andrey/Marlin_FB4S
Archived
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

✨ MarkForged YX kinematics (#23163)

Browse Source
This commit is contained in:
John Robertson
2021-11-23 21:24:24 +00:00
committed by Scott Lahteine
parent 018c7b1cf4
commit 0e60c8b7e0
13 changed files with 93 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
Marlin/src/module/stepper.cpp
View File

@@ -2212,6 +2212,8 @@ uint32_t Stepper::block_phase_isr() {
#define Y_CMP(A,B) ((A)!=(B))
#endif
#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Y_CMP(D_(1),D_(2))) )
#elif ENABLED(MARKFORGED_YX)
#define Y_MOVE_TEST (current_block->steps.a != current_block->steps.b)
#else
#define Y_MOVE_TEST !!current_block->steps.b
#endif
@@ -2800,7 +2802,7 @@ void Stepper::init() {
* derive the current XYZE position later on.
*/
void Stepper::_set_position(const abce_long_t &spos) {
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
#if CORE_IS_XY
// corexy positioning
// these equations follow the form of the dA and dB equations on https://www.corexy.com/theory.html
@@ -2813,6 +2815,8 @@ void Stepper::_set_position(const abce_long_t &spos) {
count_position.set(spos.a, spos.b + spos.c, CORESIGN(spos.b - spos.c));
#elif ENABLED(MARKFORGED_XY)
count_position.set(spos.a - spos.b, spos.b, spos.c);
#elif ENABLED(MARKFORGED_YX)
count_position.set(spos.a, spos.b - spos.a, spos.c);
#endif
TERN_(HAS_EXTRUDERS, count_position.e = spos.e);
#else
@@ -2884,6 +2888,10 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
axis == CORE_AXIS_1
? count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2]
: count_position[CORE_AXIS_2]
#elif ENABLED(MARKFORGED_YX)
axis == CORE_AXIS_1
? count_position[CORE_AXIS_1]
: count_position[CORE_AXIS_2] - count_position[CORE_AXIS_1]
#else // !IS_CORE
count_position[axis]
#endif
@@ -2912,10 +2920,10 @@ int32_t Stepper::triggered_position(const AxisEnum axis) {
return v;
}
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, IS_SCARA, DELTA)
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
#define SAYS_A 1
#endif
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, IS_SCARA, DELTA)
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
#define SAYS_B 1
#endif
#if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA)