tschwery/reprapfirmware-dc42
Archived
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Axis angle compensation code added. Briefly tested in XY plane. Seems to work. More testing is probably needed...

Browse source
This commit is contained in:
Adrian Bowyer 2013-11-12 16:47:41 +00:00
parent b94bb6c811
commit 6c22f30600
4 changed files with 81 additions and 33 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

49
GCodes.cpp
View file

@ -797,15 +797,15 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
case 82:
if(drivesRelative)
for(uint8_t i = AXES; i < DRIVES; i++)
lastPos[i - AXES] = 0.0;
for(int8_t extruder = AXES; extruder < DRIVES; extruder++)
lastPos[extruder - AXES] = 0.0;
drivesRelative = false;
break;
case 83:
if(!drivesRelative)
for(uint8_t i = AXES; i < DRIVES; i++)
lastPos[i - AXES] = 0.0;
for(int8_t extruder = AXES; extruder < DRIVES; extruder++)
lastPos[extruder - AXES] = 0.0;
drivesRelative = true;
break;
@ -814,23 +814,23 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
break;
case 92: // Set steps/mm for each axis
for(uint8_t i = 0; i < DRIVES; i++)
for(int8_t drive = 0; drive < DRIVES; drive++)
{
if(gb->Seen(gCodeLetters[i]))
if(gb->Seen(gCodeLetters[drive]))
{
value = gb->GetFValue();
}else{
value = -1;
}
platform->SetDriveStepsPerUnit(i, value);
platform->SetDriveStepsPerUnit(drive, value);
}
break;
case 105: // Deprecated...
strncpy(reply, "T:", STRING_LENGTH);
for(int8_t i = HEATERS - 1; i > 0; i--)
for(int8_t heater = HEATERS - 1; heater > 0; heater--)
{
strncat(reply, ftoa(0, reprap.GetHeat()->GetTemperature(i), 1), STRING_LENGTH);
strncat(reply, ftoa(0, reprap.GetHeat()->GetTemperature(heater), 1), STRING_LENGTH);
strncat(reply, " ", STRING_LENGTH);
}
strncat(reply, "B:", STRING_LENGTH);
@ -906,25 +906,25 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
break;
case 201: // Set axis accelerations
for(uint8_t i = 0; i < DRIVES; i++)
for(int8_t drive = 0; drive < DRIVES; drive++)
{
if(gb->Seen(gCodeLetters[i]))
if(gb->Seen(gCodeLetters[drive]))
{
value = gb->GetFValue();
}else{
value = -1;
}
platform->SetAcceleration(i, value);
platform->SetAcceleration(drive, value);
}
break;
case 203: // Set maximum feedrates
for(uint8_t i = 0; i < DRIVES; i++)
for(int8_t drive = 0; drive < DRIVES; drive++)
{
if(gb->Seen(gCodeLetters[i]))
if(gb->Seen(gCodeLetters[drive]))
{
value = gb->GetFValue()*distanceScale*0.016666667; // G Code feedrates are in mm/minute; we need mm/sec;
platform->SetMaxFeedrate(i, value);
platform->SetMaxFeedrate(drive, value);
}
}
break;
@ -933,23 +933,23 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
break;
case 208: // Set maximum axis lengths
for(uint8_t i = 0; i < AXES; i++)
for(int8_t axis = 0; axis < AXES; axis++)
{
if(gb->Seen(gCodeLetters[i]))
if(gb->Seen(gCodeLetters[axis]))
{
value = gb->GetFValue()*distanceScale;
platform->SetAxisLength(i, value);
platform->SetAxisLength(axis, value);
}
}
break;
case 210: // Set homing feedrates
for(uint8_t i = 0; i < AXES; i++)
for(int8_t axis = 0; axis < AXES; axis++)
{
if(gb->Seen(gCodeLetters[i]))
if(gb->Seen(gCodeLetters[axis]))
{
value = gb->GetFValue()*distanceScale*0.016666667;
platform->SetHomeFeedRate(i, value);
platform->SetHomeFeedRate(axis, value);
}
}
break;
@ -982,6 +982,13 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
break;
case 504: // Axis compensation
if(gb->Seen('S'))
{
value = gb->GetFValue();
for(int8_t axis = 0; axis < AXES; axis++)
if(gb->Seen(gCodeLetters[axis]))
reprap.GetMove()->SetAxisCompensation(axis, gb->GetFValue()/value);
}
break;
case 906: // Set Motor currents

22
Move.cpp
View file

@ -144,6 +144,9 @@ void Move::Init()
currentFeedrate = -1.0;
SetIdentityTransform();
tanXY = 0.0;
tanYZ = 0.0;
tanXZ = 0.0;
lastZHit = 0.0;
zProbing = false;
@ -566,6 +569,13 @@ LookAhead* Move::LookAheadRingGet()
return result;
}
// Note that we don't set the tan values to 0 here. This means that the bed probe
// values will be a fraction of a millimeter out in X and Y, which, as the bed should
// be nearly flat (and the probe doesn't coincide with the nozzle anyway), won't matter.
// But it means that the tan values can be set for the machine
// at the start in the configuration file and be retained, without having to know and reset
// them after every Z probe of the bed.
void Move::SetIdentityTransform()
{
aX = 0.0;
@ -573,14 +583,18 @@ void Move::SetIdentityTransform()
aC = 0.0;
}
void Move::Transform(float move[])
void Move::Transform(float xyzPoint[])
{
move[2] = move[2] + aX*move[0] + aY*move[1] + aC;
xyzPoint[X_AXIS] = xyzPoint[X_AXIS] + tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS];
xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] + tanYZ*xyzPoint[Z_AXIS];
xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC;
}
void Move::InverseTransform(float move[])
void Move::InverseTransform(float xyzPoint[])
{
move[2] = move[2] - (aX*move[0] + aY*move[1] + aC);
xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - (aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC);
xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] - tanYZ*xyzPoint[Z_AXIS];
xyzPoint[X_AXIS] = xyzPoint[X_AXIS] - (tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS]);
}
void Move::SetProbedBedPlane()

22
Move.h
View file

@ -162,6 +162,7 @@ class Move
void SetZProbing(bool probing);
void SetProbedBedPlane();
float GetLastProbedZ();
void SetAxisCompensation(int8_t axis, float tangent);
void SetIdentityTransform();
void Transform(float move[]);
void InverseTransform(float move[]);
@ -212,7 +213,8 @@ class Move
float stepDistances[(1<<AXES)]; // Index bits: lsb -> dx, dy, dz <- msb
float extruderStepDistances[(1<<(DRIVES-AXES))]; // NB - limits us to 5 extruders
long nextMachineEndPoints[DRIVES+1];
float aX, aY, aC;
float aX, aY, aC; // Bed plane explicit equation z' = z + aX*x + aY*y + aC
float tanXY, tanYZ, tanXZ; // 90 degrees + angle gives angle between axes
float lastZHit;
bool zProbing;
};
@ -404,6 +406,24 @@ inline float Move::GetLastProbedZ()
return lastZHit;
}
inline void Move::SetAxisCompensation(int8_t axis, float tangent)
{
switch(axis)
{
case X_AXIS:
tanXY = tangent;
break;
case Y_AXIS:
tanYZ = tangent;
break;
case Z_AXIS:
tanXZ = tangent;
break;
default:
platform->Message(HOST_MESSAGE, "SetAxisCompensation: dud axis.\n");
}
}
inline void Move::HitLowStop(int8_t drive, LookAhead* la, DDA* hitDDA)
{
float hitPoint = 0.0;

21
RepRapFirmware.cpp
View file

@ -215,7 +215,7 @@ void RepRap::Diagnostics()
webserver->Diagnostics();
}
// Disable interrupts, turn off the heaters, disable the motors, and
// Turn off the heaters, disable the motors, and
// deactivate the Heat and Move classes. Leave everything else
// working.
@ -223,18 +223,25 @@ void RepRap::EmergencyStop()
{
int8_t i;
platform->DisableInterrupts();
//platform->DisableInterrupts();
heat->Exit();
for(i = 0; i < HEATERS; i++)
platform->SetHeater(i, 0.0);
heat->Exit();
for(i = 0; i < DRIVES; i++)
// We do this twice, to avoid an interrupt switching
// a drive back on. move->Exit() should prevent
// interrupts doing this.
for(int8_t i = 0; i < 2; i++)
{
platform->SetMotorCurrent(i, 0.0);
platform->Disable(i);
move->Exit();
for(i = 0; i < DRIVES; i++)
{
platform->SetMotorCurrent(i, 0.0);
platform->Disable(i);
}
}
move->Exit();
}