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125 lines
3.8 KiB
125 lines
3.8 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* delta.h - Delta-specific functions
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*/
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#include "../core/types.h"
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#include "../core/macros.h"
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extern float delta_height;
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extern abc_float_t delta_endstop_adj;
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extern float delta_radius,
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delta_diagonal_rod,
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segments_per_second;
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extern abc_float_t delta_tower_angle_trim;
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extern xy_float_t delta_tower[ABC];
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extern abc_float_t delta_diagonal_rod_2_tower;
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extern float delta_clip_start_height;
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extern abc_float_t delta_diagonal_rod_trim;
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/**
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* Recalculate factors used for delta kinematics whenever
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* settings have been changed (e.g., by M665).
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*/
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void recalc_delta_settings();
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/**
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* Get a safe radius for calibration
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*/
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#if HAS_DELTA_SENSORLESS_PROBING
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static constexpr float sensorless_radius_factor = 0.7f;
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#endif
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/**
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* Delta Inverse Kinematics
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*
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* Calculate the tower positions for a given machine
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* position, storing the result in the delta[] array.
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*
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* This is an expensive calculation, requiring 3 square
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* roots per segmented linear move, and strains the limits
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* of a Mega2560 with a Graphical Display.
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*
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* Suggested optimizations include:
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*
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* - Disable the home_offset (M206) and/or position_shift (G92)
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* features to remove up to 12 float additions.
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*
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* - Use a fast-inverse-sqrt function and add the reciprocal.
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* (see above)
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*/
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// Macro to obtain the Z position of an individual tower
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#define DELTA_Z(V,T) V.z + SQRT( \
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delta_diagonal_rod_2_tower[T] - HYPOT2( \
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delta_tower[T].x - V.x, \
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delta_tower[T].y - V.y \
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) \
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)
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#define DELTA_IK(V) delta.set(DELTA_Z(V, A_AXIS), DELTA_Z(V, B_AXIS), DELTA_Z(V, C_AXIS))
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void inverse_kinematics(const xyz_pos_t &raw);
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/**
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* Calculate the highest Z position where the
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* effector has the full range of XY motion.
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*/
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float delta_safe_distance_from_top();
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void refresh_delta_clip_start_height();
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/**
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* Delta Forward Kinematics
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*
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* See the Wikipedia article "Trilateration"
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* https://en.wikipedia.org/wiki/Trilateration
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*
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* Establish a new coordinate system in the plane of the
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* three carriage points. This system has its origin at
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* tower1, with tower2 on the X axis. Tower3 is in the X-Y
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* plane with a Z component of zero.
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* We will define unit vectors in this coordinate system
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* in our original coordinate system. Then when we calculate
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* the Xnew, Ynew and Znew values, we can translate back into
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* the original system by moving along those unit vectors
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* by the corresponding values.
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*
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* Variable names matched to Marlin, c-version, and avoid the
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* use of any vector library.
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*
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* by Andreas Hardtung 2016-06-07
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* based on a Java function from "Delta Robot Kinematics V3"
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* by Steve Graves
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*
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* The result is stored in the cartes[] array.
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*/
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void forward_kinematics(const_float_t z1, const_float_t z2, const_float_t z3);
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FORCE_INLINE void forward_kinematics(const abc_float_t &point) {
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forward_kinematics(point.a, point.b, point.c);
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}
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void home_delta();
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