Scott Lahteine
8 years ago
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GitHub
GitHub
26 changed files with 1152 additions and 687 deletions
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#include "nozzle.h" |
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#include "Marlin.h" |
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#include "point_t.h" |
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/**
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* @brief Stroke clean pattern |
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* @details Wipes the nozzle back and forth in a linear movement |
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* |
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* @param start point_t defining the starting point |
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* @param end point_t defining the ending point |
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* @param strokes number of strokes to execute |
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*/ |
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void Nozzle::stroke( |
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__attribute__((unused)) point_t const &start, |
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__attribute__((unused)) point_t const &end, |
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__attribute__((unused)) uint8_t const &strokes |
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) { |
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#if ENABLED(NOZZLE_CLEAN_FEATURE) |
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#if ENABLED(NOZZLE_CLEAN_GOBACK) |
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// Store the current coords
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point_t const initial = { |
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current_position[X_AXIS], |
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current_position[Y_AXIS], |
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current_position[Z_AXIS], |
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current_position[E_AXIS] |
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}; |
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#endif // NOZZLE_CLEAN_GOBACK
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// Move to the starting point
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do_blocking_move_to_xy(start.x, start.y); |
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do_blocking_move_to_z(start.z); |
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// Start the stroke pattern
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for (uint8_t i = 0; i < (strokes >>1); i++) { |
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do_blocking_move_to_xy(end.x, end.y); |
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do_blocking_move_to_xy(start.x, start.y); |
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} |
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#if ENABLED(NOZZLE_CLEAN_GOBACK) |
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// Move the nozzle to the initial point
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do_blocking_move_to(initial.x, initial.y, initial.z); |
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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} |
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/**
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* @brief Zig-zag clean pattern |
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* @details Apply a zig-zag cleanning pattern |
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* |
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* @param start point_t defining the starting point |
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* @param end point_t defining the ending point |
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* @param strokes number of strokes to execute |
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* @param objects number of objects to create |
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*/ |
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void Nozzle::zigzag( |
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__attribute__((unused)) point_t const &start, |
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__attribute__((unused)) point_t const &end, |
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__attribute__((unused)) uint8_t const &strokes, |
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__attribute__((unused)) uint8_t const &objects |
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) { |
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#if ENABLED(NOZZLE_CLEAN_FEATURE) |
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const float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length, // [twice the] Amplitude
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P = (nozzle_clean_horizontal ? nozzle_clean_length : nozzle_clean_height) / (objects << 1); // Period
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// Don't allow impossible triangles
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if (A <= 0.0f || P <= 0.0f ) return; |
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#if ENABLED(NOZZLE_CLEAN_GOBACK) |
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// Store the current coords
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point_t const initial = { |
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current_position[X_AXIS], |
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current_position[Y_AXIS], |
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current_position[Z_AXIS], |
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current_position[E_AXIS] |
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}; |
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#endif // NOZZLE_CLEAN_GOBACK
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for (uint8_t j = 0; j < strokes; j++) { |
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for (uint8_t i = 0; i < (objects << 1); i++) { |
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) ); |
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) ); |
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do_blocking_move_to_xy(x, y); |
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if (i == 0) do_blocking_move_to_z(start.z); |
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} |
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for (int i = (objects << 1); i > -1; i--) { |
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) ); |
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) ); |
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do_blocking_move_to_xy(x, y); |
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} |
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} |
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#if ENABLED(NOZZLE_CLEAN_GOBACK) |
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// Move the nozzle to the initial point
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do_blocking_move_to_z(initial.z); |
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do_blocking_move_to_xy(initial.x, initial.y); |
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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} |
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/**
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* @brief Circular clean pattern |
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* @details Apply a circular cleaning pattern |
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* |
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* @param start point_t defining the middle of circle |
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* @param strokes number of strokes to execute |
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* @param radius radius of circle |
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*/ |
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void Nozzle::circle( |
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__attribute__((unused)) point_t const &start, |
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__attribute__((unused)) point_t const &middle, |
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__attribute__((unused)) uint8_t const &strokes, |
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__attribute__((unused)) float const &radius |
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) { |
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#if ENABLED(NOZZLE_CLEAN_FEATURE) |
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if (strokes == 0) return; |
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#if ENABLED(NOZZLE_CLEAN_GOBACK) |
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// Store the current coords
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point_t const initial = { |
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current_position[X_AXIS], |
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current_position[Y_AXIS], |
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current_position[Z_AXIS], |
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current_position[E_AXIS] |
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}; |
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#endif // NOZZLE_CLEAN_GOBACK
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if (start.z <= current_position[Z_AXIS]) { |
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// Order of movement is pretty darn important here
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do_blocking_move_to_xy(start.x, start.y); |
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do_blocking_move_to_z(start.z); |
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} else { |
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do_blocking_move_to_z(start.z); |
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do_blocking_move_to_xy(start.x, start.y); |
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} |
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float x, y; |
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for (uint8_t s = 0; s < strokes; s++) { |
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for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++) { |
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x = middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius; |
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y = middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius; |
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do_blocking_move_to_xy(x, y); |
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} |
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} |
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// Let's be safe
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do_blocking_move_to_xy(start.x, start.y); |
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#if ENABLED(NOZZLE_CLEAN_GOBACK) |
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// Move the nozzle to the initial point
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if (start.z <= initial.z) { |
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// As above order is important
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do_blocking_move_to_z(initial.z); |
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do_blocking_move_to_xy(initial.x, initial.y); |
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} else { |
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do_blocking_move_to_xy(initial.x, initial.y); |
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do_blocking_move_to_z(initial.z); |
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} |
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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} |
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/**
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* @brief Clean the nozzle |
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* @details Starts the selected clean procedure pattern |
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* |
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* @param pattern one of the available patterns |
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* @param argument depends on the cleaning pattern |
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*/ |
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void Nozzle::clean( |
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__attribute__((unused)) uint8_t const &pattern, |
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__attribute__((unused)) uint8_t const &strokes, |
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__attribute__((unused)) float const &radius, |
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__attribute__((unused)) uint8_t const &objects |
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) { |
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#if ENABLED(NOZZLE_CLEAN_FEATURE) |
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#if ENABLED(DELTA) |
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if (current_position[Z_AXIS] > delta_clip_start_height) |
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do_blocking_move_to_z(delta_clip_start_height); |
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#endif |
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switch (pattern) { |
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case 1: |
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Nozzle::zigzag( |
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NOZZLE_CLEAN_START_POINT, |
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NOZZLE_CLEAN_END_POINT, strokes, objects); |
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break; |
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case 2: |
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Nozzle::circle( |
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NOZZLE_CLEAN_START_POINT, |
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NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius); |
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break; |
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default: |
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Nozzle::stroke( |
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NOZZLE_CLEAN_START_POINT, |
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NOZZLE_CLEAN_END_POINT, strokes); |
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} |
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#endif // NOZZLE_CLEAN_FEATURE
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} |
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void Nozzle::park( |
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__attribute__((unused)) uint8_t const &z_action |
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) { |
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#if ENABLED(NOZZLE_PARK_FEATURE) |
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float const z = current_position[Z_AXIS]; |
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point_t const park = NOZZLE_PARK_POINT; |
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switch(z_action) { |
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case 1: // force Z-park height
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do_blocking_move_to_z(park.z); |
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break; |
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case 2: // Raise by Z-park height
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do_blocking_move_to_z( |
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(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z); |
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break; |
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default: // Raise to Z-park height if lower
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if (current_position[Z_AXIS] < park.z) |
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do_blocking_move_to_z(park.z); |
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} |
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do_blocking_move_to_xy(park.x, park.y); |
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#endif // NOZZLE_PARK_FEATURE
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} |
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