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/**
* 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/>.
*
*/
#include "MarlinConfig.h"
#if ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
#include "nozzle.h"
#include "Marlin.h"
#include "point_t.h"
#if ENABLED(NOZZLE_CLEAN_FEATURE)
/**
* @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(const point_t &start, const point_t &end, const uint8_t &strokes) {
#if ENABLED(NOZZLE_CLEAN_GOBACK)
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
#endif
// Move to the starting point
do_blocking_move_to(start.x, start.y, 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)
do_blocking_move_to(ix, iy, iz);
#endif
}
/**
* @brief Zig-zag clean pattern
* @details Apply a zig-zag cleaning 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 triangles to do
*/
void Nozzle::zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) {
const float diffx = end.x - start.x, diffy = end.y - start.y;
if (!diffx || !diffy) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK)
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
#endif
do_blocking_move_to(start.x, start.y, start.z);
const uint8_t zigs = objects << 1;
const bool horiz = FABS(diffx) >= FABS(diffy); // Do a horizontal wipe?
const float P = (horiz ? diffx : diffy) / zigs; // Period of each zig / zag
const point_t *side;
for (uint8_t j = 0; j < strokes; j++) {
for (int8_t i = 0; i < zigs; i++) {
side = (i & 1) ? &end : &start;
if (horiz)
do_blocking_move_to_xy(start.x + i * P, side->y);
else
do_blocking_move_to_xy(side->x, start.y + i * P);
}
for (int8_t i = zigs; i >= 0; i--) {
side = (i & 1) ? &end : &start;
if (horiz)
do_blocking_move_to_xy(start.x + i * P, side->y);
else
do_blocking_move_to_xy(side->x, start.y + i * P);
}
}
#if ENABLED(NOZZLE_CLEAN_GOBACK)
do_blocking_move_to(ix, iy, iz);
#endif
}
/**
* @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(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) {
if (strokes == 0) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK)
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
#endif
do_blocking_move_to(start.x, start.y, start.z);
for (uint8_t s = 0; s < strokes; s++)
for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++)
do_blocking_move_to_xy(
middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius,
middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius
);
// Let's be safe
do_blocking_move_to_xy(start.x, start.y);
#if ENABLED(NOZZLE_CLEAN_GOBACK)
do_blocking_move_to(ix, iy, iz);
#endif
}
/**
* @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(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects/*=0*/) {
switch (pattern) {
case 1:
zigzag(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes, objects);
break;
case 2:
circle(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
break;
default:
stroke(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes);
}
}
#endif // NOZZLE_CLEAN_FEATURE
#if ENABLED(NOZZLE_PARK_FEATURE)
void Nozzle::park(const uint8_t &z_action) {
const point_t park = NOZZLE_PARK_POINT;
switch (z_action) {
case 1: // Go to Z-park height
do_blocking_move_to_z(park.z);
break;
case 2: // Raise by Z-park height
do_blocking_move_to_z(min(current_position[Z_AXIS] + park.z, Z_MAX_POS));
break;
default: // Raise to at least the Z-park height
do_blocking_move_to_z(max(park.z, current_position[Z_AXIS]));
}
do_blocking_move_to_xy(park.x, park.y);
}
#endif // NOZZLE_PARK_FEATURE
#endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE