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

Adjustable delta_diagonal_rod_trim (#18423)

vanilla_fb_2.0.x
Fabio Santos 5 years ago
committed by GitHub
parent
31349fd69a
commit
29753baeee
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 24 additions and 10 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. 8
      Marlin/src/gcode/calibrate/M665.cpp
  2. 15
      Marlin/src/module/configuration_store.cpp
  3. 10
      Marlin/src/module/delta.cpp
  4. 1
      Marlin/src/module/delta.h

8
Marlin/src/gcode/calibrate/M665.cpp
View File

@ -38,8 +38,11 @@
* R = delta radius
* S = segments per second
* X = Alpha (Tower 1) angle trim
* Y = Beta (Tower 2) angle trim
* Y = Beta (Tower 2) angle trim
* Z = Gamma (Tower 3) angle trim
* A = Alpha (Tower 1) digonal rod trim
* B = Beta (Tower 2) digonal rod trim
* C = Gamma (Tower 3) digonal rod trim
*/
void GcodeSuite::M665() {
if (parser.seen('H')) delta_height = parser.value_linear_units();
@ -49,6 +52,9 @@
if (parser.seen('X')) delta_tower_angle_trim.a = parser.value_float();
if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();
if (parser.seen('A')) delta_diagonal_rod_trim.a = parser.value_float();
if (parser.seen('B')) delta_diagonal_rod_trim.b = parser.value_float();
if (parser.seen('C')) delta_diagonal_rod_trim.c = parser.value_float();
recalc_delta_settings();
}

15
Marlin/src/module/configuration_store.cpp
View File

@ -257,11 +257,12 @@ typedef struct SettingsDataStruct {
//
#if ENABLED(DELTA)
float delta_height; // M666 H
abc_float_t delta_endstop_adj; // M666 XYZ
abc_float_t delta_endstop_adj; // M666 X Y Z
float delta_radius, // M665 R
delta_diagonal_rod, // M665 L
delta_segments_per_second; // M665 S
abc_float_t delta_tower_angle_trim; // M665 XYZ
abc_float_t delta_tower_angle_trim, // M665 X Y Z
delta_diagonal_rod_trim; // M665 A B C
#elif HAS_EXTRA_ENDSTOPS
float x2_endstop_adj, // M666 X
y2_endstop_adj, // M666 Y
@ -775,6 +776,7 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(delta_diagonal_rod); // 1 float
EEPROM_WRITE(delta_segments_per_second); // 1 float
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats
#elif HAS_EXTRA_ENDSTOPS
@ -1638,6 +1640,7 @@ void MarlinSettings::postprocess() {
EEPROM_READ(delta_diagonal_rod); // 1 float
EEPROM_READ(delta_segments_per_second); // 1 float
EEPROM_READ(delta_tower_angle_trim); // 3 floats
EEPROM_READ(delta_diagonal_rod_trim); // 3 floats
#elif HAS_EXTRA_ENDSTOPS
@ -2510,13 +2513,14 @@ void MarlinSettings::reset() {
//
#if ENABLED(DELTA)
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM;
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_height = DELTA_HEIGHT;
delta_endstop_adj = adj;
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_tower_angle_trim = dta;
delta_diagonal_rod_trim = ddr;
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
@ -3065,7 +3069,7 @@ void MarlinSettings::reset() {
, SP_Z_STR, LINEAR_UNIT(delta_endstop_adj.c)
);
CONFIG_ECHO_HEADING("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> XYZ<tower angle corrections>");
CONFIG_ECHO_HEADING("Delta settings: L<diagonal rod> R<radius> H<height> S<segments per sec> XYZ<tower angle trim> ABC<rod trim>");
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR_P(
PSTR(" M665 L"), LINEAR_UNIT(delta_diagonal_rod)
@ -3075,6 +3079,9 @@ void MarlinSettings::reset() {
, SP_X_STR, LINEAR_UNIT(delta_tower_angle_trim.a)
, SP_Y_STR, LINEAR_UNIT(delta_tower_angle_trim.b)
, SP_Z_STR, LINEAR_UNIT(delta_tower_angle_trim.c)
, PSTR(" A"), LINEAR_UNIT(delta_diagonal_rod_trim.a)
, PSTR(" B"), LINEAR_UNIT(delta_diagonal_rod_trim.b)
, PSTR(" C"), LINEAR_UNIT(delta_diagonal_rod_trim.c)
);
#elif HAS_EXTRA_ENDSTOPS

10
Marlin/src/module/delta.cpp
View File

@ -59,6 +59,7 @@ abc_float_t delta_tower_angle_trim;
xy_float_t delta_tower[ABC];
abc_float_t delta_diagonal_rod_2_tower;
float delta_clip_start_height = Z_MAX_POS;
abc_float_t delta_diagonal_rod_trim;
float delta_safe_distance_from_top();
@ -67,17 +68,16 @@ float delta_safe_distance_from_top();
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings() {
constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER,
drt = DELTA_DIAGONAL_ROD_TRIM_TOWER;
constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER;
delta_tower[A_AXIS].set(cos(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a), // front left tower
sin(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a));
delta_tower[B_AXIS].set(cos(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b), // front right tower
sin(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b));
delta_tower[C_AXIS].set(cos(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c), // back middle tower
sin(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c));
delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + drt.a),
sq(delta_diagonal_rod + drt.b),
sq(delta_diagonal_rod + drt.c));
delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + delta_diagonal_rod_trim.a),
sq(delta_diagonal_rod + delta_diagonal_rod_trim.b),
sq(delta_diagonal_rod + delta_diagonal_rod_trim.c));
update_software_endstops(Z_AXIS);
set_all_unhomed();
}

1
Marlin/src/module/delta.h
View File

@ -37,6 +37,7 @@ extern abc_float_t delta_tower_angle_trim;
extern xy_float_t delta_tower[ABC];
extern abc_float_t delta_diagonal_rod_2_tower;
extern float delta_clip_start_height;
extern abc_float_t delta_diagonal_rod_trim;
/**
* Recalculate factors used for delta kinematics whenever

Write Preview
Loading…
Cancel
Save