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

Introduce line_to_axis_pos(axis_codes axis, float where, float feed_rate = 0.0) 

and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`.
`do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis.

The first common move for delta homing is like quick_home but for 3 towers.

Fix two warnings.
pull/1/head
AnHardt 9 years ago
parent
46117593b9
commit
11c075c6b2
1 changed files with 44 additions and 37 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 81
      Marlin/Marlin_main.cpp

81
Marlin/Marlin_main.cpp
View File

@ -1613,9 +1613,20 @@ inline float set_homing_bump_feedrate(AxisEnum axis) {
inline void line_to_current_position() {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
}
inline void line_to_z(float zPosition) {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
}
inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
float old_feedrate_mm_m = feedrate_mm_m;
current_position[axis] = where;
feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis];
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
stepper.synchronize(); // The lost one
feedrate_mm_m = old_feedrate_mm_m;
}
//
// line_to_destination
// Move the planner, not necessarily synced with current_position
@ -1708,11 +1719,6 @@ static void do_blocking_move_to(float x, float y, float z, float fr_mm_m = 0.0)
feedrate_mm_m = old_feedrate_mm_m;
}
inline void do_blocking_move_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
current_position[axis] = where;
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
}
inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
}
@ -2425,19 +2431,17 @@ static void homeaxis(AxisEnum axis) {
#endif
// Move towards the endstop until an endstop is triggered
do_blocking_move_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir);
// Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();
// Move away from the endstop by the axis HOME_BUMP_MM
do_blocking_move_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
// Slow down the feedrate for the next move
line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);
// Move slowly towards the endstop until triggered
do_blocking_move_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
@ -2458,7 +2462,7 @@ static void homeaxis(AxisEnum axis) {
sync_plan_position();
// Move to the adjusted endstop height
do_blocking_move_to_z(adj, homing_feedrate_mm_m[axis]);
line_to_axis_pos(axis, adj);
if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
stepper.set_homing_flag(false);
@ -2475,7 +2479,7 @@ static void homeaxis(AxisEnum axis) {
DEBUG_POS("", current_position);
}
#endif
do_blocking_move_to_axis_pos(axis, endstop_adj[axis], set_homing_bump_feedrate(axis));
line_to_axis_pos(axis, endstop_adj[axis]);
}
#endif
@ -2825,10 +2829,28 @@ inline void gcode_G4() {
}
#endif
#if ENABLED(NOZZLE_PARK_FEATURE)
#include "nozzle.h"
/**
* G27: Park the nozzle
*/
inline void gcode_G27() {
// Don't allow nozzle parking without homing first
if (axis_unhomed_error(true, true, true)) { return; }
uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
Nozzle::park(z_action);
}
#endif // NOZZLE_PARK_FEATURE
#if ENABLED(QUICK_HOME)
static void quick_home_xy() {
// Pretend the current position is 0,0
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
sync_plan_position();
#if ENABLED(DUAL_X_CARRIAGE)
int x_axis_home_dir = x_home_dir(active_extruder);
extruder_duplication_enabled = false;
@ -2839,30 +2861,16 @@ inline void gcode_G4() {
float mlx = max_length(X_AXIS),
mly = max_length(Y_AXIS),
mlratio = mlx > mly ? mly / mlx : mlx / mly,
fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1);
fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m);
endstops.hit_on_purpose(); // clear endstop hit flags
current_position[X_AXIS] = current_position[Y_AXIS] = 0;
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
}
#endif // QUICK_HOME
#if ENABLED(NOZZLE_PARK_FEATURE)
#include "nozzle.h"
/**
* G27: Park the nozzle
*/
inline void gcode_G27() {
// Don't allow nozzle parking without homing first
if (axis_unhomed_error(true, true, true)) { return; }
uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
Nozzle::park(z_action);
}
#endif // NOZZLE_PARK_FEATURE
/**
* G28: Home all axes according to settings
*
@ -2931,20 +2939,19 @@ inline void gcode_G28() {
*/
// Pretend the current position is 0,0,0
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
// This is like quick_home_xy() but for 3 towers.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
sync_plan_position();
// Move all carriages up together until the first endstop is hit.
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH);
feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS];
line_to_destination();
line_to_current_position();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
// Destination reached
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
// take care of back off and rehome now we are all at the top
// take care of back off and rehome. Now one carriage is at the top.
HOMEAXIS(X);
HOMEAXIS(Y);
HOMEAXIS(Z);
@ -5325,7 +5332,7 @@ inline void gcode_M200() {
if (volumetric_enabled) {
filament_size[target_extruder] = code_value_linear_units();
// make sure all extruders have some sane value for the filament size
for (int i = 0; i < COUNT(filament_size); i++)
for (uint8_t i = 0; i < COUNT(filament_size); i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
}
@ -8695,6 +8702,6 @@ float calculate_volumetric_multiplier(float diameter) {
}
void calculate_volumetric_multipliers() {
for (int i = 0; i < COUNT(filament_size); i++)
for (uint8_t i = 0; i < COUNT(filament_size); i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}

Write Preview
Loading…
Cancel
Save