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Code Issues Releases Wiki Activity

✨ AVOID_OBSTACLES for UBL (#25256)

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apulver 2023-02-15 01:38:54 -05:00 committed by GitHub
parent aacb81ea60
commit fc20533583
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4 changed files with 64 additions and 9 deletions
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19
Marlin/Configuration.h
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@ -2053,6 +2053,25 @@
//#define UBL_MESH_WIZARD // Run several commands in a row to get a complete mesh
/**
* Probing not allowed within the position of an obstacle.
*/
//#define AVOID_OBSTACLES
#if ENABLED(AVOID_OBSTACLES)
#define CLIP_W 23 // Bed clip width, should be padded a few mm over its physical size
#define CLIP_H 14 // Bed clip height, should be padded a few mm over its physical size
// Obstacle Rectangles defined as { X1, Y1, X2, Y2 }
#define OBSTACLE1 { (X_BED_SIZE) / 4 - (CLIP_W) / 2, 0, (X_BED_SIZE) / 4 + (CLIP_W) / 2, CLIP_H }
#define OBSTACLE2 { (X_BED_SIZE) * 3 / 4 - (CLIP_W) / 2, 0, (X_BED_SIZE) * 3 / 4 + (CLIP_W) / 2, CLIP_H }
#define OBSTACLE3 { (X_BED_SIZE) / 4 - (CLIP_W) / 2, (Y_BED_SIZE) - (CLIP_H), (X_BED_SIZE) / 4 + (CLIP_W) / 2, Y_BED_SIZE }
#define OBSTACLE4 { (X_BED_SIZE) * 3 / 4 - (CLIP_W) / 2, (Y_BED_SIZE) - (CLIP_H), (X_BED_SIZE) * 3 / 4 + (CLIP_W) / 2, Y_BED_SIZE }
// The probed grid must be inset for G29 J. This is okay, since it is
// only used to compute a linear transformation for the mesh itself.
#define G29J_MESH_TILT_MARGIN ((CLIP_H) + 1)
#endif
#elif ENABLED(MESH_BED_LEVELING)
//===========================================================================

14
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View file

@ -1478,9 +1478,17 @@ void unified_bed_leveling::smart_fill_mesh() {
#include "../../../libs/vector_3.h"
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) {
const float x_min = probe.min_x(), x_max = probe.max_x(),
y_min = probe.min_y(), y_max = probe.max_y(),
dx = (x_max - x_min) / (param.J_grid_size - 1),
#ifdef G29J_MESH_TILT_MARGIN
const float x_min = _MAX(probe.min_x() + (G29J_MESH_TILT_MARGIN), X_MIN_POS),
x_max = _MIN(probe.max_x() - (G29J_MESH_TILT_MARGIN), X_MAX_POS),
y_min = _MAX(probe.min_y() + (G29J_MESH_TILT_MARGIN), Y_MIN_POS),
y_max = _MIN(probe.max_y() - (G29J_MESH_TILT_MARGIN), Y_MAX_POS);
#else
const float x_min = probe.min_x(), x_max = probe.max_x(),
y_min = probe.min_y(), y_max = probe.max_y();
#endif
const float dx = (x_max - x_min) / (param.J_grid_size - 1),
dy = (y_max - y_min) / (param.J_grid_size - 1);
xy_float_t points[3];

38
Marlin/src/module/probe.h
View file

@ -76,9 +76,7 @@ class Probe {
public:
#if ENABLED(SENSORLESS_PROBING)
typedef struct {
bool x:1, y:1, z:1;
} sense_bool_t;
typedef struct { bool x:1, y:1, z:1; } sense_bool_t;
static sense_bool_t test_sensitivity;
#endif
@ -118,6 +116,32 @@ public:
#else
static bool obstacle_check(const_float_t rx, const_float_t ry) {
#if ENABLED(AVOID_OBSTACLES)
#ifdef OBSTACLE1
constexpr float obst1[] = OBSTACLE1;
static_assert(COUNT(obst1) == 4, "OBSTACLE1 must define a rectangle in the form { X1, Y1, X2, Y2 }.");
if (WITHIN(rx, obst1[0], obst1[2]) && WITHIN(ry, obst1[1], obst1[3])) return false;
#endif
#ifdef OBSTACLE2
constexpr float obst2[] = OBSTACLE2;
static_assert(COUNT(obst2) == 4, "OBSTACLE2 must define a rectangle in the form { X1, Y1, X2, Y2 }.");
if (WITHIN(rx, obst2[0], obst2[2]) && WITHIN(ry, obst2[1], obst2[3])) return false;
#endif
#ifdef OBSTACLE3
constexpr float obst3[] = OBSTACLE3;
static_assert(COUNT(obst3) == 4, "OBSTACLE3 must define a rectangle in the form { X1, Y1, X2, Y2 }.");
if (WITHIN(rx, obst3[0], obst3[2]) && WITHIN(ry, obst3[1], obst3[3])) return false;
#endif
#ifdef OBSTACLE4
constexpr float obst4[] = OBSTACLE4;
static_assert(COUNT(obst4) == 4, "OBSTACLE4 must define a rectangle in the form { X1, Y1, X2, Y2 }.");
if (WITHIN(rx, obst4[0], obst4[2]) && WITHIN(ry, obst4[1], obst4[3])) return false;
#endif
#endif
return true;
}
/**
* Return whether the given position is within the bed, and whether the nozzle
* can reach the position required to put the probe at the given position.
@ -129,12 +153,16 @@ public:
if (probe_relative) {
return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y)
&& COORDINATE_OKAY(rx, min_x() - fslop, max_x() + fslop)
&& COORDINATE_OKAY(ry, min_y() - fslop, max_y() + fslop);
&& COORDINATE_OKAY(ry, min_y() - fslop, max_y() + fslop)
&& obstacle_check(rx, ry)
&& obstacle_check(rx - offset_xy.x, ry - offset_xy.y);
}
else {
return position_is_reachable(rx, ry)
&& COORDINATE_OKAY(rx + offset_xy.x, min_x() - fslop, max_x() + fslop)
&& COORDINATE_OKAY(ry + offset_xy.y, min_y() - fslop, max_y() + fslop);
&& COORDINATE_OKAY(ry + offset_xy.y, min_y() - fslop, max_y() + fslop)
&& obstacle_check(rx, ry)
&& obstacle_check(rx + offset_xy.x, ry + offset_xy.y);
}
}

2
buildroot/tests/mega2560
View file

@ -26,7 +26,7 @@ ci_src_filter -y
use_example_configs AnimationExample
opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO LCD_LANGUAGE fr SAVED_POSITIONS 4 DEFAULT_EJERK 10 \
EXTRUDERS 5 TEMP_SENSOR_1 1 TEMP_SENSOR_2 5 TEMP_SENSOR_3 20 TEMP_SENSOR_4 1000 TEMP_SENSOR_BED 1
opt_enable AUTO_BED_LEVELING_UBL RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT SKEW_CORRECTION \
opt_enable AUTO_BED_LEVELING_UBL AVOID_OBSTACLES RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT SKEW_CORRECTION \
REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER LIGHTWEIGHT_UI STATUS_MESSAGE_SCROLLING SHOW_CUSTOM_BOOTSCREEN BOOT_MARLIN_LOGO_SMALL \
SDSUPPORT SDCARD_SORT_ALPHA USB_FLASH_DRIVE_SUPPORT AUTO_REPORT_SD_STATUS SCROLL_LONG_FILENAMES MEDIA_MENU_AT_TOP \
EEPROM_SETTINGS EEPROM_CHITCHAT GCODE_MACROS CUSTOM_MENU_MAIN FREEZE_FEATURE CANCEL_OBJECTS SOUND_MENU_ITEM \