diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp index 0436736b4a..8b2e7f99ed 100644 --- a/Marlin/src/gcode/calibrate/M665.cpp +++ b/Marlin/src/gcode/calibrate/M665.cpp @@ -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(); } diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index e7de76000e..41ce618a04 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -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 R H S XYZ"); + CONFIG_ECHO_HEADING("Delta settings: L R H S XYZ ABC"); 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 diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp index 56b9e0a11e..84293936ea 100644 --- a/Marlin/src/module/delta.cpp +++ b/Marlin/src/module/delta.cpp @@ -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(); } diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h index f263a28ddd..ff18e74c71 100644 --- a/Marlin/src/module/delta.h +++ b/Marlin/src/module/delta.h @@ -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