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Change G26 circle angles

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To prevent the nozzle from colliding with the printed pattern.
This commit is contained in:
Scott Lahteine 2018-02-02 05:14:38 -06:00
parent a8764ac5d5
commit e6cdc438fd
1 changed files with 45 additions and 60 deletions
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105
Marlin/src/gcode/bedlevel/G26.cpp
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@ -46,11 +46,11 @@
#define PRIME_LENGTH 10.0 #define PRIME_LENGTH 10.0
#define OOZE_AMOUNT 0.3 #define OOZE_AMOUNT 0.3
#define SIZE_OF_INTERSECTION_CIRCLES 5 #define INTERSECTION_CIRCLE_RADIUS 5
#define SIZE_OF_CROSSHAIRS 3 #define CROSSHAIRS_SIZE 3
#if SIZE_OF_CROSSHAIRS >= SIZE_OF_INTERSECTION_CIRCLES #if CROSSHAIRS_SIZE >= INTERSECTION_CIRCLE_RADIUS
#error "SIZE_OF_CROSSHAIRS must be less than SIZE_OF_INTERSECTION_CIRCLES." #error "CROSSHAIRS_SIZE must be less than INTERSECTION_CIRCLE_RADIUS."
#endif #endif
#define G26_OK false #define G26_OK false
@ -305,7 +305,7 @@ void print_line_from_here_to_there(const float &sx, const float &sy, const float
// If the end point of the line is closer to the nozzle, flip the direction, // If the end point of the line is closer to the nozzle, flip the direction,
// moving from the end to the start. On very small lines the optimization isn't worth it. // moving from the end to the start. On very small lines the optimization isn't worth it.
if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < FABS(line_length)) if (dist_end < dist_start && (INTERSECTION_CIRCLE_RADIUS) < FABS(line_length))
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz); return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
// Decide whether to retract & bump // Decide whether to retract & bump
@ -345,8 +345,8 @@ inline bool look_for_lines_to_connect() {
// We found two circles that need a horizontal line to connect them // We found two circles that need a horizontal line to connect them
// Print it! // Print it!
// //
sx = _GET_MESH_X( i ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge sx = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
ex = _GET_MESH_X(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge ex = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1); sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
sy = ey = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1); sy = ey = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
@ -378,8 +378,8 @@ inline bool look_for_lines_to_connect() {
// We found two circles that need a vertical line to connect them // We found two circles that need a vertical line to connect them
// Print it! // Print it!
// //
sy = _GET_MESH_Y( j ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge sy = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
ey = _GET_MESH_Y(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge ey = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
sx = ex = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1); sx = ex = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1); sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
@ -551,9 +551,6 @@ float valid_trig_angle(float d) {
*/ */
void GcodeSuite::G26() { void GcodeSuite::G26() {
SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s)."); SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");
float tmp, start_angle, end_angle;
int i, xi, yi;
mesh_index_pair location;
// Don't allow Mesh Validation without homing first, // Don't allow Mesh Validation without homing first,
// or if the parameter parsing did not go OK, abort // or if the parameter parsing did not go OK, abort
@ -726,17 +723,18 @@ void GcodeSuite::G26() {
//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern.")); //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
/** /**
* Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten * Pre-generate radius offset values at 30 degree intervals to reduce CPU load.
* the CPU load and make the arc drawing faster and more smooth * All angles are offset by 15 degrees to allow for a smaller table.
*/ */
float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1]; #define A_CNT ((360 / 30) / 2)
for (i = 0; i <= 360 / 30; i++) { #define _COS(A) (trig_table[((N + A_CNT * 8) % A_CNT)] * (A >= A_CNT ? -1 : 1))
cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0))); #define _SIN(A) (-_COS((A + A_CNT / 2) % (A_CNT * 2)))
sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0))); float trig_table[A_CNT];
} for (uint8_t i = 0; i < A_CNT; i++)
trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * 30 + 15));
do { do {
location = g26_continue_with_closest const mesh_index_pair location = g26_continue_with_closest
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS]) ? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now. : find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
@ -745,12 +743,29 @@ void GcodeSuite::G26() {
circle_y = _GET_MESH_Y(location.y_index); circle_y = _GET_MESH_Y(location.y_index);
// If this mesh location is outside the printable_radius, skip it. // If this mesh location is outside the printable_radius, skip it.
if (!position_is_reachable(circle_x, circle_y)) continue; if (!position_is_reachable(circle_x, circle_y)) continue;
xi = location.x_index; // Just to shrink the next few lines and make them easier to understand // Determine where to start and end the circle,
yi = location.y_index; // which is always drawn counter-clockwise.
const uint8_t xi = location.x_index, yi = location.y_index;
const bool f = yi == 0, r = xi == GRID_MAX_POINTS_X - 1, b = yi == GRID_MAX_POINTS_Y - 1;
int8_t start_ind = -2, end_ind = 10; // Assume a full circle (from 4:30 to 4:30)
if (xi == 0) { // Left edge? Just right half.
start_ind = f ? 0 : -3; // 05:30 (02:30 for front-left)
end_ind = b ? -1 : 2; // 12:30 (03:30 for back-left)
}
else if (r) { // Right edge? Just left half.
start_ind = f ? 5 : 3; // 11:30 (09:30 for front-right)
end_ind = b ? 6 : 8; // 06:30 (08:30 for back-right)
}
else if (f) { // Front edge? Just back half.
start_ind = 0; // 02:30
end_ind = 5; // 09:30
}
else if (b) { // Back edge? Just front half.
start_ind = 6; // 08:30
end_ind = 11; // 03:30
}
if (g26_debug_flag) { if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi); SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi);
SERIAL_ECHOPAIR(", yi=", yi); SERIAL_ECHOPAIR(", yi=", yi);
@ -758,47 +773,17 @@ void GcodeSuite::G26() {
SERIAL_EOL(); SERIAL_EOL();
} }
start_angle = 0.0; // assume it is going to be a full circle for (int8_t ind = start_ind; ind < end_ind; ind++) {
end_angle = 360.0;
if (xi == 0) { // Check for bottom edge
start_angle = -90.0;
end_angle = 90.0;
if (yi == 0) // it is an edge, check for the two left corners
start_angle = 0.0;
else if (yi == GRID_MAX_POINTS_Y - 1)
end_angle = 0.0;
}
else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge
start_angle = 90.0;
end_angle = 270.0;
if (yi == 0) // it is an edge, check for the two right corners
end_angle = 180.0;
else if (yi == GRID_MAX_POINTS_Y - 1)
start_angle = 180.0;
}
else if (yi == 0) {
start_angle = 0.0; // only do the top side of the cirlce
end_angle = 180.0;
}
else if (yi == GRID_MAX_POINTS_Y - 1) {
start_angle = 180.0; // only do the bottom side of the cirlce
end_angle = 360.0;
}
for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) {
#if ENABLED(NEWPANEL) #if ENABLED(NEWPANEL)
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
#endif #endif
int tmp_div_30 = tmp / 30.0; float rx = circle_x + _COS(ind), // For speed, these are now a lookup table entry
if (tmp_div_30 < 0) tmp_div_30 += 360 / 30; ry = circle_y + _SIN(ind),
if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30; xe = circle_x + _COS(ind + 1),
ye = circle_y + _SIN(ind + 1);
float rx = circle_x + cos_table[tmp_div_30], // for speed, these are now a lookup table entry
ry = circle_y + sin_table[tmp_div_30],
xe = circle_x + cos_table[tmp_div_30 + 1],
ye = circle_y + sin_table[tmp_div_30 + 1];
#if IS_KINEMATIC #if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not. // Check to make sure this segment is entirely on the bed, skip if not.
if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue; if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue;