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Code Issues Releases Wiki Activity

Delta support for multiple hotends with offsets (#10052)

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Scott Lahteine 2018-03-15 22:29:33 -05:00 committed by GitHub
parent 1993365967
commit bc0e977229
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 47 additions and 16 deletions
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63
Marlin/Marlin_main.cpp
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@ -3962,7 +3962,9 @@ inline void gcode_G28(const bool always_home_all) {
// Always home with tool 0 active
#if HOTENDS > 1
const uint8_t old_tool_index = active_extruder;
#if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)
const uint8_t old_tool_index = active_extruder;
#endif
tool_change(0, 0, true);
#endif
@ -4104,7 +4106,7 @@ inline void gcode_G28(const bool always_home_all) {
clean_up_after_endstop_or_probe_move();
// Restore the active tool after homing
#if HOTENDS > 1
#if HOTENDS > 1 && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE))
#if ENABLED(PARKING_EXTRUDER)
#define NO_FETCH false // fetch the previous toolhead
#else
@ -8701,7 +8703,7 @@ inline void gcode_M121() { endstops.enable_globally(false); }
// Lift Z axis
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
#if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
#if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
#endif
@ -9152,6 +9154,11 @@ inline void gcode_M211() {
}
SERIAL_EOL();
}
#if ENABLED(DELTA)
if (target_extruder == active_extruder)
do_blocking_move_to_xy(current_position[X_AXIS], current_position[Y_AXIS], planner.max_feedrate_mm_s[X_AXIS]);
#endif
}
#endif // HOTENDS > 1
@ -10193,7 +10200,7 @@ inline void gcode_M502() {
if (parser.seenval('X')) park_point.x = parser.linearval('X');
if (parser.seenval('Y')) park_point.y = parser.linearval('Y');
#if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
#if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
#endif
@ -11320,7 +11327,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
// Always raise by some amount (destination copied from current_position earlier)
// Always raise by some amount
current_position[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
move_nozzle_servo(tmp_extruder);
@ -11430,11 +11437,24 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// Tell the planner the new "current position"
SYNC_PLAN_POSITION_KINEMATIC();
// Move to the "old position" (move the extruder into place)
#if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
// Do a small lift to avoid the workpiece in the move back (below)
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
if (!no_move && IsRunning() && safe_to_move) {
++current_position[Z_AXIS];
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
}
#else
constexpr bool safe_to_move = true;
#endif
#if ENABLED(SWITCHING_NOZZLE)
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
#endif
if (!no_move && IsRunning()) {
// Move to the "old position" (move the extruder into place)
if (safe_to_move && !no_move && IsRunning()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#endif
@ -12253,18 +12273,29 @@ void ok_to_send() {
* (see above)
*/
#define DELTA_DEBUG() do { \
SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
#define DELTA_DEBUG(VAR) do { \
SERIAL_ECHOPAIR("cartesian X:", VAR[X_AXIS]); \
SERIAL_ECHOPAIR(" Y:", VAR[Y_AXIS]); \
SERIAL_ECHOLNPAIR(" Z:", VAR[Z_AXIS]); \
SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
}while(0)
void inverse_kinematics(const float raw[XYZ]) {
DELTA_IK(raw);
// DELTA_DEBUG();
#if HOTENDS > 1
// Delta hotend offsets must be applied in Cartesian space with no "spoofing"
const float pos[XYZ] = {
raw[X_AXIS] - hotend_offset[X_AXIS][active_extruder],
raw[Y_AXIS] - hotend_offset[Y_AXIS][active_extruder],
raw[Z_AXIS]
};
DELTA_IK(pos);
//DELTA_DEBUG(pos);
#else
DELTA_IK(raw);
//DELTA_DEBUG(raw);
#endif
}
/**
@ -12274,10 +12305,10 @@ void ok_to_send() {
float delta_safe_distance_from_top() {
float cartesian[XYZ] = { 0, 0, 0 };
inverse_kinematics(cartesian);
float distance = delta[A_AXIS];
const float centered_extent = delta[A_AXIS];
cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
inverse_kinematics(cartesian);
return FABS(distance - delta[A_AXIS]);
return FABS(centered_extent - delta[A_AXIS]);
}
/**
@ -12716,7 +12747,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
#if ENABLED(DELTA)
#if ENABLED(DELTA) && HOTENDS < 2
DELTA_IK(raw); // Delta can inline its kinematics
#else
inverse_kinematics(raw);