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@ -129,11 +129,14 @@ const float homing_feedrate_mm_s[4] PROGMEM = { |
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// Cartesian conversion result goes here:
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float cartes[XYZ]; |
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// Until kinematics.cpp is created, create this here
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#if IS_KINEMATIC |
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float delta[ABC]; |
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#endif |
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#if HAS_SCARA_OFFSET |
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float scara_home_offset[ABC]; |
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#endif |
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/**
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* The workspace can be offset by some commands, or |
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* these offsets may be omitted to save on computation. |
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@ -452,15 +455,14 @@ void bracket_probe_move(const bool before) { |
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void setup_for_endstop_or_probe_move() { bracket_probe_move(true); } |
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void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); } |
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// Software Endstops are based on the configured limits.
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float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, |
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soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS }; |
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#if HAS_SOFTWARE_ENDSTOPS |
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// Software Endstops are based on the configured limits.
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bool soft_endstops_enabled = true; |
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// Software Endstops are based on the configured limits.
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float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, |
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soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS }; |
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#if IS_KINEMATIC |
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float soft_endstop_radius, soft_endstop_radius_2; |
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#endif |
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@ -502,6 +504,79 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, |
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#endif |
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} |
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/**
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* Software endstops can be used to monitor the open end of |
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* an axis that has a hardware endstop on the other end. Or |
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* they can prevent axes from moving past endstops and grinding. |
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* |
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* To keep doing their job as the coordinate system changes, |
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* the software endstop positions must be refreshed to remain |
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* at the same positions relative to the machine. |
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*/ |
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void update_software_endstops(const AxisEnum axis) { |
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#if ENABLED(DUAL_X_CARRIAGE) |
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if (axis == X_AXIS) { |
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// In Dual X mode hotend_offset[X] is T1's home position
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const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS); |
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if (active_extruder != 0) { |
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// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
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soft_endstop_min[X_AXIS] = X2_MIN_POS; |
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soft_endstop_max[X_AXIS] = dual_max_x; |
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} |
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else if (dxc_is_duplicating()) { |
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// In Duplication Mode, T0 can move as far left as X1_MIN_POS
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// but not so far to the right that T1 would move past the end
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soft_endstop_min[X_AXIS] = X1_MIN_POS; |
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soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset); |
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} |
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else { |
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// In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
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soft_endstop_min[X_AXIS] = X1_MIN_POS; |
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soft_endstop_max[X_AXIS] = X1_MAX_POS; |
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} |
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} |
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#elif ENABLED(DELTA) |
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soft_endstop_min[axis] = base_min_pos(axis); |
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soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height |
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#if HAS_BED_PROBE |
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- zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER |
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#endif |
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: base_max_pos(axis)); |
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switch (axis) { |
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case X_AXIS: |
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case Y_AXIS: |
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// Get a minimum radius for clamping
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soft_endstop_radius = MIN(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]); |
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soft_endstop_radius_2 = sq(soft_endstop_radius); |
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break; |
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case Z_AXIS: |
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delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); |
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default: break; |
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} |
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#else |
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soft_endstop_min[axis] = base_min_pos(axis); |
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soft_endstop_max[axis] = base_max_pos(axis); |
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#endif |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOPAIR("For ", axis_codes[axis]); |
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SERIAL_ECHOPAIR(" axis:\n soft_endstop_min = ", soft_endstop_min[axis]); |
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SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]); |
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} |
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#endif |
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} |
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#endif |
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#if !UBL_SEGMENTED |
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@ -1154,7 +1229,7 @@ void set_axis_is_at_home(const AxisEnum axis) { |
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#if HAS_POSITION_SHIFT |
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position_shift[axis] = 0; |
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update_software_endstops(axis); |
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update_workspace_offset(axis); |
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#endif |
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#if ENABLED(DUAL_X_CARRIAGE) |
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@ -1504,89 +1579,18 @@ void homeaxis(const AxisEnum axis) { |
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#endif |
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} // homeaxis()
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#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA) |
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/**
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* Software endstops can be used to monitor the open end of |
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* an axis that has a hardware endstop on the other end. Or |
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* they can prevent axes from moving past endstops and grinding. |
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* |
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* To keep doing their job as the coordinate system changes, |
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* the software endstop positions must be refreshed to remain |
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* at the same positions relative to the machine. |
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*/ |
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void update_software_endstops(const AxisEnum axis) { |
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#if HAS_HOME_OFFSET |
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workspace_offset[axis] = home_offset[axis] + position_shift[axis]; |
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#endif |
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#if ENABLED(DUAL_X_CARRIAGE) |
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if (axis == X_AXIS) { |
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// In Dual X mode hotend_offset[X] is T1's home position
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const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS); |
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if (active_extruder != 0) { |
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// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
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soft_endstop_min[X_AXIS] = X2_MIN_POS; |
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soft_endstop_max[X_AXIS] = dual_max_x; |
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} |
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else if (dxc_is_duplicating()) { |
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// In Duplication Mode, T0 can move as far left as X1_MIN_POS
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// but not so far to the right that T1 would move past the end
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soft_endstop_min[X_AXIS] = X1_MIN_POS; |
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soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset); |
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} |
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else { |
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// In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
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soft_endstop_min[X_AXIS] = X1_MIN_POS; |
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soft_endstop_max[X_AXIS] = X1_MAX_POS; |
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} |
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} |
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#elif ENABLED(DELTA) |
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soft_endstop_min[axis] = base_min_pos(axis); |
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soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height |
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#if HAS_BED_PROBE |
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- zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER |
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#endif |
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: base_max_pos(axis)); |
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#else |
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soft_endstop_min[axis] = base_min_pos(axis); |
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soft_endstop_max[axis] = base_max_pos(axis); |
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#endif |
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#if HAS_WORKSPACE_OFFSET |
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void update_workspace_offset(const AxisEnum axis) { |
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workspace_offset[axis] = home_offset[axis] + position_shift[axis]; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOPAIR("For ", axis_codes[axis]); |
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#if HAS_HOME_OFFSET |
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SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); |
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#endif |
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#if HAS_POSITION_SHIFT |
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SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]); |
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#endif |
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SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]); |
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SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]); |
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} |
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#endif |
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#if ENABLED(DELTA) |
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switch (axis) { |
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#if HAS_SOFTWARE_ENDSTOPS |
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case X_AXIS: |
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case Y_AXIS: |
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// Get a minimum radius for clamping
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soft_endstop_radius = MIN(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]); |
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soft_endstop_radius_2 = sq(soft_endstop_radius); |
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break; |
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#endif |
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case Z_AXIS: |
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delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); |
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default: break; |
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SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); |
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SERIAL_ECHOLNPAIR("\n position_shift = ", position_shift[axis]); |
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} |
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#endif |
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} |
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#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE || DELTA
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#endif |
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#if HAS_M206_COMMAND |
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/**
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@ -1595,6 +1599,6 @@ void homeaxis(const AxisEnum axis) { |
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*/ |
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void set_home_offset(const AxisEnum axis, const float v) { |
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home_offset[axis] = v; |
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update_software_endstops(axis); |
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update_workspace_offset(axis); |
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} |
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#endif // HAS_M206_COMMAND
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Scott Lahteine
6 years ago