Limited backlash editing with Core kinematics (#17281)
This commit is contained in:
parent
de648bfdc1
commit
53fe572bbd
@ -255,28 +255,28 @@ void GcodeSuite::G28() {
|
||||
#define HAS_HOMING_CURRENT (HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2))
|
||||
|
||||
#if HAS_HOMING_CURRENT
|
||||
auto debug_current = [](const char * const s, const int16_t a, const int16_t b){
|
||||
DEBUG_ECHO(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b);
|
||||
auto debug_current = [](PGM_P const s, const int16_t a, const int16_t b){
|
||||
serialprintPGM(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b);
|
||||
};
|
||||
#if HAS_CURRENT_HOME(X)
|
||||
const int16_t tmc_save_current_X = stepperX.getMilliamps();
|
||||
stepperX.rms_current(X_CURRENT_HOME);
|
||||
if (DEBUGGING(LEVELING)) debug_current("X", tmc_save_current_X, X_CURRENT_HOME);
|
||||
if (DEBUGGING(LEVELING)) debug_current(PSTR("X"), tmc_save_current_X, X_CURRENT_HOME);
|
||||
#endif
|
||||
#if HAS_CURRENT_HOME(X2)
|
||||
const int16_t tmc_save_current_X2 = stepperX2.getMilliamps();
|
||||
stepperX2.rms_current(X2_CURRENT_HOME);
|
||||
if (DEBUGGING(LEVELING)) debug_current("X2", tmc_save_current_X2, X2_CURRENT_HOME);
|
||||
if (DEBUGGING(LEVELING)) debug_current(PSTR("X2"), tmc_save_current_X2, X2_CURRENT_HOME);
|
||||
#endif
|
||||
#if HAS_CURRENT_HOME(Y)
|
||||
const int16_t tmc_save_current_Y = stepperY.getMilliamps();
|
||||
stepperY.rms_current(Y_CURRENT_HOME);
|
||||
if (DEBUGGING(LEVELING)) debug_current("Y", tmc_save_current_Y, Y_CURRENT_HOME);
|
||||
if (DEBUGGING(LEVELING)) debug_current(PSTR("Y"), tmc_save_current_Y, Y_CURRENT_HOME);
|
||||
#endif
|
||||
#if HAS_CURRENT_HOME(Y2)
|
||||
const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps();
|
||||
stepperY2.rms_current(Y2_CURRENT_HOME);
|
||||
if (DEBUGGING(LEVELING)) debug_current("Y2", tmc_save_current_Y2, Y2_CURRENT_HOME);
|
||||
if (DEBUGGING(LEVELING)) debug_current(PSTR("Y2"), tmc_save_current_Y2, Y2_CURRENT_HOME);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
@ -345,12 +345,8 @@ void GcodeSuite::G28() {
|
||||
#endif
|
||||
|
||||
// Home Y (before X)
|
||||
#if ENABLED(HOME_Y_BEFORE_X)
|
||||
|
||||
if (doY || (doX && ENABLED(CODEPENDENT_XY_HOMING)))
|
||||
homeaxis(Y_AXIS);
|
||||
|
||||
#endif
|
||||
if (ENABLED(HOME_Y_BEFORE_X) && (doY || (ENABLED(CODEPENDENT_XY_HOMING) && doX)))
|
||||
homeaxis(Y_AXIS);
|
||||
|
||||
// Home X
|
||||
if (doX || (doY && ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X))) {
|
||||
|
@ -37,6 +37,21 @@
|
||||
#include "../../module/endstops.h"
|
||||
#include "../../feature/bedlevel/bedlevel.h"
|
||||
|
||||
#if !AXIS_CAN_CALIBRATE(X)
|
||||
#undef CALIBRATION_MEASURE_LEFT
|
||||
#undef CALIBRATION_MEASURE_RIGHT
|
||||
#endif
|
||||
|
||||
#if !AXIS_CAN_CALIBRATE(Y)
|
||||
#undef CALIBRATION_MEASURE_FRONT
|
||||
#undef CALIBRATION_MEASURE_BACK
|
||||
#endif
|
||||
|
||||
#if !AXIS_CAN_CALIBRATE(Z)
|
||||
#undef CALIBRATION_MEASURE_AT_TOP_EDGES
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
* G425 backs away from the calibration object by various distances
|
||||
* depending on the confidence level:
|
||||
@ -207,42 +222,52 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state,
|
||||
inline void probe_side(measurements_t &m, const float uncertainty, const side_t side, const bool probe_top_at_edge=false) {
|
||||
const xyz_float_t dimensions = CALIBRATION_OBJECT_DIMENSIONS;
|
||||
AxisEnum axis;
|
||||
float dir;
|
||||
float dir = 1;
|
||||
|
||||
park_above_object(m, uncertainty);
|
||||
|
||||
switch (side) {
|
||||
case TOP: {
|
||||
const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
|
||||
m.obj_center.z = measurement - dimensions.z / 2;
|
||||
m.obj_side[TOP] = measurement;
|
||||
return;
|
||||
}
|
||||
case RIGHT: axis = X_AXIS; dir = -1; break;
|
||||
case FRONT: axis = Y_AXIS; dir = 1; break;
|
||||
case LEFT: axis = X_AXIS; dir = 1; break;
|
||||
case BACK: axis = Y_AXIS; dir = -1; break;
|
||||
#if AXIS_CAN_CALIBRATE(Z)
|
||||
case TOP: {
|
||||
const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
|
||||
m.obj_center.z = measurement - dimensions.z / 2;
|
||||
m.obj_side[TOP] = measurement;
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
#if AXIS_CAN_CALIBRATE(X)
|
||||
case LEFT: axis = X_AXIS; break;
|
||||
case RIGHT: axis = X_AXIS; dir = -1; break;
|
||||
#endif
|
||||
#if AXIS_CAN_CALIBRATE(Y)
|
||||
case FRONT: axis = Y_AXIS; break;
|
||||
case BACK: axis = Y_AXIS; dir = -1; break;
|
||||
#endif
|
||||
default: return;
|
||||
}
|
||||
|
||||
if (probe_top_at_edge) {
|
||||
// Probe top nearest the side we are probing
|
||||
current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]);
|
||||
calibration_move();
|
||||
m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
|
||||
m.obj_center.z = m.obj_side[TOP] - dimensions.z / 2;
|
||||
#if AXIS_CAN_CALIBRATE(Z)
|
||||
// Probe top nearest the side we are probing
|
||||
current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]);
|
||||
calibration_move();
|
||||
m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
|
||||
m.obj_center.z = m.obj_side[TOP] - dimensions.z / 2;
|
||||
#endif
|
||||
}
|
||||
|
||||
// Move to safe distance to the side of the calibration object
|
||||
current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty);
|
||||
calibration_move();
|
||||
if (AXIS_CAN_CALIBRATE(X) && axis == X_AXIS || AXIS_CAN_CALIBRATE(Y) && axis == Y_AXIS) {
|
||||
// Move to safe distance to the side of the calibration object
|
||||
current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty);
|
||||
calibration_move();
|
||||
|
||||
// Plunge below the side of the calibration object and measure
|
||||
current_position.z = m.obj_side[TOP] - CALIBRATION_NOZZLE_TIP_HEIGHT * 0.7;
|
||||
calibration_move();
|
||||
const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
|
||||
m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
|
||||
m.obj_side[side] = measurement;
|
||||
// Plunge below the side of the calibration object and measure
|
||||
current_position.z = m.obj_side[TOP] - (CALIBRATION_NOZZLE_TIP_HEIGHT) * 0.7f;
|
||||
calibration_move();
|
||||
const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
|
||||
m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
|
||||
m.obj_side[side] = measurement;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@ -252,7 +277,7 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
|
||||
* uncertainty in - How far away from the calibration object to begin probing
|
||||
*/
|
||||
inline void probe_sides(measurements_t &m, const float uncertainty) {
|
||||
#ifdef CALIBRATION_MEASURE_AT_TOP_EDGES
|
||||
#if ENABLED(CALIBRATION_MEASURE_AT_TOP_EDGES)
|
||||
constexpr bool probe_top_at_edge = true;
|
||||
#else
|
||||
// Probing at the exact center only works if the center is flat. Probing on a washer
|
||||
@ -261,18 +286,18 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
|
||||
probe_side(m, uncertainty, TOP);
|
||||
#endif
|
||||
|
||||
#ifdef CALIBRATION_MEASURE_RIGHT
|
||||
#if ENABLED(CALIBRATION_MEASURE_RIGHT)
|
||||
probe_side(m, uncertainty, RIGHT, probe_top_at_edge);
|
||||
#endif
|
||||
|
||||
#ifdef CALIBRATION_MEASURE_FRONT
|
||||
#if ENABLED(CALIBRATION_MEASURE_FRONT)
|
||||
probe_side(m, uncertainty, FRONT, probe_top_at_edge);
|
||||
#endif
|
||||
|
||||
#ifdef CALIBRATION_MEASURE_LEFT
|
||||
#if ENABLED(CALIBRATION_MEASURE_LEFT)
|
||||
probe_side(m, uncertainty, LEFT, probe_top_at_edge);
|
||||
#endif
|
||||
#ifdef CALIBRATION_MEASURE_BACK
|
||||
#if ENABLED(CALIBRATION_MEASURE_BACK)
|
||||
probe_side(m, uncertainty, BACK, probe_top_at_edge);
|
||||
#endif
|
||||
|
||||
@ -313,7 +338,9 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
|
||||
#if ENABLED(CALIBRATION_REPORTING)
|
||||
inline void report_measured_faces(const measurements_t &m) {
|
||||
SERIAL_ECHOLNPGM("Sides:");
|
||||
SERIAL_ECHOLNPAIR(" Top: ", m.obj_side[TOP]);
|
||||
#if AXIS_CAN_CALIBRATE(Z)
|
||||
SERIAL_ECHOLNPAIR(" Top: ", m.obj_side[TOP]);
|
||||
#endif
|
||||
#if ENABLED(CALIBRATION_MEASURE_LEFT)
|
||||
SERIAL_ECHOLNPAIR(" Left: ", m.obj_side[LEFT]);
|
||||
#endif
|
||||
@ -343,19 +370,25 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
|
||||
|
||||
inline void report_measured_backlash(const measurements_t &m) {
|
||||
SERIAL_ECHOLNPGM("Backlash:");
|
||||
#if ENABLED(CALIBRATION_MEASURE_LEFT)
|
||||
SERIAL_ECHOLNPAIR(" Left: ", m.backlash[LEFT]);
|
||||
#if AXIS_CAN_CALIBRATE(X)
|
||||
#if ENABLED(CALIBRATION_MEASURE_LEFT)
|
||||
SERIAL_ECHOLNPAIR(" Left: ", m.backlash[LEFT]);
|
||||
#endif
|
||||
#if ENABLED(CALIBRATION_MEASURE_RIGHT)
|
||||
SERIAL_ECHOLNPAIR(" Right: ", m.backlash[RIGHT]);
|
||||
#endif
|
||||
#endif
|
||||
#if ENABLED(CALIBRATION_MEASURE_RIGHT)
|
||||
SERIAL_ECHOLNPAIR(" Right: ", m.backlash[RIGHT]);
|
||||
#if AXIS_CAN_CALIBRATE(Y)
|
||||
#if ENABLED(CALIBRATION_MEASURE_FRONT)
|
||||
SERIAL_ECHOLNPAIR(" Front: ", m.backlash[FRONT]);
|
||||
#endif
|
||||
#if ENABLED(CALIBRATION_MEASURE_BACK)
|
||||
SERIAL_ECHOLNPAIR(" Back: ", m.backlash[BACK]);
|
||||
#endif
|
||||
#endif
|
||||
#if ENABLED(CALIBRATION_MEASURE_FRONT)
|
||||
SERIAL_ECHOLNPAIR(" Front: ", m.backlash[FRONT]);
|
||||
#if AXIS_CAN_CALIBRATE(Z)
|
||||
SERIAL_ECHOLNPAIR(" Top: ", m.backlash[TOP]);
|
||||
#endif
|
||||
#if ENABLED(CALIBRATION_MEASURE_BACK)
|
||||
SERIAL_ECHOLNPAIR(" Back: ", m.backlash[BACK]);
|
||||
#endif
|
||||
SERIAL_ECHOLNPAIR(" Top: ", m.backlash[TOP]);
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
@ -369,7 +402,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
|
||||
#if HAS_Y_CENTER
|
||||
SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.pos_error.y);
|
||||
#endif
|
||||
SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z);
|
||||
if (AXIS_CAN_CALIBRATE(Z)) SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z);
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
@ -417,6 +450,7 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
|
||||
probe_sides(m, uncertainty);
|
||||
|
||||
#if ENABLED(BACKLASH_GCODE)
|
||||
|
||||
#if HAS_X_CENTER
|
||||
backlash.distance_mm.x = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
|
||||
#elif ENABLED(CALIBRATION_MEASURE_LEFT)
|
||||
@ -433,18 +467,18 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
|
||||
backlash.distance_mm.y = m.backlash[BACK];
|
||||
#endif
|
||||
|
||||
backlash.distance_mm.z = m.backlash[TOP];
|
||||
if (AXIS_CAN_CALIBRATE(Z)) backlash.distance_mm.z = m.backlash[TOP];
|
||||
#endif
|
||||
}
|
||||
|
||||
#if ENABLED(BACKLASH_GCODE)
|
||||
// Turn on backlash compensation and move in all
|
||||
// directions to take up any backlash
|
||||
// allowed directions to take up any backlash
|
||||
{
|
||||
// New scope for TEMPORARY_BACKLASH_CORRECTION
|
||||
TEMPORARY_BACKLASH_CORRECTION(all_on);
|
||||
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
|
||||
const xyz_float_t move = { 3, 3, 3 };
|
||||
const xyz_float_t move = { AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3 };
|
||||
current_position += move; calibration_move();
|
||||
current_position -= move; calibration_move();
|
||||
}
|
||||
@ -482,26 +516,18 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
|
||||
|
||||
// Adjust the hotend offset
|
||||
#if HAS_HOTEND_OFFSET
|
||||
#if HAS_X_CENTER
|
||||
hotend_offset[extruder].x += m.pos_error.x;
|
||||
#endif
|
||||
#if HAS_Y_CENTER
|
||||
hotend_offset[extruder].y += m.pos_error.y;
|
||||
#endif
|
||||
hotend_offset[extruder].z += m.pos_error.z;
|
||||
if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) hotend_offset[extruder].x += m.pos_error.x;
|
||||
if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) hotend_offset[extruder].y += m.pos_error.y;
|
||||
if (AXIS_CAN_CALIBRATE(Z)) hotend_offset[extruder].z += m.pos_error.z;
|
||||
normalize_hotend_offsets();
|
||||
#endif
|
||||
|
||||
// Correct for positional error, so the object
|
||||
// is at the known actual spot
|
||||
planner.synchronize();
|
||||
#if HAS_X_CENTER
|
||||
update_measurements(m, X_AXIS);
|
||||
#endif
|
||||
#if HAS_Y_CENTER
|
||||
update_measurements(m, Y_AXIS);
|
||||
#endif
|
||||
update_measurements(m, Z_AXIS);
|
||||
if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) update_measurements(m, X_AXIS);
|
||||
if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) update_measurements(m, Y_AXIS);
|
||||
if (AXIS_CAN_CALIBRATE(Z)) update_measurements(m, Z_AXIS);
|
||||
|
||||
sync_plan_position();
|
||||
}
|
||||
|
@ -47,7 +47,7 @@ void GcodeSuite::M425() {
|
||||
bool noArgs = true;
|
||||
|
||||
LOOP_XYZ(a) {
|
||||
if (parser.seen(XYZ_CHAR(a))) {
|
||||
if (CAN_CALIBRATE(a) && parser.seen(XYZ_CHAR(a))) {
|
||||
planner.synchronize();
|
||||
backlash.distance_mm[a] = parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a));
|
||||
noArgs = false;
|
||||
@ -74,7 +74,7 @@ void GcodeSuite::M425() {
|
||||
SERIAL_ECHOLNPGM("active:");
|
||||
SERIAL_ECHOLNPAIR(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)");
|
||||
SERIAL_ECHOPGM(" Backlash Distance (mm): ");
|
||||
LOOP_XYZ(a) {
|
||||
LOOP_XYZ(a) if (CAN_CALIBRATE(a)) {
|
||||
SERIAL_CHAR(' ', XYZ_CHAR(a));
|
||||
SERIAL_ECHO(backlash.distance_mm[a]);
|
||||
SERIAL_EOL();
|
||||
@ -87,7 +87,7 @@ void GcodeSuite::M425() {
|
||||
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
|
||||
SERIAL_ECHOPGM(" Average measured backlash (mm):");
|
||||
if (backlash.has_any_measurement()) {
|
||||
LOOP_XYZ(a) if (backlash.has_measurement(AxisEnum(a))) {
|
||||
LOOP_XYZ(a) if (CAN_CALIBRATE(a) && backlash.has_measurement(AxisEnum(a))) {
|
||||
SERIAL_CHAR(' ', XYZ_CHAR(a));
|
||||
SERIAL_ECHO(backlash.get_measurement(AxisEnum(a)));
|
||||
}
|
||||
|
@ -139,6 +139,19 @@
|
||||
#define CORESIGN(n) (ANY(COREYX, COREZX, COREZY) ? (-(n)) : (n))
|
||||
#endif
|
||||
|
||||
// Calibration codes only for non-core axes
|
||||
#if EITHER(BACKLASH_GCODE, CALIBRATION_GCODE)
|
||||
#if IS_CORE
|
||||
#define X_AXIS_INDEX 0
|
||||
#define Y_AXIS_INDEX 1
|
||||
#define Z_AXIS_INDEX 2
|
||||
#define CAN_CALIBRATE(A,B) (A##_AXIS_INDEX == B##_INDEX)
|
||||
#else
|
||||
#define CAN_CALIBRATE(...) 1
|
||||
#endif
|
||||
#endif
|
||||
#define AXIS_CAN_CALIBRATE(A) CAN_CALIBRATE(A,NORMAL_AXIS)
|
||||
|
||||
/**
|
||||
* No adjustable bed on non-cartesians
|
||||
*/
|
||||
|
@ -35,11 +35,12 @@
|
||||
#include "Conditionals_post.h"
|
||||
#include HAL_PATH(../HAL, inc/Conditionals_post.h)
|
||||
|
||||
#include "../core/types.h" // Ahead of sanity-checks
|
||||
|
||||
#include "SanityCheck.h"
|
||||
#include HAL_PATH(../HAL, inc/SanityCheck.h)
|
||||
|
||||
// Include all core headers
|
||||
#include "../core/types.h"
|
||||
#include "../core/language.h"
|
||||
#include "../core/utility.h"
|
||||
#include "../core/serial.h"
|
||||
|
@ -39,9 +39,9 @@ void menu_backlash() {
|
||||
EDIT_ITEM_FAST(percent, MSG_BACKLASH_CORRECTION, &backlash.correction, all_off, all_on);
|
||||
|
||||
#define EDIT_BACKLASH_DISTANCE(N) EDIT_ITEM_FAST(float43, MSG_BACKLASH_##N, &backlash.distance_mm[_AXIS(N)], 0.0f, 9.9f);
|
||||
EDIT_BACKLASH_DISTANCE(A);
|
||||
EDIT_BACKLASH_DISTANCE(B);
|
||||
EDIT_BACKLASH_DISTANCE(C);
|
||||
if (AXIS_CAN_CALIBRATE(A)) EDIT_BACKLASH_DISTANCE(A);
|
||||
if (AXIS_CAN_CALIBRATE(B)) EDIT_BACKLASH_DISTANCE(B);
|
||||
if (AXIS_CAN_CALIBRATE(C)) EDIT_BACKLASH_DISTANCE(C);
|
||||
|
||||
#ifdef BACKLASH_SMOOTHING_MM
|
||||
EDIT_ITEM_FAST(float43, MSG_BACKLASH_SMOOTHING, &backlash.smoothing_mm, 0.0f, 9.9f);
|
||||
|
Loading…
Reference in New Issue
Block a user