29185f7f68
Speed factor and extrusion factor changes now take effect 1 move earlier Default feed rate after reset increased to 3000mm/min M574 command now accepts E parameter to that active low Z probe switches can be used Bed compensation is cancelled if Z probe was already triggered at the start of a probe M20 S2 response now flags directories with a * prefix M408 command introduced as an alternative to M105 S2 and M105 S3 When cold extrusion is prevented, say which tool was affected in the error message Bug fix: if a drive was turned off manually after going into idle mode, when it was enabled again the current remained at 30% Bug fix: cold extrusion prevention did not work
236 lines
13 KiB
C++
236 lines
13 KiB
C++
/*
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* Move.h
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*
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* Created on: 7 Dec 2014
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* Author: David
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*/
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#ifndef MOVE_H_
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#define MOVE_H_
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#include "DDA.h"
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#include "Matrix.h"
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const unsigned int DdaRingLength = 20;
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enum PointCoordinateSet
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{
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unset = 0,
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xSet = 1,
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ySet = 2,
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zSet = 4,
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xyCorrected = 8,
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probeError = 16
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};
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// Class to hold the parameter for a delta machine.
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// Some of the values that are currently calculated on demand could be pre-calculated in Recalc() and stored instead.
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class DeltaParameters
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{
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public:
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DeltaParameters() { Init(); }
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bool IsDeltaMode() const { return deltaMode; }
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bool IsEquilateral() const { return isEquilateral; }
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float GetDiagonal() const { return diagonal; }
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float GetRadius() const { return radius; }
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float GetPrintRadius() const { return printRadius; }
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float GetTowerX(size_t axis) const { return towerX[axis]; }
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float GetTowerY(size_t axis) const { return towerY[axis]; }
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float GetEndstopAdjustment(size_t axis) const { return endstopAdjustments[axis]; }
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float GetHomedCarriageHeight(size_t axis) const { return homedCarriageHeight + endstopAdjustments[axis]; }
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float GetPrintRadiusSquared() const { return printRadiusSquared; }
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void Init();
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void SetDiagonal(float d) { diagonal = d; Recalc(); }
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void SetRadius(float r);
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void SetEndstopAdjustment(size_t axis, float x) { endstopAdjustments[axis] = x; }
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void SetPrintRadius(float r) { printRadius = r; printRadiusSquared = r * r; }
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float GetHomedHeight() const { return homedHeight; }
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void SetHomedHeight(float h) { homedHeight = h; Recalc(); }
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float Transform(const float machinePos[AXES], size_t axis) const; // Calculate the motor position for a single tower from a Cartesian coordinate
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void InverseTransform(float Ha, float Hb, float Hc, float machinePos[AXES]) const; // Calculate the Cartesian position from the motor positions
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float ComputeDerivative(unsigned int deriv, float ha, float hb, float hc); // Compute the derivative of height with respect to a parameter at a set of motor endpoints
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void Adjust(size_t numFactors, const float v[]); // Perform 4-, 6- or 7-factor adjustment
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void PrintParameters(StringRef& reply, bool full);
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private:
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void Recalc();
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void NormaliseEndstopAdjustments(); // Make the average of the endstop adjustments zero
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// Core parameters
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float diagonal; // The diagonal rod length, all 3 are assumed to be the same length
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float radius; // The nominal delta radius, before any fine tuning of tower positions
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float towerX[AXES]; // The X coordinate of each tower
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float towerY[AXES]; // The Y coordinate of each tower
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float endstopAdjustments[AXES]; // How much above or below the ideal position each endstop is
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float printRadius;
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float homedHeight;
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// Derived values
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bool deltaMode; // True if this is a delta printer
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bool isEquilateral; // True if the towers are at the corners of an equilateral triangle
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float printRadiusSquared;
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float homedCarriageHeight;
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float Xbc, Xca, Xab, Ybc, Yca, Yab;
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float coreFa, coreFb, coreFc;
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float Q, Q2, D2;
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};
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/**
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* This is the master movement class. It controls all movement in the machine.
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*/
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class Move
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{
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public:
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Move(Platform* p, GCodes* g);
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void Init(); // Start me up
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void Spin(); // Called in a tight loop to keep the class going
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void Exit(); // Shut down
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void GetCurrentUserPosition(float m[DRIVES + 1], uint8_t moveType) const; // Return the position (after all queued moves have been executed) in transformed coords
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void LiveCoordinates(float m[DRIVES]); // Gives the last point at the end of the last complete DDA transformed to user coords
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void Interrupt(); // The hardware's (i.e. platform's) interrupt should call this.
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void InterruptTime(); // Test function - not used
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bool AllMovesAreFinished(); // Is the look-ahead ring empty? Stops more moves being added as well.
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void ResumeMoving(); // Allow moves to be added after a call to AllMovesAreFinished()
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void DoLookAhead(); // Run the look-ahead procedure
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void HitLowStop(size_t drive, DDA* hitDDA); // What to do when a low endstop is hit
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void HitHighStop(size_t drive, DDA* hitDDA); // What to do when a high endstop is hit
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void ZProbeTriggered(DDA* hitDDA); // What to do when a the Z probe is triggered
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void SetPositions(const float move[DRIVES]); // Force the coordinates to be these
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void SetFeedrate(float feedRate); // Sometimes we want to override the feed rate
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void SetLiveCoordinates(const float coords[DRIVES]); // Force the live coordinates (see above) to be these
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void SetXBedProbePoint(int index, float x); // Record the X coordinate of a probe point
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void SetYBedProbePoint(int index, float y); // Record the Y coordinate of a probe point
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void SetZBedProbePoint(int index, float z, bool wasXyCorrected, bool wasError); // Record the Z coordinate of a probe point
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float XBedProbePoint(int index) const; // Get the X coordinate of a probe point
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float YBedProbePoint(int index) const; // Get the Y coordinate of a probe point
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float ZBedProbePoint(int index)const ; // Get the Z coordinate of a probe point
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int NumberOfProbePoints() const; // How many points to probe have been set? 0 if incomplete
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int NumberOfXYProbePoints() const; // How many XY coordinates of probe points have been set (Zs may not have been probed yet)
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bool AllProbeCoordinatesSet(int index) const; // XY, and Z all set for this one?
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bool XYProbeCoordinatesSet(int index) const; // Just XY set for this one?
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void FinishedBedProbing(int sParam, StringRef& reply); // Calibrate or set the bed equiation after probing
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float SecondDegreeTransformZ(float x, float y) const; // Used for second degree bed equation
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void SetAxisCompensation(int8_t axis, float tangent); // Set an axis-pair compensation angle
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float AxisCompensation(int8_t axis) const; // The tangent value
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void SetIdentityTransform(); // Cancel the bed equation; does not reset axis angle compensation
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void Transform(float move[]) const; // Take a position and apply the bed and the axis-angle compensations
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void InverseTransform(float move[]) const; // Go from a transformed point back to user coordinates
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void Diagnostics(); // Report useful stuff
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const DeltaParameters& GetDeltaParams() const { return deltaParams; }
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DeltaParameters& AccessDeltaParams() { return deltaParams; }
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bool IsDeltaMode() const { return deltaParams.IsDeltaMode(); }
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const char* GetGeometryString() const;
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int GetCoreXYMode() const { return coreXYMode; }
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void SetCoreXYMode(int mode) { coreXYMode = mode; }
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void CurrentMoveCompleted(); // signals that the current move has just been completed
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bool StartNextMove(uint32_t startTime); // start the next move, returning true if Step() needs to be called immediately
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void MotorTransform(const float machinePos[AXES], int32_t motorPos[AXES]) const; // Convert Cartesian coordinates to delta motor coordinates
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void MachineToEndPoint(const int32_t motorPos[], float machinePos[], size_t numDrives) const; // Convert motor coordinates to machine coordinates
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void EndPointToMachine(const float coords[], int32_t ep[], size_t numDrives) const;
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void Simulate(bool sim); // Enter or leave simulation mode
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float GetSimulationTime() const { return simulationTime; } // Get the accumulated simulation time
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void PrintCurrentDda() const; // For debugging
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FilePosition PausePrint(float positions[DRIVES+1]); // Pause the print as soon as we can
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bool NoLiveMovement() const; // Is a move running, or are there any queued?
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static int32_t MotorEndPointToMachine(size_t drive, float coord); // Convert a single motor position to number of steps
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static float MotorEndpointToPosition(int32_t endpoint, size_t drive); // Convert number of motor steps to motor position
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private:
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enum class IdleState : uint8_t { idle, busy, timing };
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void SetProbedBedEquation(size_t numPoints, StringRef& reply); // When we have a full set of probed points, work out the bed's equation
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void DoDeltaCalibration(size_t numPoints, StringRef& reply);
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void BedTransform(float move[AXES]) const; // Take a position and apply the bed compensations
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void GetCurrentMachinePosition(float m[DRIVES + 1], bool disableMotorMapping) const; // Get the current position and feedrate in untransformed coords
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void InverseBedTransform(float move[AXES]) const; // Go from a bed-transformed point back to user coordinates
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void AxisTransform(float move[AXES]) const; // Take a position and apply the axis-angle compensations
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void InverseAxisTransform(float move[AXES]) const; // Go from an axis transformed point back to user coordinates
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void BarycentricCoordinates(size_t p0, size_t p1, // Compute the barycentric coordinates of a point in a triangle
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size_t p2, float x, float y, float& l1, // (see http://en.wikipedia.org/wiki/Barycentric_coordinate_system).
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float& l2, float& l3) const;
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float TriangleZ(float x, float y) const; // Interpolate onto a triangular grid
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void AdjustDeltaParameters(const float v[], size_t numFactors); // Perform delta adjustment
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static void PrintMatrix(const char* s, const MathMatrix<float>& m, size_t numRows = 0, size_t maxCols = 0); // for debugging
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static void PrintVector(const char *s, const float *v, size_t numElems); // for debugging
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bool DDARingAdd(); // Add a processed look-ahead entry to the DDA ring
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DDA* DDARingGet(); // Get the next DDA ring entry to be run
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bool DDARingEmpty() const; // Anything there?
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DDA* volatile currentDda;
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DDA* ddaRingAddPointer;
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DDA* volatile ddaRingGetPointer;
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bool addNoMoreMoves; // If true, allow no more moves to be added to the look-ahead
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bool active; // Are we live and running?
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bool simulating; // Are we simulating, or really printing?
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unsigned int idleCount; // The number of times Spin was called and had no new moves to process
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float simulationTime; // Print time since we started simulating
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float currentFeedrate; // Err... the current feed rate...
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volatile float liveCoordinates[DRIVES]; // The endpoint that the machine moved to in the last completed move
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volatile bool liveCoordinatesValid; // True if the XYZ live coordinates are reliable (the extruder ones always are)
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volatile int32_t liveEndPoints[DRIVES]; // The XYZ endpoints of the last completed move in motor coordinates
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float xBedProbePoints[MaxProbePoints]; // The X coordinates of the points on the bed at which to probe
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float yBedProbePoints[MaxProbePoints]; // The Y coordinates of the points on the bed at which to probe
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float zBedProbePoints[MaxProbePoints]; // The Z coordinates of the points on the bed at which to probe
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float baryXBedProbePoints[5]; // The X coordinates of the triangle corner points
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float baryYBedProbePoints[5]; // The Y coordinates of the triangle corner points
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float baryZBedProbePoints[5]; // The Z coordinates of the triangle corner points
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uint8_t probePointSet[MaxProbePoints]; // Has the XY of this point been set? Has the Z been probed?
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float aX, aY, aC; // Bed plane explicit equation z' = z + aX*x + aY*y + aC
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float tanXY, tanYZ, tanXZ; // Axis compensation - 90 degrees + angle gives angle between axes
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int numBedCompensationPoints; // The number of points we are actually using for bed compensation, 0 means identity bed transform
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float xRectangle, yRectangle; // The side lengths of the rectangle used for second-degree bed compensation
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float idleTimeout; // How long we wait with no activity before we reduce motor currents to idle
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float lastMoveTime; // The approximate time at which the last move was completed, or 0
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float longWait; // A long time for things that need to be done occasionally
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IdleState iState; // whether the idle timer is active
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DeltaParameters deltaParams; // Information about the delta parameters of this machine
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int coreXYMode; // 0 = Cartesian, 1 = CoreXY, 2 = CoreXZ, 3 = CoreYZ
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};
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//******************************************************************************************************
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inline bool Move::DDARingEmpty() const
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{
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return ddaRingGetPointer == ddaRingAddPointer;
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}
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inline bool Move::NoLiveMovement() const
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{
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return DDARingEmpty() && currentDda == nullptr; // must test currentDda and DDARingEmpty *in this order* !
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}
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// To wait until all the current moves in the buffers are
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// complete, call this function repeatedly and wait for it to
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// return true. Then do whatever you wanted to do after all
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// current moves have finished. THEN CALL THE ResumeMoving() FUNCTION
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// OTHERWISE NOTHING MORE WILL EVER HAPPEN.
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inline bool Move::AllMovesAreFinished()
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{
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addNoMoreMoves = true;
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return NoLiveMovement();
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}
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inline void Move::ResumeMoving()
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{
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addNoMoreMoves = false;
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}
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#endif /* MOVE_H_ */
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