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133 lines
3.9 KiB
133 lines
3.9 KiB
/**
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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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* delta.h - Delta-specific functions
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*/
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#ifndef __DELTA_H__
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#define __DELTA_H__
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extern float delta_height,
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delta_endstop_adj[ABC],
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delta_radius,
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delta_diagonal_rod,
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delta_segments_per_second,
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delta_calibration_radius,
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delta_tower_angle_trim[ABC];
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extern float delta_tower[ABC][2],
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delta_diagonal_rod_2_tower[ABC],
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delta_clip_start_height;
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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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* 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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#if ENABLED(DELTA_FAST_SQRT) && defined(__AVR__)
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/**
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* Fast inverse sqrt from Quake III Arena
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* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
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*/
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float Q_rsqrt(float number);
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#define _SQRT(n) (1.0f / Q_rsqrt(n))
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#else
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#define _SQRT(n) SQRT(n)
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#endif
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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_AXIS] + _SQRT( \
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delta_diagonal_rod_2_tower[T] - HYPOT2( \
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delta_tower[T][X_AXIS] - V[X_AXIS], \
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delta_tower[T][Y_AXIS] - V[Y_AXIS] \
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) \
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)
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#define DELTA_IK(V) do { \
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delta[A_AXIS] = DELTA_Z(V, A_AXIS); \
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delta[B_AXIS] = DELTA_Z(V, B_AXIS); \
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delta[C_AXIS] = DELTA_Z(V, C_AXIS); \
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}while(0)
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void inverse_kinematics(const float raw[XYZ]);
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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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/**
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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_DELTA(float z1, float z2, float z3);
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FORCE_INLINE void forward_kinematics_DELTA(float point[ABC]) {
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forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
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}
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bool home_delta();
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#endif // __DELTA_H__
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