3DPrinting/Prusa-Firmware
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Fix diagonal movement

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espr14 2020-12-21 17:34:54 +01:00
parent de23a845b4
commit 744763f0a9
1 changed files with 10 additions and 5 deletions
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15
Firmware/xyzcal.cpp
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@ -41,7 +41,7 @@
#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
#define Z_ACCEL 300 #define Z_ACCEL 5000
#define XY_ACCEL 1000 #define XY_ACCEL 1000
#define _PI 3.14159265F #define _PI 3.14159265F
@ -536,17 +536,22 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
const int16_t half_x = length_x / 2; const int16_t half_x = length_x / 2;
int16_t x = 0; int16_t x = 0;
/// don't go up if PINDA not triggered /// don't go up if PINDA not triggered
int8_t axis = _PINDA ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK; const bool up = _PINDA;
int8_t axis = up ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK;
sm4_set_dir(Z_AXIS, Z_PLUS); sm4_set_dir(Z_AXIS, Z_PLUS);
/// speed up /// speed up
for (x = 0; x <= half_x; ++x, ++z){ for (x = 0; x <= half_x; ++x){
accelerate(axis, Z_ACCEL, current_delay_us, Z_MIN_DELAY); accelerate(axis, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
if (up)
++z;
} }
/// slow down /// slow down
steps_to_go = length_x - x; steps_to_go = length_x - x;
for (; x < length_x; ++x, ++z){ for (; x < length_x; ++x){
go_and_stop(axis, Z_ACCEL, current_delay_us, steps_to_go); go_and_stop(axis, Z_ACCEL, current_delay_us, steps_to_go);
if (up)
++z;
} }
count_position[0] = end_x; count_position[0] = end_x;
count_position[2] = z; count_position[2] = z;
@ -600,7 +605,7 @@ uint8_t xyzcal_find_pattern_12x12_in_32x32(uint8_t* pixels, uint16_t* pattern, u
} }
// DBG(_n("\n")); // DBG(_n("\n"));
} }
DBG(_n("max_c=%f max_r=%f max_match=%d pixel\n"), max_c, max_r, max_match); DBG(_n("max_c=%d max_r=%d max_match=%d pixel\n"), max_c, max_r, max_match);
*pc = max_c; *pc = max_c;
*pr = max_r; *pr = max_r;