You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
237 lines
7.0 KiB
237 lines
7.0 KiB
#include "nozzle.h"
|
|
|
|
#include "Marlin.h"
|
|
#include "point_t.h"
|
|
|
|
/**
|
|
* @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
|
|
*/
|
|
void Nozzle::stroke(
|
|
__attribute__((unused)) point_t const &start,
|
|
__attribute__((unused)) point_t const &end,
|
|
__attribute__((unused)) uint8_t const &strokes
|
|
) {
|
|
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
|
|
|
#if ENABLED(NOZZLE_CLEAN_GOBACK)
|
|
// 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_GOBACK
|
|
|
|
// 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_GOBACK)
|
|
// Move the nozzle to the initial point
|
|
do_blocking_move_to(initial.x, initial.y, initial.z);
|
|
#endif // NOZZLE_CLEAN_GOBACK
|
|
|
|
#endif // NOZZLE_CLEAN_FEATURE
|
|
}
|
|
|
|
/**
|
|
* @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
|
|
*/
|
|
void Nozzle::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
|
|
) {
|
|
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
|
const float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length, // [twice the] Amplitude
|
|
P = (nozzle_clean_horizontal ? nozzle_clean_length : nozzle_clean_height) / (objects << 1); // Period
|
|
|
|
// Don't allow impossible triangles
|
|
if (A <= 0.0f || P <= 0.0f ) return;
|
|
|
|
#if ENABLED(NOZZLE_CLEAN_GOBACK)
|
|
// 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_GOBACK
|
|
|
|
for (uint8_t j = 0; j < strokes; j++) {
|
|
for (uint8_t i = 0; i < (objects << 1); i++) {
|
|
float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
|
|
float const y = start.y + (!nozzle_clean_horizontal ? i * P : (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 + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
|
|
float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
|
|
|
|
do_blocking_move_to_xy(x, y);
|
|
}
|
|
}
|
|
|
|
#if ENABLED(NOZZLE_CLEAN_GOBACK)
|
|
// 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_GOBACK
|
|
|
|
#endif // NOZZLE_CLEAN_FEATURE
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Circular clean pattern
|
|
* @details Apply a circular cleaning pattern
|
|
*
|
|
* @param start point_t defining the middle of circle
|
|
* @param strokes number of strokes to execute
|
|
* @param radius radius of circle
|
|
*/
|
|
void Nozzle::circle(
|
|
__attribute__((unused)) point_t const &start,
|
|
__attribute__((unused)) point_t const &middle,
|
|
__attribute__((unused)) uint8_t const &strokes,
|
|
__attribute__((unused)) float const &radius
|
|
) {
|
|
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
|
if (strokes == 0) return;
|
|
|
|
#if ENABLED(NOZZLE_CLEAN_GOBACK)
|
|
// 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_GOBACK
|
|
|
|
if (start.z <= current_position[Z_AXIS]) {
|
|
// Order of movement is pretty darn important here
|
|
do_blocking_move_to_xy(start.x, start.y);
|
|
do_blocking_move_to_z(start.z);
|
|
} else {
|
|
do_blocking_move_to_z(start.z);
|
|
do_blocking_move_to_xy(start.x, start.y);
|
|
}
|
|
|
|
float x, y;
|
|
for (uint8_t s = 0; s < strokes; s++) {
|
|
for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++) {
|
|
x = middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
|
|
y = middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
|
|
|
|
do_blocking_move_to_xy(x, y);
|
|
}
|
|
}
|
|
|
|
// Let's be safe
|
|
do_blocking_move_to_xy(start.x, start.y);
|
|
|
|
#if ENABLED(NOZZLE_CLEAN_GOBACK)
|
|
// Move the nozzle to the initial point
|
|
if (start.z <= initial.z) {
|
|
// As above order is important
|
|
do_blocking_move_to_z(initial.z);
|
|
do_blocking_move_to_xy(initial.x, initial.y);
|
|
} else {
|
|
do_blocking_move_to_xy(initial.x, initial.y);
|
|
do_blocking_move_to_z(initial.z);
|
|
}
|
|
#endif // NOZZLE_CLEAN_GOBACK
|
|
|
|
#endif // NOZZLE_CLEAN_FEATURE
|
|
}
|
|
|
|
/**
|
|
* @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
|
|
*/
|
|
void Nozzle::clean(
|
|
__attribute__((unused)) uint8_t const &pattern,
|
|
__attribute__((unused)) uint8_t const &strokes,
|
|
__attribute__((unused)) float const &radius,
|
|
__attribute__((unused)) uint8_t const &objects
|
|
) {
|
|
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
|
#if ENABLED(DELTA)
|
|
if (current_position[Z_AXIS] > delta_clip_start_height)
|
|
do_blocking_move_to_z(delta_clip_start_height);
|
|
#endif
|
|
switch (pattern) {
|
|
case 1:
|
|
Nozzle::zigzag(
|
|
NOZZLE_CLEAN_START_POINT,
|
|
NOZZLE_CLEAN_END_POINT, strokes, objects);
|
|
break;
|
|
|
|
case 2:
|
|
Nozzle::circle(
|
|
NOZZLE_CLEAN_START_POINT,
|
|
NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
|
|
break;
|
|
|
|
default:
|
|
Nozzle::stroke(
|
|
NOZZLE_CLEAN_START_POINT,
|
|
NOZZLE_CLEAN_END_POINT, strokes);
|
|
}
|
|
#endif // NOZZLE_CLEAN_FEATURE
|
|
}
|
|
|
|
void Nozzle::park(
|
|
__attribute__((unused)) uint8_t const &z_action
|
|
) {
|
|
#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
|
|
}
|