Scott Lahteine
8 years ago
committed by
GitHub
GitHub
27 changed files with 1302 additions and 18 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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#ifndef __NOZZLE_H__ |
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#define __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 Nozzle class |
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* |
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* @todo: Do not ignore the end.z value and allow XYZ movements |
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* @todo: Currently this feature needs HAS_BED_PROBE to be active |
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* due to the do_blocking_move_to*() functions. |
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*/ |
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class Nozzle { |
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private: |
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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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static void stroke(point_t const &start, point_t const &end, uint8_t const &strokes) |
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__attribute__ ((optimize ("Os"))) { |
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#if ENABLED(NOZZLE_CLEAN_PARK) |
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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 |
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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_PARK) |
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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 |
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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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static void zigzag(point_t const &start, |
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point_t const &end, uint8_t const &strokes, uint8_t const &objects) |
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__attribute__ ((optimize ("Os"))) { |
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float A = fabs(end.y - start.y); // [twice the] Amplitude
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float P = fabs(end.x - start.x) / (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_PARK) |
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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 |
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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 + i * P; |
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float const y = start.y + (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 + i * P; |
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float const y = start.y + (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_PARK) |
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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 |
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} |
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public: |
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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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static void clean(uint8_t const &pattern, |
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uint8_t const &strokes, uint8_t const &objects = 0) |
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__attribute__ ((optimize ("Os"))) { |
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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_PT, |
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NOZZLE_CLEAN_END_PT, strokes, objects); |
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break; |
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default: |
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Nozzle::stroke( |
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NOZZLE_CLEAN_START_PT, |
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NOZZLE_CLEAN_END_PT, strokes); |
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} |
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} |
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}; |
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#endif |
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@ -0,0 +1,46 @@ |
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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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#ifndef __POINT_T__ |
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#define __POINT_T__ |
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struct point_t { |
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float x; |
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float y; |
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float z; |
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float e; |
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point_t(float const x, float const y) |
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: point_t(x, y, NAN, NAN) {} |
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point_t(float const x, float const y, float const z) |
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: point_t(x, y, z, NAN) {} |
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point_t(float const x, float const y, float const z, float const e) { |
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this->x = x; |
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this->y = y; |
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this->z = z; |
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this->e = e; |
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} |
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}; |
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#endif |
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