From 585c00a7287d431837ca305685a874e225d7d11d Mon Sep 17 00:00:00 2001
From: LVD-AC <lvd@sound-silence.com>
Date: Sat, 29 Apr 2017 16:36:33 +0200
Subject: [PATCH] Proposed changes
This is what I did yesterday:
- basicly gave the tests more comprehensive names; put all the
declarations at the top; got rid of the magic negative C-value (renamed
to P + A, O, T)
- "cos(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 :
-1)) * delta_calibration_radius" compiles wrong is zig_zag statement is
without brackets
- DELTA_TOWER_ANGLE_TRIM reset to 3 values (the calcs use the 3th value
to normalize will not compile otherwise)
-Wrote 3 dummies to keep EEPROM lenght the same
-Reset the configs to the 'original' with autocal + menu disabled (but
can be enabled of course)
---
Marlin/Conditionals_post.h | 8 +-
Marlin/Marlin_main.cpp | 176 +++++++++---------
Marlin/configuration_store.cpp | 12 +-
.../FLSUN/auto_calibrate/Configuration.h | 32 ++--
.../delta/FLSUN/kossel_mini/Configuration.h | 20 +-
.../delta/generic/Configuration.h | 22 ++-
.../delta/kossel_mini/Configuration.h | 20 +-
.../delta/kossel_pro/Configuration.h | 20 +-
.../delta/kossel_xl/Configuration.h | 20 +-
Marlin/ultralcd.cpp | 2 +-
10 files changed, 171 insertions(+), 161 deletions(-)
diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h
index 6252ac5d3f1..07a0d00799c 100644
--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@@ -695,16 +695,16 @@
#define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - 10
#endif
#ifndef DELTA_ENDSTOP_ADJ
- #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 }
+ #define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
#endif
#ifndef DELTA_TOWER_ANGLE_TRIM
- #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0 } // C always 0.0
+ #define DELTA_TOWER_ANGLE_TRIM {0, 0, 0}
#endif
#ifndef DELTA_RADIUS_TRIM_TOWER
- #define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+ #define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
#endif
#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER
- #define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
+ #define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#endif
#endif
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index dfb64a94d3a..5d533ea73a5 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -61,7 +61,7 @@
* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
- * G33 - Delta '4-7-point' auto calibration : "G33 C<points> V<verbose>" (Requires DELTA)
+ * G33 - Delta '1-4-7-point' auto calibration : "G33 P<points> <A> <O> <T> V<verbose>" (Requires DELTA)
* G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
@@ -4991,65 +4991,67 @@ inline void gcode_G28() {
#if ENABLED(DELTA_AUTO_CALIBRATION)
/**
- * G33 - Delta Auto Calibration
- * Utility to calibrate height, endstop offsets, delta radius, and tower angles.
- *
- * Parameters:
- *
- * C0 Calibrate height
- * C1 Probe the center to set the Z height
- * C-1 same but 1 iteration only
- * C2 probe center and towers, set height, endstops, and delta radius
- * C-2 same but opposite towers
- *
- * C3 probe all points: center, towers and opposite towers / sets all
- *
- * C4-C7 probe all points multiple times and average
- * C0-C3 same but tower angle calibration disabled
- *
- * V0 Dry-run mode
- * V1 Output settings
- * V2 Output setting and probe results
+ * G33 - Delta '1-4-7-point' auto calibration (Requires DELTA)
+ *
+ * Usage:
+ * G33 <Pn> <A> <O> <T> <Vn>
+ *
+ * Pn = n=-7 -> +7 : n*n probe points
+ * calibrates height ('1 point'), endstops, and delta radius ('4 points')
+ * and tower angles with n > 2 ('7+ points')
+ * n=1 probes center / sets height only
+ * n=2 probes center and towers / sets height, endstops and delta radius
+ * n=3 probes all points: center, towers and opposite towers / sets all
+ * n>3 probes all points multiple times and averages
+ * A = abort 1 point delta height calibration after 1 probe
+ * O = use oposite tower points instead of tower points with 4 point calibration
+ * T = do not calibrate tower angles with 7+ point calibration
+ * Vn = verbose level (n=0-2 default 1)
+ * n=0 dry-run mode: no calibration
+ * n=1 settings
+ * n=2 setting + probe results
*/
inline void gcode_G33() {
- if (axis_unhomed_error(true, true, true)) return;
-
- const int8_t c_value = code_seen('C') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS;
- if (!WITHIN(c_value, -7, 7)) {
- SERIAL_PROTOCOLLNPGM("?C parameter is implausible (-7 to 7).");
- return;
- }
-
- const int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
- if (!WITHIN(verbose_level, 0, 2)) {
- SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-2).");
- return;
- }
-
stepper.synchronize();
#if PLANNER_LEVELING
set_bed_leveling_enabled(false);
#endif
+ int8_t pp = code_seen('P') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS,
+ probe_mode = (WITHIN(pp, 1, 7)) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS;
+
+ probe_mode = (code_seen('A') && probe_mode == 1) ? -probe_mode : probe_mode;
+ probe_mode = (code_seen('O') && probe_mode == 2) ? -probe_mode : probe_mode;
+ probe_mode = (code_seen('T') && probe_mode > 2) ? -probe_mode : probe_mode;
+
+ int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
+
+ if (!WITHIN(verbose_level, 0, 2)) verbose_level = 1;
+
+ gcode_G28();
+
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
-
- const uint8_t probe_points = abs(c_value);
-
- const bool neg = c_value < 0,
- equals4 = probe_points == 4,
- over4 = probe_points > 4,
- over5 = probe_points > 5;
-
- float e_old[XYZ],
+ float test_precision,
+ zero_std_dev = verbose_level ? 999.0 : 0.0, // 0.0 in dry-run mode : forced end
+ e_old[XYZ] = {
+ endstop_adj[A_AXIS],
+ endstop_adj[B_AXIS],
+ endstop_adj[C_AXIS]
+ },
dr_old = delta_radius,
zh_old = home_offset[Z_AXIS],
alpha_old = delta_tower_angle_trim[A_AXIS],
- beta_old = delta_tower_angle_trim[B_AXIS];
-
- COPY(e_old, endstop_adj);
-
+ beta_old = delta_tower_angle_trim[B_AXIS];
+ int8_t iterations = 0,
+ probe_points = abs(probe_mode);
+ bool _1_point = (probe_points <= 1),
+ _7_point = (probe_mode > 2),
+ o_mode = (probe_mode == -2),
+ towers = (probe_points > 2 || probe_mode == 2),
+ opposites = (probe_points > 2 || o_mode);
+
// print settings
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
@@ -5059,7 +5061,7 @@ inline void gcode_G28() {
LCD_MESSAGEPGM("Checking... AC");
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
- if (probe_points > 1) {
+ if (!_1_point) {
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@@ -5072,7 +5074,7 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
- if (c_value > 2) {
+ if (_7_point) {
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
@@ -5087,62 +5089,70 @@ inline void gcode_G28() {
DEPLOY_PROBE();
#endif
- float zero_std_dev = verbose_level ? 999.0 : 0.0, // 0.0 in dry-run mode : forced end
- test_precision;
- int8_t iterations = 0;
do {
- setup_for_endstop_or_probe_move();
+ float z_at_pt[13] = { 0 },
+ S1 = z_at_pt[0],
+ S2 = sq(S1);
+ int16_t N = 1;
+ bool _4_probe = (probe_points == 2),
+ _7_probe = (probe_points > 2),
+ center_probe = (probe_points != 3 && probe_points != 6),
+ multi_circle = (probe_points > 4),
+ diff_circle = (probe_points > 5),
+ max_circle = (probe_points > 6),
+ intermediates = (probe_points == 4 || diff_circle);
+ setup_for_endstop_or_probe_move();
test_precision = zero_std_dev;
- float z_at_pt[13] = { 0 };
iterations++;
// probe the points
int16_t center_points = 0;
- if (probe_points != 3 && probe_points != 6) { // probe center
+ if (center_probe) { // probe centre
z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
center_points = 1;
}
- int16_t step_axis = over4 ? 2 : 4;
- if (probe_points >= 3) { // probe extra 3 or 6 center points
- for (int8_t axis = over4 ? 11 : 9; axis > 0; axis -= step_axis) {
+ int16_t step_axis = (multi_circle) ? 2 : 4,
+ start = (multi_circle) ? 11 : 9;
+ if (_7_probe) { // probe extra 3 or 6 centre points
+ for (int8_t axis = start; axis > 0; axis -= step_axis) {
z_at_pt[0] += probe_pt(
cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius),
sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1);
}
- center_points += over4 ? 6 : 3; // average center points
+ center_points += (multi_circle) ? 6 : 3; // average centre points
z_at_pt[0] /= center_points;
}
- float S1 = z_at_pt[0], S2 = sq(S1);
+ start = (o_mode) ? 3 : 1;
+ step_axis = (_4_probe) ? 4 : (intermediates) ? 1 : 2;
- int16_t N = 1, start = (c_value == -2) ? 3 : 1;
- step_axis = (probe_points == 2) ? 4 : (equals4 || over5) ? 1 : 2;
-
- if (probe_points > 1) {
- float start_circles = (probe_points > 6) ? -1.5 : over4 ? -1 : 0, // one or multi radius points
- end_circles = -start_circles;
+ if (!_1_point) {
+ float start_circles = (max_circle) ? -1.5 : (multi_circle) ? -1 : 0, // one or multi radius points
+ end_circles = -start_circles;
bool zig_zag = true;
for (uint8_t axis = start; axis < 13; axis += step_axis) { // probes 3, 6 or 12 points on the calibration radius
for (float circles = start_circles ; circles <= end_circles; circles++) // one or multi radius points
z_at_pt[axis] += probe_pt(
- cos(RADIANS(180 + 30 * axis)) * ((1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius),
- sin(RADIANS(180 + 30 * axis)) * ((1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius), true, 1);
+ cos(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius,
+ sin(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius, true, 1);
- if (over5) start_circles += zig_zag ? +0.5 : -0.5; // opposites: one radius point less
- if (over5) end_circles += zig_zag ? -0.5 : +0.5;
+ if (diff_circle) {
+ start_circles += (zig_zag) ? 0.5 : -0.5; // opposites: one radius point less
+ end_circles = -start_circles;
+ }
zig_zag = !zig_zag;
- if (over4) z_at_pt[axis] /= (zig_zag ? 3.0 : 2.0); // average between radius points
+ if (multi_circle) z_at_pt[axis] /= (zig_zag) ? 3.0 : 2.0; // average between radius points
}
}
+ if (intermediates) step_axis = 2;
- if (equals4 || over5) step_axis = 2;
for (uint8_t axis = start; axis < 13; axis += step_axis) { // average half intermediates to towers and opposites
- if (equals4 || over5)
+ if (intermediates)
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
S1 += z_at_pt[axis];
@@ -5181,7 +5191,7 @@ inline void gcode_G28() {
#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
- switch (c_value) {
+ switch (probe_mode) {
case -1:
test_precision = 0.00;
case 1:
@@ -5207,8 +5217,8 @@ inline void gcode_G28() {
e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
-
- if (c_value > 0) { //probe points negative disables tower angles
+
+ if (probe_mode > 0) { //probe points negative disables tower angles
t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
t_beta = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3);
}
@@ -5241,10 +5251,10 @@ inline void gcode_G28() {
// print report
if (verbose_level == 2) {
- SERIAL_PROTOCOLPGM(". c:");
+ SERIAL_PROTOCOLPGM(". c:");
if (z_at_pt[0] > 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[0], 2);
- if (probe_points > 2 || c_value == 2) {
+ if (towers) {
SERIAL_PROTOCOLPGM(" x:");
if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[1], 2);
@@ -5255,9 +5265,9 @@ inline void gcode_G28() {
if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[9], 2);
}
- if (c_value != -2) SERIAL_EOL;
- if (probe_points > 2 || c_value == -2) {
- if (probe_points > 2) {
+ if (!o_mode) SERIAL_EOL;
+ if (opposites) {
+ if (_7_probe) {
SERIAL_CHAR('.');
SERIAL_PROTOCOL_SP(12);
}
@@ -5293,7 +5303,7 @@ inline void gcode_G28() {
lcd_setstatus(mess);
}
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
- if (probe_points > 1) {
+ if (!_1_point) {
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@@ -5306,7 +5316,7 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
- if (c_value > 2) {
+ if (_7_point) {
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index 3d2ca2bb4a0..41460bc2f1b 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -42,7 +42,7 @@
#define EEPROM_OFFSET 100
/**
- * V33 EEPROM Layout:
+ * V35 EEPROM Layout:
*
* 100 Version (char x4)
* 104 EEPROM Checksum (uint16_t)
@@ -410,8 +410,10 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(delta_radius); // 1 float
EEPROM_WRITE(delta_diagonal_rod); // 1 float
EEPROM_WRITE(delta_segments_per_second); // 1 float
- EEPROM_WRITE(delta_calibration_radius); // 1 floats
+ EEPROM_WRITE(delta_calibration_radius); // 1 float
EEPROM_WRITE(delta_tower_angle_trim); // 2 floats
+ dummy = 0.0f;
+ for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy);
#elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_WRITE(z_endstop_adj); // 1 float
dummy = 0.0f;
@@ -778,8 +780,10 @@ void MarlinSettings::postprocess() {
EEPROM_READ(delta_radius); // 1 float
EEPROM_READ(delta_diagonal_rod); // 1 float
EEPROM_READ(delta_segments_per_second); // 1 float
- EEPROM_READ(delta_calibration_radius); // 1 floats
+ EEPROM_READ(delta_calibration_radius); // 1 float
EEPROM_READ(delta_tower_angle_trim); // 2 floats
+ dummy = 0.0f;
+ for (uint8_t q=3; q--;) EEPROM_READ(dummy);
#elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_READ(z_endstop_adj);
dummy = 0.0f;
@@ -1066,7 +1070,7 @@ void MarlinSettings::reset() {
#if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ,
- dta[2] = DELTA_TOWER_ANGLE_TRIM;
+ dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
COPY(endstop_adj, adj);
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
diff --git a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
index 186161b8748..df845e48792 100644
--- a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
@@ -450,21 +450,12 @@
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 218.0 // mm
-/*
- // Horizontal offset from middle of printer to smooth rod center.
- #define DELTA_SMOOTH_ROD_OFFSET 150.0 // mm
- // Horizontal offset of the universal joints on the end effector.
- #define DELTA_EFFECTOR_OFFSET 24.0 // mm
-
- // Horizontal offset of the universal joints on the carriages.
- #define DELTA_CARRIAGE_OFFSET 22.0 // mm
-*/
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 100.00 //mm // get this value from auto calibrate
- // height from z=0.00 to home position
- #define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
+ // height from z=0 to home position
+ #define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 A at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0
@@ -486,16 +477,16 @@
// After homing move down to a height where XY movement is unconstrained
#define DELTA_HOME_TO_SAFE_ZONE
- #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+ #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer
- #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+ #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
// delta radius and diaginal rod adjustments measured in mm
- //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
- //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+ //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+ //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#endif
@@ -604,7 +595,7 @@
#define DEFAULT_XJERK 20.0
#define DEFAULT_YJERK DEFAULT_XJERK
#define DEFAULT_ZJERK DEFAULT_YJERK // Must be same as XY for delta
-#define DEFAULT_EJERK 5.0
+#define DEFAULT_EJERK 5.0
/**
@@ -670,6 +661,9 @@
* is enabled then it also applies to Z_PROBE_SPEED_SLOW.
*/
+// A probe that is deployed and stowed with a solenoid pin (SOL1_PIN)
+//#define SOLENOID_PROBE
+
// Enable if you have a Z probe mounted on a sled like those designed by Charles Bell.
//#define Z_PROBE_SLED
//#define SLED_DOCKING_OFFSET 5 // The extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
@@ -704,7 +698,7 @@
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the "accurate" probe of each point
-#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 6)
+#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST) / 6
// Use double touch for probing
//#define PROBE_DOUBLE_TOUCH
@@ -728,7 +722,7 @@
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X 0.0
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y DELTA_PRINTABLE_RADIUS
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_SPEED/10)
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_SPEED)/10
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X Z_PROBE_ALLEN_KEY_DEPLOY_2_X * 0.75
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y Z_PROBE_ALLEN_KEY_DEPLOY_2_Y * 0.75
@@ -868,7 +862,7 @@
#define INVERT_Y_DIR true
#define INVERT_Z_DIR true
-// Enable this option for Toshiba steppers
+// Enable this option for Toshiba steppers drivers
//#define CONFIG_STEPPERS_TOSHIBA
// @section extruder
diff --git a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
index 167deb36a4a..bca6a13cc63 100644
--- a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
@@ -448,7 +448,7 @@
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 218.0 // mm
-/*
+
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 150.0 // mm
@@ -457,9 +457,9 @@
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 22.0 // mm
-*/
+
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS 104 //mm // get this value from auto calibrate
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
// height from z=0.00 to home position
#define DELTA_HEIGHT 280 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
@@ -470,30 +470,30 @@
// Delta calibration menu
// uncomment to add three points calibration menu option.
// See http://minow.blogspot.com/index.html#4918805519571907051
- #define DELTA_CALIBRATION_MENU
+ //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
- #define DELTA_AUTO_CALIBRATION
+ //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#endif
// After homing move down to a height where XY movement is unconstrained
- #define DELTA_HOME_TO_SAFE_ZONE
+ //#define DELTA_HOME_TO_SAFE_ZONE
- #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+ #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer
- #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+ #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
// delta radius and diaginal rod adjustments measured in mm
- //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
- //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+ //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+ //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#endif
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 310498f2181..2ec624fbbc3 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -438,7 +438,7 @@
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 250.0 // mm
-/*
+
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 175.0 // mm
@@ -447,9 +447,11 @@
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 18.0 // mm
-*/
+
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS 125 //mm // get this value from auto calibrate // height from z=0.00 to home position
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate // height from z=0.00 to home position
+
+ // height from z=0.00 to home position
#define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
@@ -457,30 +459,30 @@
// Delta calibration menu
// See http://minow.blogspot.com/index.html#4918805519571907051
- #define DELTA_CALIBRATION_MENU
+ //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
- #define DELTA_AUTO_CALIBRATION
+ //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#endif
// After homing move down to a height where XY movement is unconstrained
- #define DELTA_HOME_TO_SAFE_ZONE
+ //#define DELTA_HOME_TO_SAFE_ZONE
- #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+ #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer
- #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+ #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
// delta radius and diaginal rod adjustments measured in mm
- //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
- //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+ //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+ //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#endif
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 77f49f3148c..54eb2f00a6c 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -438,7 +438,7 @@
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 215.0 // mm
-/*
+
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 145.0 // mm
@@ -447,9 +447,9 @@
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 19.5 // mm
-*/
+
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS 105 //mm // get this value from auto calibrate
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
// height from z=0.00 to home position
#define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
@@ -459,30 +459,30 @@
// Delta calibration menu
// See http://minow.blogspot.com/index.html#4918805519571907051
- #define DELTA_CALIBRATION_MENU
+ //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 18) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
- #define DELTA_AUTO_CALIBRATION
+ //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#endif
// After homing move down to a height where XY movement is unconstrained
- #define DELTA_HOME_TO_SAFE_ZONE
+ //#define DELTA_HOME_TO_SAFE_ZONE
- #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+ #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer
- #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+ #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
// delta radius and diaginal rod adjustments measured in mm
- //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
- //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+ //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+ //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#endif
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index d7081797557..ca41cd4e6b2 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -425,7 +425,7 @@
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 301.0 // mm
-/*
+
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 212.357 // mm
@@ -434,9 +434,9 @@
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 30.0 // mm
-*/
+
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS 150 //mm // get this value from auto calibrate
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
// height from z=0.00 to home position
#define DELTA_HEIGHT 277 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
@@ -446,30 +446,30 @@
// Delta calibration menu
// See http://minow.blogspot.com/index.html#4918805519571907051
- #define DELTA_CALIBRATION_MENU
+ //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 25.4) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
- #define DELTA_AUTO_CALIBRATION
+ //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#endif
// After homing move down to a height where XY movement is unconstrained
- #define DELTA_HOME_TO_SAFE_ZONE
+ //#define DELTA_HOME_TO_SAFE_ZONE
- #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+ #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer
- #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+ #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
// delta radius and diaginal rod adjustments measured in mm
- //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
- //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+ //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+ //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#endif
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index b71e8bf73e9..d632c207b59 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -443,7 +443,7 @@
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 317.3 + 2.5 // mm
-/*
+
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 220.1 // mm
@@ -452,9 +452,9 @@
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 22.0 // mm
-*/
+
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS 175 //mm // get this value from auto calibrate
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
// height from z=0.00 to home position
#define DELTA_HEIGHT 380 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
@@ -464,30 +464,30 @@
// Delta calibration menu
// See http://minow.blogspot.com/index.html#4918805519571907051
- #define DELTA_CALIBRATION_MENU
+ //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
- #define DELTA_AUTO_CALIBRATION
+ //#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
#endif
// After homing move down to a height where XY movement is unconstrained
- #define DELTA_HOME_TO_SAFE_ZONE
+ //#define DELTA_HOME_TO_SAFE_ZONE
- #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+ #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
// Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer
- #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+ #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
// delta radius and diaginal rod adjustments measured in mm
- //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
- //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+ //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+ //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
#endif
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index d524ad9dd25..9ec06275ff6 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1834,7 +1834,7 @@ void kill_screen(const char* lcd_msg) {
MENU_BACK(MSG_MAIN);
#if ENABLED(DELTA_AUTO_CALIBRATION)
MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
- MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 C-1"));
+ MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1 A"));
#endif
MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
if (axis_homed[Z_AXIS]) {