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Using axis constants

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This commit is contained in:
Scott Lahteine 2014-12-18 08:13:08 -08:00
parent 39b47ef5b0
commit 07c6b5ab71
8 changed files with 71 additions and 78 deletions
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46
Marlin/ConfigurationStore.cpp
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@ -116,38 +116,38 @@ void Config_PrintSettings()
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Steps per unit:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M92 X",axis_steps_per_unit[0]);
SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]);
SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]);
SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]);
SERIAL_ECHOPAIR(" M92 X",axis_steps_per_unit[X_AXIS]);
SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[Y_AXIS]);
SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[Z_AXIS]);
SERIAL_ECHOPAIR(" E",axis_steps_per_unit[E_AXIS]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
#ifdef SCARA
SERIAL_ECHOLNPGM("Scaling factors:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M365 X",axis_scaling[0]);
SERIAL_ECHOPAIR(" Y",axis_scaling[1]);
SERIAL_ECHOPAIR(" Z",axis_scaling[2]);
SERIAL_ECHOPAIR(" M365 X",axis_scaling[X_AXIS]);
SERIAL_ECHOPAIR(" Y",axis_scaling[Y_AXIS]);
SERIAL_ECHOPAIR(" Z",axis_scaling[Z_AXIS]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
#endif
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M203 X",max_feedrate[0]);
SERIAL_ECHOPAIR(" Y",max_feedrate[1] );
SERIAL_ECHOPAIR(" Z", max_feedrate[2] );
SERIAL_ECHOPAIR(" E", max_feedrate[3]);
SERIAL_ECHOPAIR(" M203 X", max_feedrate[X_AXIS]);
SERIAL_ECHOPAIR(" Y", max_feedrate[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", max_feedrate[Z_AXIS]);
SERIAL_ECHOPAIR(" E", max_feedrate[E_AXIS]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M201 X" ,max_acceleration_units_per_sq_second[0] );
SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] );
SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] );
SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]);
SERIAL_ECHOPAIR(" M201 X" ,max_acceleration_units_per_sq_second[X_AXIS] );
SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[Y_AXIS] );
SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[Z_AXIS] );
SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[E_AXIS]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
@ -170,17 +170,17 @@ SERIAL_ECHOLNPGM("Scaling factors:");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Home offset (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M206 X",add_homing[0] );
SERIAL_ECHOPAIR(" Y" ,add_homing[1] );
SERIAL_ECHOPAIR(" Z" ,add_homing[2] );
SERIAL_ECHOPAIR(" M206 X",add_homing[X_AXIS] );
SERIAL_ECHOPAIR(" Y" ,add_homing[Y_AXIS] );
SERIAL_ECHOPAIR(" Z" ,add_homing[Z_AXIS] );
SERIAL_ECHOLN("");
#ifdef DELTA
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Endstop adjustement (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M666 X",endstop_adj[0] );
SERIAL_ECHOPAIR(" Y" ,endstop_adj[1] );
SERIAL_ECHOPAIR(" Z" ,endstop_adj[2] );
SERIAL_ECHOPAIR(" M666 X",endstop_adj[X_AXIS] );
SERIAL_ECHOPAIR(" Y" ,endstop_adj[Y_AXIS] );
SERIAL_ECHOPAIR(" Z" ,endstop_adj[Z_AXIS] );
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Delta settings: L=delta_diagonal_rod, R=delta_radius, S=delta_segments_per_second");
@ -303,9 +303,9 @@ void Config_ResetDefault()
max_xy_jerk=DEFAULT_XYJERK;
max_z_jerk=DEFAULT_ZJERK;
max_e_jerk=DEFAULT_EJERK;
add_homing[0] = add_homing[1] = add_homing[2] = 0;
add_homing[X_AXIS] = add_homing[Y_AXIS] = add_homing[Z_AXIS] = 0;
#ifdef DELTA
endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
endstop_adj[X_AXIS] = endstop_adj[Y_AXIS] = endstop_adj[Z_AXIS] = 0;
delta_radius= DELTA_RADIUS;
delta_diagonal_rod= DELTA_DIAGONAL_ROD;
delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;

4
Marlin/Configuration_adv.h
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@ -345,8 +345,8 @@
#define D_FILAMENT 2.85
#define STEPS_MM_E 836
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
#endif // ADVANCE

60
Marlin/Marlin_main.cpp
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@ -1537,7 +1537,7 @@ void process_commands()
#ifdef SCARA
current_position[X_AXIS]=code_value();
#else
current_position[X_AXIS]=code_value()+add_homing[0];
current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
#endif
}
}
@ -1547,7 +1547,7 @@ void process_commands()
#ifdef SCARA
current_position[Y_AXIS]=code_value();
#else
current_position[Y_AXIS]=code_value()+add_homing[1];
current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
#endif
}
}
@ -1612,7 +1612,7 @@ void process_commands()
if(code_seen(axis_codes[Z_AXIS])) {
if(code_value_long() != 0) {
current_position[Z_AXIS]=code_value()+add_homing[2];
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
}
}
#ifdef ENABLE_AUTO_BED_LEVELING
@ -2745,9 +2745,9 @@ Sigma_Exit:
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[0]);
SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[1]);
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
@ -2883,11 +2883,11 @@ Sigma_Exit:
#ifdef SCARA
if(code_seen('T')) // Theta
{
add_homing[0] = code_value() ;
add_homing[X_AXIS] = code_value() ;
}
if(code_seen('P')) // Psi
{
add_homing[1] = code_value() ;
add_homing[Y_AXIS] = code_value() ;
}
#endif
break;
@ -3275,11 +3275,11 @@ Sigma_Exit:
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[0] = 0;
delta[1] = 120;
delta[X_AXIS] = 0;
delta[Y_AXIS] = 120;
calculate_SCARA_forward_Transform(delta);
destination[0] = delta[0]/axis_scaling[X_AXIS];
destination[1] = delta[1]/axis_scaling[Y_AXIS];
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
@ -3293,11 +3293,11 @@ Sigma_Exit:
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[0] = 90;
delta[1] = 130;
delta[X_AXIS] = 90;
delta[Y_AXIS] = 130;
calculate_SCARA_forward_Transform(delta);
destination[0] = delta[0]/axis_scaling[X_AXIS];
destination[1] = delta[1]/axis_scaling[Y_AXIS];
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
@ -3310,11 +3310,11 @@ Sigma_Exit:
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[0] = 60;
delta[1] = 180;
delta[X_AXIS] = 60;
delta[Y_AXIS] = 180;
calculate_SCARA_forward_Transform(delta);
destination[0] = delta[0]/axis_scaling[X_AXIS];
destination[1] = delta[1]/axis_scaling[Y_AXIS];
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
@ -3327,11 +3327,11 @@ Sigma_Exit:
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[0] = 50;
delta[1] = 90;
delta[X_AXIS] = 50;
delta[Y_AXIS] = 90;
calculate_SCARA_forward_Transform(delta);
destination[0] = delta[0]/axis_scaling[X_AXIS];
destination[1] = delta[1]/axis_scaling[Y_AXIS];
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
@ -3344,11 +3344,11 @@ Sigma_Exit:
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[0] = 45;
delta[1] = 135;
delta[X_AXIS] = 45;
delta[Y_AXIS] = 135;
calculate_SCARA_forward_Transform(delta);
destination[0] = delta[0]/axis_scaling[X_AXIS];
destination[1] = delta[1]/axis_scaling[Y_AXIS];
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
@ -4020,9 +4020,9 @@ for (int s = 1; s <= steps; s++) {
calculate_delta(destination);
//SERIAL_ECHOPGM("destination[0]="); SERIAL_ECHOLN(destination[0]);
//SERIAL_ECHOPGM("destination[1]="); SERIAL_ECHOLN(destination[1]);
//SERIAL_ECHOPGM("destination[2]="); SERIAL_ECHOLN(destination[2]);
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
//SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);

4
Marlin/example_configurations/SCARA/Configuration_adv.h
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@ -353,8 +353,8 @@
#define D_FILAMENT 1.75
#define STEPS_MM_E 1000
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
#endif // ADVANCE

4
Marlin/example_configurations/delta/Configuration_adv.h
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@ -340,8 +340,8 @@
#define D_FILAMENT 2.85
#define STEPS_MM_E 836
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
#endif // ADVANCE

4
Marlin/example_configurations/makibox/Configuration_adv.h
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@ -344,8 +344,8 @@
#define D_FILAMENT 2.85
#define STEPS_MM_E 836
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
#endif // ADVANCE

12
Marlin/planner.cpp
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@ -63,9 +63,9 @@
//===========================================================================
unsigned long minsegmenttime;
float max_feedrate[4]; // set the max speeds
float axis_steps_per_unit[4];
unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
float max_feedrate[NUM_AXIS]; // set the max speeds
float axis_steps_per_unit[NUM_AXIS];
unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
float minimumfeedrate;
float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
@ -85,8 +85,8 @@ matrix_3x3 plan_bed_level_matrix = {
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
// The current position of the tool in absolute steps
long position[4]; //rescaled from extern when axis_steps_per_unit are changed by gcode
static float previous_speed[4]; // Speed of previous path line segment
long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
static float previous_nominal_speed; // Nominal speed of previous path line segment
#ifdef AUTOTEMP
@ -989,7 +989,7 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
block->advance = advance;
if(acc_dist == 0) {
block->advance_rate = 0;

15
Marlin/planner.h
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@ -106,9 +106,9 @@ void check_axes_activity();
uint8_t movesplanned(); //return the nr of buffered moves
extern unsigned long minsegmenttime;
extern float max_feedrate[4]; // set the max speeds
extern float axis_steps_per_unit[4];
extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
extern float max_feedrate[NUM_AXIS]; // set the max speeds
extern float axis_steps_per_unit[NUM_AXIS];
extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
extern float minimumfeedrate;
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
@ -152,14 +152,7 @@ FORCE_INLINE block_t *plan_get_current_block()
}
// Returns true if the buffer has a queued block, false otherwise
FORCE_INLINE bool blocks_queued()
{
if (block_buffer_head == block_buffer_tail) {
return false;
}
else
return true;
}
FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
#ifdef PREVENT_DANGEROUS_EXTRUDE
void set_extrude_min_temp(float temp);