Scott Lahteine
7 years ago
8 changed files with 980 additions and 83 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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/**
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* Marlin Firmware -- G26 - Mesh Validation Tool |
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*/ |
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#include "../../../inc/MarlinConfig.h" |
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#if ENABLED(UBL_G26_MESH_VALIDATION) |
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#include "ubl.h" |
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#include "../../../Marlin.h" |
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#include "../../../module/planner.h" |
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#include "../../../module/stepper.h" |
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#include "../../../module/motion.h" |
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#include "../../../module/temperature.h" |
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#include "../../../lcd/ultralcd.h" |
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#include "../../../gcode/parser.h" |
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#include "../../bedlevel/bedlevel.h" |
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#define EXTRUSION_MULTIPLIER 1.0 |
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#define RETRACTION_MULTIPLIER 1.0 |
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#define NOZZLE 0.4 |
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#define FILAMENT 1.75 |
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#define LAYER_HEIGHT 0.2 |
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#define PRIME_LENGTH 10.0 |
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#define BED_TEMP 60.0 |
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#define HOTEND_TEMP 205.0 |
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#define OOZE_AMOUNT 0.3 |
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#define SIZE_OF_INTERSECTION_CIRCLES 5 |
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#define SIZE_OF_CROSSHAIRS 3 |
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#if SIZE_OF_CROSSHAIRS >= SIZE_OF_INTERSECTION_CIRCLES |
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#error "SIZE_OF_CROSSHAIRS must be less than SIZE_OF_INTERSECTION_CIRCLES." |
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#endif |
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/**
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* G26 Mesh Validation Tool |
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* |
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* G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System. |
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* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must |
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* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will |
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* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and |
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* the intersections of those lines (respectively). |
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* |
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* This action allows the user to immediately see where the Mesh is properly defined and where it needs to |
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* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively |
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* the user can specify the X and Y position of interest with command parameters. This allows the user to |
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* focus on a particular area of the Mesh where attention is needed. |
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* |
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* B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed. |
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* |
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* C Current When searching for Mesh Intersection points to draw, use the current nozzle location |
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* as the base for any distance comparison. |
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* |
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* D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this |
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* command to see how well a Mesh as been adjusted to match a print surface. In order to do |
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* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter |
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* alters the command's normal behaviour and disables the Unified Bed Leveling System even if |
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* it is on. |
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* |
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* H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed. |
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* |
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* F # Filament Used to specify the diameter of the filament being used. If not specified |
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* 1.75mm filament is assumed. If you are not getting acceptable results by using the |
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* 'correct' numbers, you can scale this number up or down a little bit to change the amount |
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* of filament that is being extruded during the printing of the various lines on the bed. |
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* |
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* K Keep-On Keep the heaters turned on at the end of the command. |
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* |
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* L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used. |
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* |
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* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This |
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* is over kill, but using this parameter will let you get the very first 'circle' perfect |
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* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your |
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* Mesh calibrated. If not specified, a filament length of .3mm is assumed. |
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* |
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* P # Prime Prime the nozzle with specified length of filament. If this parameter is not |
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* given, no prime action will take place. If the parameter specifies an amount, that much |
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* will be purged before continuing. If no amount is specified the command will start |
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* purging filament until the user provides an LCD Click and then it will continue with |
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* printing the Mesh. You can carefully remove the spent filament with a needle nose |
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* pliers while holding the LCD Click wheel in a depressed state. If you do not have |
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* an LCD, you must specify a value if you use P. |
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* |
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* Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and |
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* un-retraction is at 1.2mm These numbers will be scaled by the specified amount |
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* |
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* R # Repeat Prints the number of patterns given as a parameter, starting at the current location. |
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* If a parameter isn't given, every point will be printed unless G26 is interrupted. |
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* This works the same way that the UBL G29 P4 R parameter works. |
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* |
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* NOTE: If you do not have an LCD, you -must- specify R. This is to ensure that you are |
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* aware that there's some risk associated with printing without the ability to abort in |
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* cases where mesh point Z value may be inaccurate. As above, if you do not include a |
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* parameter, every point will be printed. |
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* |
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* S # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed. |
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* |
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* U # Random Randomize the order that the circles are drawn on the bed. The search for the closest |
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* undrawn cicle is still done. But the distance to the location for each circle has a |
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* random number of the size specified added to it. Specifying S50 will give an interesting |
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* deviation from the normal behaviour on a 10 x 10 Mesh. |
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* |
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* X # X Coord. Specify the starting location of the drawing activity. |
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* |
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* Y # Y Coord. Specify the starting location of the drawing activity. |
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*/ |
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// External references
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#if ENABLED(ULTRA_LCD) |
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extern char lcd_status_message[]; |
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#endif |
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// Remove this if all is well with Teensy compile:
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#if 0 |
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
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inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); } |
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inline void set_current_to_destination() { COPY(current_position, destination); } |
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#else |
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extern void sync_plan_position_e(); |
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extern void set_current_to_destination(); |
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#endif |
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#endif |
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#if ENABLED(NEWPANEL) |
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void lcd_setstatusPGM(const char* const message, const int8_t level); |
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void chirp_at_user(); |
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#endif |
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// Private functions
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static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16]; |
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float g26_e_axis_feedrate = 0.020, |
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random_deviation = 0.0; |
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static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
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// retracts/recovers won't result in a bad state.
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float valid_trig_angle(float); |
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float unified_bed_leveling::g26_extrusion_multiplier, |
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unified_bed_leveling::g26_retraction_multiplier, |
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unified_bed_leveling::g26_nozzle, |
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unified_bed_leveling::g26_filament_diameter, |
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unified_bed_leveling::g26_layer_height, |
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unified_bed_leveling::g26_prime_length, |
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unified_bed_leveling::g26_x_pos, |
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unified_bed_leveling::g26_y_pos, |
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unified_bed_leveling::g26_ooze_amount; |
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int16_t unified_bed_leveling::g26_bed_temp, |
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unified_bed_leveling::g26_hotend_temp; |
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int8_t unified_bed_leveling::g26_prime_flag; |
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bool unified_bed_leveling::g26_continue_with_closest, |
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unified_bed_leveling::g26_keep_heaters_on; |
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int16_t unified_bed_leveling::g26_repeats; |
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void unified_bed_leveling::G26_line_to_destination(const float &feed_rate) { |
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const float save_feedrate = feedrate_mm_s; |
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feedrate_mm_s = feed_rate; // use specified feed rate
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prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
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feedrate_mm_s = save_feedrate; // restore global feed rate
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} |
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#if ENABLED(NEWPANEL) |
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/**
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* Detect ubl_lcd_clicked, debounce it, and return true for cancel |
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*/ |
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bool user_canceled() { |
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if (!ubl_lcd_clicked()) return false; |
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safe_delay(10); // Wait for click to settle
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#if ENABLED(ULTRA_LCD) |
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lcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99); |
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lcd_quick_feedback(); |
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#endif |
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while (!ubl_lcd_clicked()) idle(); // Wait for button release
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// If the button is suddenly pressed again,
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// ask the user to resolve the issue
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lcd_setstatusPGM(PSTR("Release button"), 99); // will never appear...
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while (ubl_lcd_clicked()) idle(); // unless this loop happens
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lcd_reset_status(); |
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return true; |
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} |
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#endif |
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/**
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* G26: Mesh Validation Pattern generation. |
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* |
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* Used to interactively edit UBL's Mesh by placing the |
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* nozzle in a problem area and doing a G29 P4 R command. |
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*/ |
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void unified_bed_leveling::G26() { |
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SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s)."); |
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float tmp, start_angle, end_angle; |
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int i, xi, yi; |
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mesh_index_pair location; |
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// Don't allow Mesh Validation without homing first,
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// or if the parameter parsing did not go OK, abort
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if (axis_unhomed_error() || parse_G26_parameters()) return; |
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if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) { |
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do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES); |
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stepper.synchronize(); |
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set_current_to_destination(); |
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} |
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if (turn_on_heaters()) goto LEAVE; |
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current_position[E_AXIS] = 0.0; |
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sync_plan_position_e(); |
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if (g26_prime_flag && prime_nozzle()) goto LEAVE; |
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/**
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* Bed is preheated |
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* |
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* Nozzle is at temperature |
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* |
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* Filament is primed! |
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* |
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* It's "Show Time" !!! |
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*/ |
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ZERO(circle_flags); |
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ZERO(horizontal_mesh_line_flags); |
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ZERO(vertical_mesh_line_flags); |
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// Move nozzle to the specified height for the first layer
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set_destination_to_current(); |
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destination[Z_AXIS] = g26_layer_height; |
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move_to(destination, 0.0); |
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move_to(destination, g26_ooze_amount); |
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has_control_of_lcd_panel = true; |
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//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
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/**
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* Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten |
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* the CPU load and make the arc drawing faster and more smooth |
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*/ |
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float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1]; |
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for (i = 0; i <= 360 / 30; i++) { |
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cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0))); |
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sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0))); |
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} |
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do { |
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location = g26_continue_with_closest |
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? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS]) |
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: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
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if (location.x_index >= 0 && location.y_index >= 0) { |
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const float circle_x = mesh_index_to_xpos(location.x_index), |
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circle_y = mesh_index_to_ypos(location.y_index); |
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// If this mesh location is outside the printable_radius, skip it.
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if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue; |
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xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
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yi = location.y_index; |
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if (g26_debug_flag) { |
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SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi); |
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SERIAL_ECHOPAIR(", yi=", yi); |
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SERIAL_CHAR(')'); |
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SERIAL_EOL(); |
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} |
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start_angle = 0.0; // assume it is going to be a full circle
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end_angle = 360.0; |
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if (xi == 0) { // Check for bottom edge
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start_angle = -90.0; |
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end_angle = 90.0; |
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if (yi == 0) // it is an edge, check for the two left corners
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start_angle = 0.0; |
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else if (yi == GRID_MAX_POINTS_Y - 1) |
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end_angle = 0.0; |
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} |
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else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge
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start_angle = 90.0; |
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end_angle = 270.0; |
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if (yi == 0) // it is an edge, check for the two right corners
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end_angle = 180.0; |
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else if (yi == GRID_MAX_POINTS_Y - 1) |
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start_angle = 180.0; |
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} |
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else if (yi == 0) { |
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start_angle = 0.0; // only do the top side of the cirlce
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end_angle = 180.0; |
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} |
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else if (yi == GRID_MAX_POINTS_Y - 1) { |
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start_angle = 180.0; // only do the bottom side of the cirlce
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end_angle = 360.0; |
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} |
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for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) { |
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#if ENABLED(NEWPANEL) |
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if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
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#endif |
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int tmp_div_30 = tmp / 30.0; |
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if (tmp_div_30 < 0) tmp_div_30 += 360 / 30; |
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if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30; |
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float x = circle_x + cos_table[tmp_div_30], // for speed, these are now a lookup table entry
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y = circle_y + sin_table[tmp_div_30], |
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xe = circle_x + cos_table[tmp_div_30 + 1], |
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ye = circle_y + sin_table[tmp_div_30 + 1]; |
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#if IS_KINEMATIC |
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// Check to make sure this segment is entirely on the bed, skip if not.
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if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue; |
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#else // not, we need to skip
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x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
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y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1); |
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xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1); |
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ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1); |
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#endif |
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//if (g26_debug_flag) {
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// char ccc, *cptr, seg_msg[50], seg_num[10];
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// strcpy(seg_msg, " segment: ");
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// strcpy(seg_num, " \n");
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// cptr = (char*) "01234567890ABCDEF????????";
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// ccc = cptr[tmp_div_30];
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// seg_num[1] = ccc;
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// strcat(seg_msg, seg_num);
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// debug_current_and_destination(seg_msg);
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//}
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print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height); |
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} |
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if (look_for_lines_to_connect()) |
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goto LEAVE; |
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} |
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} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0); |
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LEAVE: |
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lcd_setstatusPGM(PSTR("Leaving G26"), -1); |
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retract_filament(destination); |
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destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; |
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//debug_current_and_destination(PSTR("ready to do Z-Raise."));
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move_to(destination, 0); // Raise the nozzle
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//debug_current_and_destination(PSTR("done doing Z-Raise."));
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destination[X_AXIS] = g26_x_pos; // Move back to the starting position
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destination[Y_AXIS] = g26_y_pos; |
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//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
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move_to(destination, 0); // Move back to the starting position
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//debug_current_and_destination(PSTR("done doing X/Y move."));
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has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
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if (!g26_keep_heaters_on) { |
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#if HAS_TEMP_BED |
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thermalManager.setTargetBed(0); |
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#endif |
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thermalManager.setTargetHotend(0, 0); |
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} |
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} |
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float valid_trig_angle(float d) { |
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while (d > 360.0) d -= 360.0; |
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while (d < 0.0) d += 360.0; |
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return d; |
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} |
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mesh_index_pair unified_bed_leveling::find_closest_circle_to_print(const float &X, const float &Y) { |
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float closest = 99999.99; |
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mesh_index_pair return_val; |
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return_val.x_index = return_val.y_index = -1; |
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for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { |
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for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { |
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if (!is_bit_set(circle_flags, i, j)) { |
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const float mx = mesh_index_to_xpos(i), // We found a circle that needs to be printed
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my = mesh_index_to_ypos(j); |
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// Get the distance to this intersection
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float f = HYPOT(X - mx, Y - my); |
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// It is possible that we are being called with the values
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// to let us find the closest circle to the start position.
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// But if this is not the case, add a small weighting to the
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// distance calculation to help it choose a better place to continue.
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f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0; |
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// Add in the specified amount of Random Noise to our search
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if (random_deviation > 1.0) |
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f += random(0.0, random_deviation); |
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if (f < closest) { |
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closest = f; // We found a closer location that is still
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return_val.x_index = i; // un-printed --- save the data for it
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return_val.y_index = j; |
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return_val.distance = closest; |
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} |
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} |
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} |
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} |
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bit_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
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return return_val; |
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} |
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bool unified_bed_leveling::look_for_lines_to_connect() { |
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float sx, sy, ex, ey; |
|||
|
|||
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { |
|||
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
if (user_canceled()) return true; // Check if the user wants to stop the Mesh Validation
|
|||
#endif |
|||
|
|||
if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
|
|||
// This is already a half circle because we are at the edge of the bed.
|
|||
|
|||
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
|
|||
if (!is_bit_set(horizontal_mesh_line_flags, i, j)) { |
|||
|
|||
//
|
|||
// We found two circles that need a horizontal line to connect them
|
|||
// Print it!
|
|||
//
|
|||
sx = mesh_index_to_xpos( i ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
|
|||
ex = mesh_index_to_xpos(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
|
|||
|
|||
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1); |
|||
sy = ey = constrain(mesh_index_to_ypos(j), Y_MIN_POS + 1, Y_MAX_POS - 1); |
|||
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1); |
|||
|
|||
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) { |
|||
|
|||
if (g26_debug_flag) { |
|||
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx); |
|||
SERIAL_ECHOPAIR(", sy=", sy); |
|||
SERIAL_ECHOPAIR(") -> (ex=", ex); |
|||
SERIAL_ECHOPAIR(", ey=", ey); |
|||
SERIAL_CHAR(')'); |
|||
SERIAL_EOL(); |
|||
//debug_current_and_destination(PSTR("Connecting horizontal line."));
|
|||
} |
|||
|
|||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height); |
|||
} |
|||
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it
|
|||
} |
|||
} |
|||
|
|||
if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.
|
|||
// This is already a half circle because we are at the edge of the bed.
|
|||
|
|||
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
|
|||
if (!is_bit_set( vertical_mesh_line_flags, i, j)) { |
|||
//
|
|||
// We found two circles that need a vertical line to connect them
|
|||
// Print it!
|
|||
//
|
|||
sy = mesh_index_to_ypos( j ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
|
|||
ey = mesh_index_to_ypos(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
|
|||
|
|||
sx = ex = constrain(mesh_index_to_xpos(i), X_MIN_POS + 1, X_MAX_POS - 1); |
|||
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1); |
|||
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1); |
|||
|
|||
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) { |
|||
|
|||
if (g26_debug_flag) { |
|||
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx); |
|||
SERIAL_ECHOPAIR(", sy=", sy); |
|||
SERIAL_ECHOPAIR(") -> (ex=", ex); |
|||
SERIAL_ECHOPAIR(", ey=", ey); |
|||
SERIAL_CHAR(')'); |
|||
SERIAL_EOL(); |
|||
debug_current_and_destination(PSTR("Connecting vertical line.")); |
|||
} |
|||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height); |
|||
} |
|||
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped
|
|||
} |
|||
} |
|||
} |
|||
} |
|||
} |
|||
} |
|||
return false; |
|||
} |
|||
|
|||
void unified_bed_leveling::move_to(const float &x, const float &y, const float &z, const float &e_delta) { |
|||
float feed_value; |
|||
static float last_z = -999.99; |
|||
|
|||
bool has_xy_component = (x != current_position[X_AXIS] || y != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
|
|||
|
|||
if (z != last_z) { |
|||
last_z = z; |
|||
feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0); // Base the feed rate off of the configured Z_AXIS feed rate
|
|||
|
|||
destination[X_AXIS] = current_position[X_AXIS]; |
|||
destination[Y_AXIS] = current_position[Y_AXIS]; |
|||
destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.
|
|||
destination[E_AXIS] = current_position[E_AXIS]; |
|||
|
|||
G26_line_to_destination(feed_value); |
|||
|
|||
stepper.synchronize(); |
|||
set_destination_to_current(); |
|||
} |
|||
|
|||
// Check if X or Y is involved in the movement.
|
|||
// Yes: a 'normal' movement. No: a retract() or recover()
|
|||
feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5; |
|||
|
|||
if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value); |
|||
|
|||
destination[X_AXIS] = x; |
|||
destination[Y_AXIS] = y; |
|||
destination[E_AXIS] += e_delta; |
|||
|
|||
G26_line_to_destination(feed_value); |
|||
|
|||
stepper.synchronize(); |
|||
set_destination_to_current(); |
|||
|
|||
} |
|||
|
|||
void unified_bed_leveling::retract_filament(const float where[XYZE]) { |
|||
if (!g26_retracted) { // Only retract if we are not already retracted!
|
|||
g26_retracted = true; |
|||
move_to(where, -1.0 * g26_retraction_multiplier); |
|||
} |
|||
} |
|||
|
|||
void unified_bed_leveling::recover_filament(const float where[XYZE]) { |
|||
if (g26_retracted) { // Only un-retract if we are retracted.
|
|||
move_to(where, 1.2 * g26_retraction_multiplier); |
|||
g26_retracted = false; |
|||
} |
|||
} |
|||
|
|||
/**
|
|||
* print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one |
|||
* to the other. But there are really three sets of coordinates involved. The first coordinate |
|||
* is the present location of the nozzle. We don't necessarily want to print from this location. |
|||
* We first need to move the nozzle to the start of line segment where we want to print. Once |
|||
* there, we can use the two coordinates supplied to draw the line. |
|||
* |
|||
* Note: Although we assume the first set of coordinates is the start of the line and the second |
|||
* set of coordinates is the end of the line, it does not always work out that way. This function |
|||
* optimizes the movement to minimize the travel distance before it can start printing. This saves |
|||
* a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does |
|||
* cause a lot of very little short retracement of th nozzle when it draws the very first line |
|||
* segment of a 'circle'. The time this requires is very short and is easily saved by the other |
|||
* cases where the optimization comes into play. |
|||
*/ |
|||
void unified_bed_leveling::print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) { |
|||
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
|
|||
dy_s = current_position[Y_AXIS] - sy, |
|||
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
|
|||
// to save computation time
|
|||
dx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segment
|
|||
dy_e = current_position[Y_AXIS] - ey, |
|||
dist_end = HYPOT2(dx_e, dy_e), |
|||
|
|||
line_length = HYPOT(ex - sx, ey - sy); |
|||
|
|||
// If the end point of the line is closer to the nozzle, flip the direction,
|
|||
// moving from the end to the start. On very small lines the optimization isn't worth it.
|
|||
if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < FABS(line_length)) { |
|||
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz); |
|||
} |
|||
|
|||
// Decide whether to retract & bump
|
|||
|
|||
if (dist_start > 2.0) { |
|||
retract_filament(destination); |
|||
//todo: parameterize the bump height with a define
|
|||
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
|
|||
move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
|
|||
} |
|||
|
|||
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
|
|||
|
|||
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier; |
|||
|
|||
recover_filament(destination); |
|||
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
|
|||
} |
|||
|
|||
/**
|
|||
* This function used to be inline code in G26. But there are so many |
|||
* parameters it made sense to turn them into static globals and get |
|||
* this code out of sight of the main routine. |
|||
*/ |
|||
bool unified_bed_leveling::parse_G26_parameters() { |
|||
|
|||
g26_extrusion_multiplier = EXTRUSION_MULTIPLIER; |
|||
g26_retraction_multiplier = RETRACTION_MULTIPLIER; |
|||
g26_nozzle = NOZZLE; |
|||
g26_filament_diameter = FILAMENT; |
|||
g26_layer_height = LAYER_HEIGHT; |
|||
g26_prime_length = PRIME_LENGTH; |
|||
g26_bed_temp = BED_TEMP; |
|||
g26_hotend_temp = HOTEND_TEMP; |
|||
g26_prime_flag = 0; |
|||
|
|||
g26_ooze_amount = parser.linearval('O', OOZE_AMOUNT); |
|||
g26_keep_heaters_on = parser.boolval('K'); |
|||
g26_continue_with_closest = parser.boolval('C'); |
|||
|
|||
if (parser.seenval('B')) { |
|||
g26_bed_temp = parser.value_celsius(); |
|||
if (!WITHIN(g26_bed_temp, 15, 140)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seenval('L')) { |
|||
g26_layer_height = parser.value_linear_units(); |
|||
if (!WITHIN(g26_layer_height, 0.0, 2.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seen('Q')) { |
|||
if (parser.has_value()) { |
|||
g26_retraction_multiplier = parser.value_float(); |
|||
if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
else { |
|||
SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seenval('S')) { |
|||
g26_nozzle = parser.value_float(); |
|||
if (!WITHIN(g26_nozzle, 0.1, 1.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seen('P')) { |
|||
if (!parser.has_value()) { |
|||
#if ENABLED(NEWPANEL) |
|||
g26_prime_flag = -1; |
|||
#else |
|||
SERIAL_PROTOCOLLNPGM("?Prime length must be specified when not using an LCD."); |
|||
return UBL_ERR; |
|||
#endif |
|||
} |
|||
else { |
|||
g26_prime_flag++; |
|||
g26_prime_length = parser.value_linear_units(); |
|||
if (!WITHIN(g26_prime_length, 0.0, 25.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
} |
|||
|
|||
if (parser.seenval('F')) { |
|||
g26_filament_diameter = parser.value_linear_units(); |
|||
if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to
|
|||
// scale up or down the length needed to get the
|
|||
// same volume of filament
|
|||
|
|||
g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
|
|||
|
|||
if (parser.seenval('H')) { |
|||
g26_hotend_temp = parser.value_celsius(); |
|||
if (!WITHIN(g26_hotend_temp, 165, 280)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seen('U')) { |
|||
randomSeed(millis()); |
|||
// This setting will persist for the next G26
|
|||
random_deviation = parser.has_value() ? parser.value_float() : 50.0; |
|||
} |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1); |
|||
#else |
|||
if (!parser.seen('R')) { |
|||
SERIAL_PROTOCOLLNPGM("?(R)epeat must be specified when not using an LCD."); |
|||
return UBL_ERR; |
|||
} |
|||
else |
|||
g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1; |
|||
#endif |
|||
if (g26_repeats < 1) { |
|||
SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1."); |
|||
return UBL_ERR; |
|||
} |
|||
|
|||
g26_x_pos = parser.linearval('X', current_position[X_AXIS]); |
|||
g26_y_pos = parser.linearval('Y', current_position[Y_AXIS]); |
|||
if (!position_is_reachable_xy(g26_x_pos, g26_y_pos)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds."); |
|||
return UBL_ERR; |
|||
} |
|||
|
|||
/**
|
|||
* Wait until all parameters are verified before altering the state! |
|||
*/ |
|||
set_bed_leveling_enabled(!parser.seen('D')); |
|||
|
|||
return UBL_OK; |
|||
} |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
bool unified_bed_leveling::exit_from_g26() { |
|||
lcd_setstatusPGM(PSTR("Leaving G26"), -1); |
|||
while (ubl_lcd_clicked()) idle(); |
|||
return UBL_ERR; |
|||
} |
|||
#endif |
|||
|
|||
/**
|
|||
* Turn on the bed and nozzle heat and |
|||
* wait for them to get up to temperature. |
|||
*/ |
|||
bool unified_bed_leveling::turn_on_heaters() { |
|||
millis_t next = millis() + 5000UL; |
|||
#if HAS_TEMP_BED |
|||
#if ENABLED(ULTRA_LCD) |
|||
if (g26_bed_temp > 25) { |
|||
lcd_setstatusPGM(PSTR("G26 Heating Bed."), 99); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
has_control_of_lcd_panel = true; |
|||
thermalManager.setTargetBed(g26_bed_temp); |
|||
while (abs(thermalManager.degBed() - g26_bed_temp) > 3) { |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
if (ubl_lcd_clicked()) return exit_from_g26(); |
|||
#endif |
|||
|
|||
if (ELAPSED(millis(), next)) { |
|||
next = millis() + 5000UL; |
|||
thermalManager.print_heaterstates(); |
|||
SERIAL_EOL(); |
|||
} |
|||
idle(); |
|||
} |
|||
#if ENABLED(ULTRA_LCD) |
|||
} |
|||
lcd_setstatusPGM(PSTR("G26 Heating Nozzle."), 99); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
#endif |
|||
|
|||
// Start heating the nozzle and wait for it to reach temperature.
|
|||
thermalManager.setTargetHotend(g26_hotend_temp, 0); |
|||
while (abs(thermalManager.degHotend(0) - g26_hotend_temp) > 3) { |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
if (ubl_lcd_clicked()) return exit_from_g26(); |
|||
#endif |
|||
|
|||
if (ELAPSED(millis(), next)) { |
|||
next = millis() + 5000UL; |
|||
thermalManager.print_heaterstates(); |
|||
SERIAL_EOL(); |
|||
} |
|||
idle(); |
|||
} |
|||
|
|||
#if ENABLED(ULTRA_LCD) |
|||
lcd_reset_status(); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
|
|||
return UBL_OK; |
|||
} |
|||
|
|||
/**
|
|||
* Prime the nozzle if needed. Return true on error. |
|||
*/ |
|||
bool unified_bed_leveling::prime_nozzle() { |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
float Total_Prime = 0.0; |
|||
|
|||
if (g26_prime_flag == -1) { // The user wants to control how much filament gets purged
|
|||
|
|||
has_control_of_lcd_panel = true; |
|||
lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99); |
|||
chirp_at_user(); |
|||
|
|||
set_destination_to_current(); |
|||
|
|||
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
|
|||
|
|||
while (!ubl_lcd_clicked()) { |
|||
chirp_at_user(); |
|||
destination[E_AXIS] += 0.25; |
|||
#ifdef PREVENT_LENGTHY_EXTRUDE |
|||
Total_Prime += 0.25; |
|||
if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR; |
|||
#endif |
|||
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0); |
|||
|
|||
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
|
|||
// but because the planner has a buffer, we won't be able
|
|||
// to stop as quickly. So we put up with the less smooth
|
|||
// action to give the user a more responsive 'Stop'.
|
|||
set_destination_to_current(); |
|||
idle(); |
|||
} |
|||
|
|||
while (ubl_lcd_clicked()) idle(); // Debounce Encoder Wheel
|
|||
|
|||
#if ENABLED(ULTRA_LCD) |
|||
strcpy_P(lcd_status_message, PSTR("Done Priming")); // We can't do lcd_setstatusPGM() without having it continue;
|
|||
// So... We cheat to get a message up.
|
|||
lcd_setstatusPGM(PSTR("Done Priming"), 99); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
|
|||
has_control_of_lcd_panel = false; |
|||
|
|||
} |
|||
else { |
|||
#else |
|||
{ |
|||
#endif |
|||
#if ENABLED(ULTRA_LCD) |
|||
lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
set_destination_to_current(); |
|||
destination[E_AXIS] += g26_prime_length; |
|||
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0); |
|||
stepper.synchronize(); |
|||
set_destination_to_current(); |
|||
retract_filament(destination); |
|||
} |
|||
|
|||
return UBL_OK; |
|||
} |
|||
|
|||
#endif // UBL_G26_MESH_VALIDATION
|
|||
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Reference in new issue