bb8a2c3ef7
Z axis min and max limits are now enforced if the axes have been homed M665 command now shows the re-calculated delta radius and tower offsets after auto-calibration Initial and final RMS errors are now shown after delta auto-calibration Pause/resume now mostly works when absolute extruder coordinates are used Doubled the maximum length of the SD card file listing that can be sent to PanelDue Implemented zpl's Network and PrintMonitor changes including M404 (thanks, zpl) Increased default maximum instantaneous speed changes Bug fix:: if M226 was used to pause the print, the resume coordinates were not set up correctly Bug fix: when changing the travel direction, the head was sometimes slowed down more than necessary Bug fix: warm-up time was not shown correctly in DuetWebControl Bug fix: extruder drive positions were always shown as 0.0 in DuetWebControl Bug fix: incorrect PID parameters were shown in response to M301 Replaced old web interface files on SD card by DuetWebControl Modified all resume.g files to set the speed when moving to the paused head coordinates
69 lines
3.1 KiB
C++
69 lines
3.1 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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bool IsEquilateral() const { return isEquilateral; }
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float GetDiagonal() const { return diagonal; }
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float GetRadius() const;
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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) const; // Print all the parameters for debugging
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float GetXCorrection() const;
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float GetYCorrection() const;
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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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#endif /* DELTAPARAMETERS_H_ */
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