LULZBOT_PRINTCOUNTER #define LULZBOT_PRINTCOUNTER
@ -136,7 +135,6 @@
#define LULZBOT_TWO_PIECE_BED #define LULZBOT_TWO_PIECE_BED
#define LULZBOT_USE_AUTOLEVELING #define LULZBOT_USE_AUTOLEVELING
#define LULZBOT_SENSORLESS_HOMING #define LULZBOT_SENSORLESS_HOMING
#define LULZBOT_SENSORLESS_HOMING_Z
#define LULZBOT_USE_Z_BELT #define LULZBOT_USE_Z_BELT
#define LULZBOT_BAUDRATE 250000 #define LULZBOT_BAUDRATE 250000
#define LULZBOT_PRINTCOUNTER #define LULZBOT_PRINTCOUNTER
@ -543,6 +541,53 @@
return; \ return; \
} }
/****************************** BACKLASH COMPENSATION **************************/
#if defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT)
//#define LULZBOT_AXIS_BACKLASH {0.27, 0.05, 0.4, 0}
#define LULZBOT_AXIS_BACKLASH {0.00, 0.00, 0.35, 0}
#endif
#if defined(LULZBOT_AXIS_BACKLASH)
#define SIGN(v) ((v < 0) ? -1.0 : 1.0)
#define LULZBOT_AXIS_BACKLASH_CORRECTION \
{ \
static const float backlash[NUM_AXIS] = LULZBOT_AXIS_BACKLASH; \
static uint8_t last_direction_bits; \
static bool is_correction = false; \
if(!is_correction) { \
uint8_t changed_dir = last_direction_bits ^ dm; \
/* Ignore direction change if no steps are taken in that direction */ \
if(da == 0) CBI(changed_dir, X_AXIS); \
if(db == 0) CBI(changed_dir, Y_AXIS); \
if(dc == 0) CBI(changed_dir, Z_AXIS); \
if(de == 0) CBI(changed_dir, E_AXIS); \
last_direction_bits ^= changed_dir; \
/* When there is motion in an opposing direction, apply the backlash correction */ \
if(changed_dir) { \
long saved_position[NUM_AXIS] = { 0 }; \
COPY(saved_position, position); \
const long x_backlash = TEST(changed_dir, X_AXIS) ? backlash[X_AXIS] * axis_steps_per_mm[X_AXIS] * SIGN(da) : 0; \
const long y_backlash = TEST(changed_dir, Y_AXIS) ? backlash[Y_AXIS] * axis_steps_per_mm[Y_AXIS] * SIGN(db) : 0; \
const long z_backlash = TEST(changed_dir, Z_AXIS) ? backlash[Z_AXIS] * axis_steps_per_mm[Z_AXIS] * SIGN(dc) : 0; \
const long e_backlash = TEST(changed_dir, E_AXIS) ? backlash[E_AXIS] * axis_steps_per_mm[E_AXIS] * SIGN(de) : 0; \
is_correction = true; /* Avoid infinite recursion */ \
_buffer_line( \
(position[X_AXIS] + x_backlash)/axis_steps_per_mm[X_AXIS], \
(position[Y_AXIS] + y_backlash)/axis_steps_per_mm[Y_AXIS], \
(position[Z_AXIS] + z_backlash)/axis_steps_per_mm[Z_AXIS], \
(position[E_AXIS] + e_backlash)/axis_steps_per_mm[E_AXIS_N], \
fr_mm_s, extruder \
); \
is_correction = false; \
COPY(position, saved_position); \
} \
} \
}
#else
#define LULZBOT_AXIS_BACKLASH_CORRECTION
#endif
/*************************** COMMON TOOLHEADS PARAMETERS ***********************/ /*************************** COMMON TOOLHEADS PARAMETERS ***********************/
#define LULZBOT_DEFAULT_EJERK 10.0 #define LULZBOT_DEFAULT_EJERK 10.0
@ -1074,7 +1119,7 @@
#if defined(LULZBOT_SENSORLESS_HOMING) #if defined(LULZBOT_SENSORLESS_HOMING)
#define LULZBOT_X_HOMING_SENSITIVITY 5 #define LULZBOT_X_HOMING_SENSITIVITY 5
#define LULZBOT_Y_HOMING_SENSITIVITY 3 #define LULZBOT_Y_HOMING_SENSITIVITY 5
#endif #endif
#if defined(LULZBOT_SENSORLESS_HOMING_Z) #if defined(LULZBOT_SENSORLESS_HOMING_Z)
@ -1090,7 +1135,7 @@
#define LULZBOT_Z_SAFE_HOMING_X_POINT 17 // LULZBOT_LEFT_PROBE_BED_POSITION #define LULZBOT_Z_SAFE_HOMING_X_POINT 17 // LULZBOT_LEFT_PROBE_BED_POSITION
#define LULZBOT_Z_SAFE_HOMING_Y_POINT 180 // LULZBOT_BACK_PROBE_BED_POSITION #define LULZBOT_Z_SAFE_HOMING_Y_POINT 180 // LULZBOT_BACK_PROBE_BED_POSITION
#define LULZBOT_Z_HOMING_SENSITIVITY 1 #define LULZBOT_Z_HOMING_SENSITIVITY 2
#define LULZBOT_Z_HOMING_CURRENT 500 #define LULZBOT_Z_HOMING_CURRENT 500
#define LULZBOT_Z_HOMING_HEIGHT 5 #define LULZBOT_Z_HOMING_HEIGHT 5
@ -1270,15 +1315,19 @@
* the head sitting on the endstops after homing. */ * the head sitting on the endstops after homing. */
#define LULZBOT_BACKOFF_DIST 5 #define LULZBOT_BACKOFF_DIST 5
#define LULZBOT_BACKOFF_FEEDRATE 5 #define LULZBOT_BACKOFF_FEEDRATE 5
#define LULZBOT_AFTER_Z_HOME_ACTION \ #define LULZBOT_AFTER_Z_HOME_ACTION \
if(home_all || homeZ) { \ { \
LULZBOT_G0_Z(LULZBOT_BACKOFF_DIST); \
} \
if(home_all || homeX || homeY) { \
int x = (LULZBOT_INVERT_X_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_X_MAX_POS - LULZBOT_BACKOFF_DIST); \ int x = (LULZBOT_INVERT_X_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_X_MAX_POS - LULZBOT_BACKOFF_DIST); \
int y = (LULZBOT_INVERT_Y_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_Y_MAX_POS - LULZBOT_BACKOFF_DIST); \ int y = (LULZBOT_INVERT_Y_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_Y_MAX_POS - LULZBOT_BACKOFF_DIST); \
int z = (LULZBOT_INVERT_Z_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_Z_MAX_POS - LULZBOT_BACKOFF_DIST); \
do_blocking_move_to_z( \
(home_all || homeZ) ? z : current_position[Z_AXIS] \
); \
do_blocking_move_to_xy( \ do_blocking_move_to_xy( \
homeX ? x : current_position[X_AXIS], homeY ? y : current_position[Y_AXIS], LULZBOT_BACKOFF_FEEDRATE \ (home_all || homeX) ? x : current_position[X_AXIS], \
(home_all || homeY) ? y : current_position[Y_AXIS], \
LULZBOT_BACKOFF_FEEDRATE \
); \ ); \
} }
#else #else

@ -808,6 +808,8 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#endif #endif
if (de < 0) SBI(dm, E_AXIS); if (de < 0) SBI(dm, E_AXIS);
LULZBOT_AXIS_BACKLASH_CORRECTION
const float esteps_float = de * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01; const float esteps_float = de * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01;
const int32_t esteps = abs(esteps_float) + 0.5; const int32_t esteps = abs(esteps_float) + 0.5;

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