diff --git a/Marlin/src/libs/nozzle.cpp b/Marlin/src/libs/nozzle.cpp
index d5039c4ea2..eb9c6f3157 100644
--- a/Marlin/src/libs/nozzle.cpp
+++ b/Marlin/src/libs/nozzle.cpp
@@ -20,246 +20,167 @@
*
*/
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
+
#include "nozzle.h"
#include "../Marlin.h"
#include "../module/motion.h"
#include "point_t.h"
-#if ENABLED(DELTA)
- #include "../module/delta.h"
-#endif
-
-/**
- * @brief Stroke clean pattern
- * @details Wipes the nozzle back and forth in a linear movement
- *
- * @param start point_t defining the starting point
- * @param end point_t defining the ending point
- * @param strokes number of strokes to execute
- */
-void Nozzle::stroke(
- _UNUSED point_t const &start,
- _UNUSED point_t const &end,
- _UNUSED uint8_t const &strokes
-) {
- #if ENABLED(NOZZLE_CLEAN_FEATURE)
+#if ENABLED(NOZZLE_CLEAN_FEATURE)
+ /**
+ * @brief Stroke clean pattern
+ * @details Wipes the nozzle back and forth in a linear movement
+ *
+ * @param start point_t defining the starting point
+ * @param end point_t defining the ending point
+ * @param strokes number of strokes to execute
+ */
+ void Nozzle::stroke(const point_t &start, const point_t &end, const uint8_t &strokes) {
#if ENABLED(NOZZLE_CLEAN_GOBACK)
- // Store the current coords
- point_t const initial = {
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS],
- current_position[E_AXIS]
- };
- #endif // NOZZLE_CLEAN_GOBACK
+ const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
+ #endif
// Move to the starting point
- do_blocking_move_to_xy(start.x, start.y);
- do_blocking_move_to_z(start.z);
+ do_blocking_move_to(start.x, start.y, start.z);
// Start the stroke pattern
- for (uint8_t i = 0; i < (strokes >>1); i++) {
+ for (uint8_t i = 0; i < (strokes >> 1); i++) {
do_blocking_move_to_xy(end.x, end.y);
do_blocking_move_to_xy(start.x, start.y);
}
#if ENABLED(NOZZLE_CLEAN_GOBACK)
- // Move the nozzle to the initial point
- do_blocking_move_to(initial.x, initial.y, initial.z);
- #endif // NOZZLE_CLEAN_GOBACK
+ do_blocking_move_to(ix, iy, iz);
+ #endif
+ }
- #endif // NOZZLE_CLEAN_FEATURE
-}
-
-/**
- * @brief Zig-zag clean pattern
- * @details Apply a zig-zag cleanning pattern
- *
- * @param start point_t defining the starting point
- * @param end point_t defining the ending point
- * @param strokes number of strokes to execute
- * @param objects number of objects to create
- */
-void Nozzle::zigzag(
- _UNUSED point_t const &start,
- _UNUSED point_t const &end,
- _UNUSED uint8_t const &strokes,
- _UNUSED uint8_t const &objects
-) {
- #if ENABLED(NOZZLE_CLEAN_FEATURE)
- const float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length, // [twice the] Amplitude
- P = (nozzle_clean_horizontal ? nozzle_clean_length : nozzle_clean_height) / (objects << 1); // Period
-
- // Don't allow impossible triangles
- if (A <= 0.0f || P <= 0.0f ) return;
+ /**
+ * @brief Zig-zag clean pattern
+ * @details Apply a zig-zag cleaning pattern
+ *
+ * @param start point_t defining the starting point
+ * @param end point_t defining the ending point
+ * @param strokes number of strokes to execute
+ * @param objects number of triangles to do
+ */
+ void Nozzle::zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) {
+ const float diffx = end.x - start.x, diffy = end.y - start.y;
+ if (!diffx || !diffy) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK)
- // Store the current coords
- point_t const initial = {
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS],
- current_position[E_AXIS]
- };
- #endif // NOZZLE_CLEAN_GOBACK
+ const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
+ #endif
+ do_blocking_move_to(start.x, start.y, start.z);
+
+ const uint8_t zigs = objects << 1;
+ const bool horiz = FABS(diffx) >= FABS(diffy); // Do a horizontal wipe?
+ const float P = (horiz ? diffx : diffy) / zigs; // Period of each zig / zag
+ const point_t *side;
for (uint8_t j = 0; j < strokes; j++) {
- for (uint8_t i = 0; i < (objects << 1); i++) {
- float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
- float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
-
- do_blocking_move_to_xy(x, y);
- if (i == 0) do_blocking_move_to_z(start.z);
+ for (int8_t i = 0; i < zigs; i++) {
+ side = (i & 1) ? &end : &start;
+ if (horiz)
+ do_blocking_move_to_xy(start.x + i * P, side->y);
+ else
+ do_blocking_move_to_xy(side->x, start.y + i * P);
}
-
- for (int i = (objects << 1); i > -1; i--) {
- float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
- float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
-
- do_blocking_move_to_xy(x, y);
+ for (int8_t i = zigs; i >= 0; i--) {
+ side = (i & 1) ? &end : &start;
+ if (horiz)
+ do_blocking_move_to_xy(start.x + i * P, side->y);
+ else
+ do_blocking_move_to_xy(side->x, start.y + i * P);
}
}
#if ENABLED(NOZZLE_CLEAN_GOBACK)
- // Move the nozzle to the initial point
- do_blocking_move_to_z(initial.z);
- do_blocking_move_to_xy(initial.x, initial.y);
- #endif // NOZZLE_CLEAN_GOBACK
+ do_blocking_move_to(ix, iy, iz);
+ #endif
+ }
- #endif // NOZZLE_CLEAN_FEATURE
-}
-
-
-/**
- * @brief Circular clean pattern
- * @details Apply a circular cleaning pattern
- *
- * @param start point_t defining the middle of circle
- * @param strokes number of strokes to execute
- * @param radius radius of circle
- */
-void Nozzle::circle(
- _UNUSED point_t const &start,
- _UNUSED point_t const &middle,
- _UNUSED uint8_t const &strokes,
- _UNUSED float const &radius
-) {
- #if ENABLED(NOZZLE_CLEAN_FEATURE)
+ /**
+ * @brief Circular clean pattern
+ * @details Apply a circular cleaning pattern
+ *
+ * @param start point_t defining the middle of circle
+ * @param strokes number of strokes to execute
+ * @param radius radius of circle
+ */
+ void Nozzle::circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) {
if (strokes == 0) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK)
- // Store the current coords
- point_t const initial = {
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS],
- current_position[E_AXIS]
- };
- #endif // NOZZLE_CLEAN_GOBACK
+ const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
+ #endif
- if (start.z <= current_position[Z_AXIS]) {
- // Order of movement is pretty darn important here
- do_blocking_move_to_xy(start.x, start.y);
- do_blocking_move_to_z(start.z);
- }
- else {
- do_blocking_move_to_z(start.z);
- do_blocking_move_to_xy(start.x, start.y);
- }
+ do_blocking_move_to(start.x, start.y, start.z);
- float x, y;
- for (uint8_t s = 0; s < strokes; s++) {
- for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++) {
- x = middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
- y = middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
-
- do_blocking_move_to_xy(x, y);
- }
- }
+ for (uint8_t s = 0; s < strokes; s++)
+ for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++)
+ do_blocking_move_to_xy(
+ middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius,
+ middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius
+ );
// Let's be safe
do_blocking_move_to_xy(start.x, start.y);
#if ENABLED(NOZZLE_CLEAN_GOBACK)
- // Move the nozzle to the initial point
- if (start.z <= initial.z) {
- // As above order is important
- do_blocking_move_to_z(initial.z);
- do_blocking_move_to_xy(initial.x, initial.y);
- }
- else {
- do_blocking_move_to_xy(initial.x, initial.y);
- do_blocking_move_to_z(initial.z);
- }
- #endif // NOZZLE_CLEAN_GOBACK
-
- #endif // NOZZLE_CLEAN_FEATURE
-}
-
-/**
- * @brief Clean the nozzle
- * @details Starts the selected clean procedure pattern
- *
- * @param pattern one of the available patterns
- * @param argument depends on the cleaning pattern
- */
-void Nozzle::clean(
- _UNUSED uint8_t const &pattern,
- _UNUSED uint8_t const &strokes,
- _UNUSED float const &radius,
- _UNUSED uint8_t const &objects
-) {
- #if ENABLED(NOZZLE_CLEAN_FEATURE)
- #if ENABLED(DELTA)
- if (current_position[Z_AXIS] > delta_clip_start_height)
- do_blocking_move_to_z(delta_clip_start_height);
+ do_blocking_move_to(ix, iy, iz);
#endif
+ }
+
+ /**
+ * @brief Clean the nozzle
+ * @details Starts the selected clean procedure pattern
+ *
+ * @param pattern one of the available patterns
+ * @param argument depends on the cleaning pattern
+ */
+ void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects/*=0*/) {
switch (pattern) {
case 1:
- Nozzle::zigzag(
- NOZZLE_CLEAN_START_POINT,
- NOZZLE_CLEAN_END_POINT, strokes, objects);
+ zigzag(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes, objects);
break;
case 2:
- Nozzle::circle(
- NOZZLE_CLEAN_START_POINT,
- NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
+ circle(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
break;
default:
- Nozzle::stroke(
- NOZZLE_CLEAN_START_POINT,
- NOZZLE_CLEAN_END_POINT, strokes);
+ stroke(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes);
}
- #endif // NOZZLE_CLEAN_FEATURE
-}
+ }
-void Nozzle::park(
- _UNUSED uint8_t const &z_action
-) {
- #if ENABLED(NOZZLE_PARK_FEATURE)
- float const z = current_position[Z_AXIS];
- point_t const park = NOZZLE_PARK_POINT;
+#endif // NOZZLE_CLEAN_FEATURE
- switch(z_action) {
- case 1: // force Z-park height
+#if ENABLED(NOZZLE_PARK_FEATURE)
+
+ void Nozzle::park(const uint8_t &z_action) {
+ const point_t park = NOZZLE_PARK_POINT;
+
+ switch (z_action) {
+ case 1: // Go to Z-park height
do_blocking_move_to_z(park.z);
break;
case 2: // Raise by Z-park height
- do_blocking_move_to_z(
- (z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
+ do_blocking_move_to_z(min(current_position[Z_AXIS] + park.z, Z_MAX_POS));
break;
- default: // Raise to Z-park height if lower
- if (current_position[Z_AXIS] < park.z)
- do_blocking_move_to_z(park.z);
+ default: // Raise to at least the Z-park height
+ do_blocking_move_to_z(max(park.z, current_position[Z_AXIS]));
}
do_blocking_move_to_xy(park.x, park.y);
+ }
- #endif // NOZZLE_PARK_FEATURE
-}
+#endif // NOZZLE_PARK_FEATURE
+
+#endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE
diff --git a/Marlin/src/libs/nozzle.h b/Marlin/src/libs/nozzle.h
index 308efd1c96..ae1fe774d3 100644
--- a/Marlin/src/libs/nozzle.h
+++ b/Marlin/src/libs/nozzle.h
@@ -26,14 +26,6 @@
#include "../inc/MarlinConfig.h"
#include "point_t.h"
-#if ENABLED(NOZZLE_CLEAN_FEATURE)
- constexpr float nozzle_clean_start_point[4] = NOZZLE_CLEAN_START_POINT,
- nozzle_clean_end_point[4] = NOZZLE_CLEAN_END_POINT,
- nozzle_clean_length = FABS(nozzle_clean_start_point[X_AXIS] - nozzle_clean_end_point[X_AXIS]), //abs x size of wipe pad
- nozzle_clean_height = FABS(nozzle_clean_start_point[Y_AXIS] - nozzle_clean_end_point[Y_AXIS]); //abs y size of wipe pad
- constexpr bool nozzle_clean_horizontal = nozzle_clean_length >= nozzle_clean_height; //whether to zig-zag horizontally or vertically
-#endif // NOZZLE_CLEAN_FEATURE
-
/**
* @brief Nozzle class
*
@@ -41,6 +33,9 @@
*/
class Nozzle {
private:
+
+ #if ENABLED(NOZZLE_CLEAN_FEATURE)
+
/**
* @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement
@@ -49,11 +44,7 @@ class Nozzle {
* @param end point_t defining the ending point
* @param strokes number of strokes to execute
*/
- static void stroke(
- _UNUSED point_t const &start,
- _UNUSED point_t const &end,
- _UNUSED uint8_t const &strokes
- ) _Os;
+ static void stroke(const point_t &start, const point_t &end, const uint8_t &strokes) _Os;
/**
* @brief Zig-zag clean pattern
@@ -64,12 +55,7 @@ class Nozzle {
* @param strokes number of strokes to execute
* @param objects number of objects to create
*/
- static void zigzag(
- _UNUSED point_t const &start,
- _UNUSED point_t const &end,
- _UNUSED uint8_t const &strokes,
- _UNUSED uint8_t const &objects
- ) _Os;
+ static void zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) _Os;
/**
* @brief Circular clean pattern
@@ -79,14 +65,14 @@ class Nozzle {
* @param strokes number of strokes to execute
* @param radius radius of circle
*/
- static void circle(
- _UNUSED point_t const &start,
- _UNUSED point_t const &middle,
- _UNUSED uint8_t const &strokes,
- _UNUSED float const &radius
- ) _Os;
+ static void circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) _Os;
+
+ #endif // NOZZLE_CLEAN_FEATURE
public:
+
+ #if ENABLED(NOZZLE_CLEAN_FEATURE)
+
/**
* @brief Clean the nozzle
* @details Starts the selected clean procedure pattern
@@ -94,16 +80,15 @@ class Nozzle {
* @param pattern one of the available patterns
* @param argument depends on the cleaning pattern
*/
- static void clean(
- _UNUSED uint8_t const &pattern,
- _UNUSED uint8_t const &strokes,
- _UNUSED float const &radius,
- _UNUSED uint8_t const &objects = 0
- ) _Os;
+ static void clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects=0) _Os;
- static void park(
- _UNUSED uint8_t const &z_action
- ) _Os;
+ #endif // NOZZLE_CLEAN_FEATURE
+
+ #if ENABLED(NOZZLE_PARK_FEATURE)
+
+ static void park(const uint8_t &z_action) _Os;
+
+ #endif
};
#endif // __NOZZLE_H__
diff --git a/Marlin/src/libs/point_t.h b/Marlin/src/libs/point_t.h
index 367ee55fe1..37ade7eba7 100644
--- a/Marlin/src/libs/point_t.h
+++ b/Marlin/src/libs/point_t.h
@@ -31,19 +31,9 @@
* @param x The x-coordinate of the point.
* @param y The y-coordinate of the point.
* @param z The z-coordinate of the point.
- * @param e The e-coordinate of the point.
*/
struct point_t {
- float x, y, z, e;
-
- /**
- * @brief Two dimensional point constructor
- *
- * @param x The x-coordinate of the point.
- * @param y The y-coordinate of the point.
- */
- point_t(float const x, float const y)
- : point_t(x, y, NAN, NAN) {}
+ float x, y, z;
/**
* @brief Three dimensional point constructor
@@ -52,23 +42,16 @@ struct point_t {
* @param y The y-coordinate of the point.
* @param z The z-coordinate of the point.
*/
- point_t(float const x, float const y, float const z)
- : point_t(x, y, z, NAN) {}
+ point_t(const float x, const float y, const float z) : x(x), y(y), z(z) {}
/**
- * @brief Tree dimensional point constructor with extrusion length
+ * @brief Two dimensional point constructor
*
* @param x The x-coordinate of the point.
* @param y The y-coordinate of the point.
- * @param z The z-coordinate of the point.
- * @param e The e-coordinate of the point.
*/
- point_t(float const x, float const y, float const z, float const e) {
- this->x = x;
- this->y = y;
- this->z = z;
- this->e = e;
- }
+ point_t(const float x, const float y) : point_t(x, y, NAN) {}
+
};
#endif // __POINT_T__