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Fix and report circle divergence

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espr14 2020-12-21 18:05:52 +01:00
parent 744763f0a9
commit 1610c96fc4
2 changed files with 5 additions and 24 deletions
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2
Firmware/mesh_bed_calibration.cpp
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@ -2271,7 +2271,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
/*} /*}
else { else {
// if first iteration failed, count corrected point coordinates as initial // if first iteration failed, count corrected point coordinates as initial
// Use the coorrected coordinate, which is a result of find_bed_offset_and_skew(). // Use the corrected coordinate, which is a result of find_bed_offset_and_skew().
current_position[X_AXIS] = vec_x[0] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[0] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[0]; current_position[X_AXIS] = vec_x[0] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[0] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[0];
current_position[Y_AXIS] = vec_x[1] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[1] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[1]; current_position[Y_AXIS] = vec_x[1] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[1] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[1];

27
Firmware/xyzcal.cpp
View File

@ -37,7 +37,7 @@
#define Z_MINUS 1 #define Z_MINUS 1
/// Max. jerk in PrusaSlicer, 10000 = 1 mm/s /// Max. jerk in PrusaSlicer, 10000 = 1 mm/s
#define MAX_DELAY 10000 #define MAX_DELAY 1000
#define MIN_SPEED (0.01f / (MAX_DELAY * 0.000001f)) #define MIN_SPEED (0.01f / (MAX_DELAY * 0.000001f))
/// 200 = 50 mm/s /// 200 = 50 mm/s
#define Z_MIN_DELAY 200 #define Z_MIN_DELAY 200
@ -426,26 +426,6 @@ void go_and_stop(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps)
--steps; --steps;
} }
// uint8_t slow_down_z(uint8_t axis, uint16_t delay_us){
// sm4_do_step(axis);
// delayMicroseconds(delay_us / 3 * 4);
// sm4_do_step(Z_AXIS_MASK);
// delayMicroseconds(delay_us * 2);
// sm4_do_step(Z_AXIS_MASK);
// delayMicroseconds(delay_us * 4);
// return 3;
// }
// uint8_t speed_up_z(uint8_t axis, uint16_t delay_us){
// sm4_do_step(Z_AXIS_MASK);
// delayMicroseconds(delay_us * 4);
// sm4_do_step(Z_AXIS_MASK);
// delayMicroseconds(delay_us * 2);
// sm4_do_step(Z_AXIS_MASK);
// delayMicroseconds(delay_us / 3 * 4);
// return 3;
// }
void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_t max_z, uint16_t delay_us, uint8_t* pixels){ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_t max_z, uint16_t delay_us, uint8_t* pixels){
if(!pixels) if(!pixels)
return; return;
@ -528,7 +508,7 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2); pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2);
} }
/// move to the next point and move Z up diagonally /// move to the next point and move Z up diagonally (if needed)
current_delay_us = MAX_DELAY; current_delay_us = MAX_DELAY;
// const int8_t dir = (d & 1) ? -1 : 1; // const int8_t dir = (d & 1) ? -1 : 1;
const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx; const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx;
@ -829,7 +809,8 @@ bool xyzcal_scan_and_process(void){
float radius = 5; ///< default radius float radius = 5; ///< default radius
const uint8_t iterations = 20; const uint8_t iterations = 20;
dynamic_circle(matrix32, xf, yf, radius, iterations); dynamic_circle(matrix32, xf, yf, radius, iterations);
if (ABS(xf - uc + 5.5f) > 3 || ABS(yf - ur + 5.5f) > 3 || ABS(radius - 5) > 3){ if (ABS(xf - (uc + 5.5f)) > 3 || ABS(yf - (ur + 5.5f)) > 3 || ABS(radius - 5) > 3){
DBG(_n(" [%f %f][%f] mm divergence\n"), xf - (uc + 5.5f), yf - (ur + 5.5f), radius - 5);
/// dynamic algorithm diverged, use original position instead /// dynamic algorithm diverged, use original position instead
xf = uc + 5.5f; xf = uc + 5.5f;
yf = ur + 5.5f; yf = ur + 5.5f;