d971c6c000
Fixed CoreXY homing bug Support simultaneous XY homing on CoreXY printers Updated sample homeall.g file for CoreXY printers to do simultaneous XY homing Added H (height correction) parameter to G30 command G30 S-1 now reports trigger height without changing ZS origin Added M665 Z parameter to better support square delta printers Changed interrupt priorities to make step pulse timing interrupt higher priority than Ethernet (thanks zpl)
75 lines
3.4 KiB
C++
75 lines
3.4 KiB
C++
/*
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* DeltaParameters.h
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*
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* Created on: 20 Apr 2015
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* Author: David
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*/
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#ifndef DELTAPARAMETERS_H_
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#define DELTAPARAMETERS_H_
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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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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 GetXCorrection() const { return xCorrection; }
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float GetYCorrection() const { return yCorrection; }
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float GetZCorrection() const { return zCorrection; }
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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) { radius = r; Recalc(); }
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void SetEndstopAdjustment(size_t axis, float x) { endstopAdjustments[axis] = x; Recalc(); }
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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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void SetXCorrection(float angle) { xCorrection = angle; Recalc(); }
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void SetYCorrection(float angle) { yCorrection = angle; Recalc(); }
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void SetZCorrection(float angle) { zCorrection = angle; 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 3-, 4-, 6- or 7-factor adjustment
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void PrintParameters(StringRef& reply) const; // Print all the parameters for debugging
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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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const float degreesToRadians = PI/180.0;
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const float radiansToDegrees = 180.0/PI;
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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 xCorrection, yCorrection, zCorrection; // Tower position corrections
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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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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 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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#endif /* DELTAPARAMETERS_H_ */
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