3d/marlin2_a10m
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

Improve Delta probing / calibration (#15887)

Browse source
This commit is contained in:
Jason Smith 2019-11-21 01:26:00 -08:00 committed by Scott Lahteine
parent 4ede13e36a
commit b904ba0f29
26 changed files with 152 additions and 187 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

13
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View file

@ -1387,17 +1387,8 @@
dx = (x_max - x_min) / (g29_grid_size - 1),
dy = (y_max - y_min) / (g29_grid_size - 1);
const vector_3 points[3] = {
#if ENABLED(HAS_FIXED_3POINT)
{ PROBE_PT_1_X, PROBE_PT_1_Y, 0 },
{ PROBE_PT_2_X, PROBE_PT_2_Y, 0 },
{ PROBE_PT_3_X, PROBE_PT_3_Y, 0 }
#else
{ x_min, y_min, 0 },
{ x_max, y_min, 0 },
{ (x_max - x_min) / 2, y_max, 0 }
#endif
};
xy_float_t points[3];
get_three_probe_points(points);
float measured_z;
bool abort_flag = false;

18
Marlin/src/gcode/bedlevel/abl/G29.cpp
View file

@ -263,20 +263,8 @@ G29_TYPE GcodeSuite::G29() {
int constexpr abl_points = 3; // used to show total points
#endif
// Probe at 3 arbitrary points
const float x_min = probe_min_x(), x_max = probe_max_x(), y_min = probe_min_y(), y_max = probe_max_y();
ABL_VAR vector_3 points[3] = {
#if ENABLED(HAS_FIXED_3POINT)
{ PROBE_PT_1_X, PROBE_PT_1_Y, 0 },
{ PROBE_PT_2_X, PROBE_PT_2_Y, 0 },
{ PROBE_PT_3_X, PROBE_PT_3_Y, 0 }
#else
{ x_min, y_min, 0 },
{ x_max, y_min, 0 },
{ (x_max - x_min) / 2, y_max, 0 }
#endif
};
vector_3 points[3];
get_three_probe_points(points);
#endif // AUTO_BED_LEVELING_3POINT
@ -764,7 +752,7 @@ G29_TYPE GcodeSuite::G29() {
for (uint8_t i = 0; i < 3; ++i) {
if (verbose_level) SERIAL_ECHOLNPAIR("Probing point ", int(i), "/3.");
#if HAS_DISPLAY
ui.status_printf_P(0, PSTR(S_FMT" %i/3"), GET_TEXT(MSG_PROBING_MESH)), int(i);
ui.status_printf_P(0, PSTR(S_FMT" %i/3"), GET_TEXT(MSG_PROBING_MESH), int(i));
#endif
// Retain the last probe position

29
Marlin/src/gcode/calibrate/G33.cpp
View file

@ -190,7 +190,7 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
*/
static float calibration_probe(const xy_pos_t &xy, const bool stow) {
#if HAS_BED_PROBE
return probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
return probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
#else
UNUSED(stow);
return lcd_probe_pt(xy);
@ -222,6 +222,8 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
if (!_0p_calibration) {
const float dcr = delta_calibration_radius();
if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
const xy_pos_t center{0};
z_pt[CEN] += calibration_probe(center, stow_after_each);
@ -233,7 +235,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
steps = _7p_9_center ? _4P_STEP / 3.0f : _7p_6_center ? _7P_STEP : _4P_STEP;
I_LOOP_CAL_PT(rad, start, steps) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * 0.1;
r = dcr * 0.1;
const xy_pos_t vec = { cos(a), sin(a) };
z_pt[CEN] += calibration_probe(vec * r, stow_after_each);
if (isnan(z_pt[CEN])) return false;
@ -257,7 +259,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
const int8_t offset = _7p_9_center ? 2 : 0;
for (int8_t circle = 0; circle <= offset; circle++) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
r = dcr * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
interpol = FMOD(rad, 1);
const xy_pos_t vec = { cos(a), sin(a) };
const float z_temp = calibration_probe(vec * r, stow_after_each);
@ -287,9 +289,10 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_at_pt_axis[NPP + 1]) {
xyz_pos_t pos{0};
const float dcr = delta_calibration_radius();
LOOP_CAL_ALL(rad) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = (rad == CEN ? 0.0f : delta_calibration_radius);
r = (rad == CEN ? 0.0f : dcr);
pos.set(cos(a) * r, sin(a) * r, z_pt[rad]);
inverse_kinematics(pos);
mm_at_pt_axis[rad] = delta;
@ -297,7 +300,7 @@ static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_
}
static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], float z_pt[NPP + 1]) {
const float r_quot = delta_calibration_radius / delta_radius;
const float r_quot = delta_calibration_radius() / delta_radius;
#define ZPP(N,I,A) (((1.0f + r_quot * (N)) / 3.0f) * mm_at_pt_axis[I].A)
#define Z00(I, A) ZPP( 0, I, A)
@ -338,7 +341,7 @@ static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], abc_float_t d
}
static float auto_tune_h() {
const float r_quot = delta_calibration_radius / delta_radius;
const float r_quot = delta_calibration_radius() / delta_radius;
return RECIPROCAL(r_quot / (2.0f / 3.0f)); // (2/3)/CR
}
@ -450,12 +453,13 @@ void GcodeSuite::G33() {
SERIAL_ECHOLNPGM("G33 Auto Calibrate");
const float dcr = delta_calibration_radius();
if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
LOOP_CAL_RAD(axis) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
r = delta_calibration_radius;
if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
SERIAL_ECHOLNPGM("?(M665 B)ed radius implausible.");
const float a = RADIANS(210 + (360 / NPP) * (axis - 1));
if (!position_is_reachable(cos(a) * dcr, sin(a) * dcr)) {
SERIAL_ECHOLNPGM("?Bed calibration radius implausible.");
return;
}
}
@ -522,12 +526,11 @@ void GcodeSuite::G33() {
#define Z0(I) ZP(0, I)
// calculate factors
const float cr_old = delta_calibration_radius;
if (_7p_9_center) delta_calibration_radius *= 0.9f;
if (_7p_9_center) calibration_radius_factor = 0.9f;
h_factor = auto_tune_h();
r_factor = auto_tune_r();
a_factor = auto_tune_a();
delta_calibration_radius = cr_old;
calibration_radius_factor = 1.0f;
switch (probe_points) {
case 0:

2
Marlin/src/gcode/calibrate/M665.cpp
View file

@ -37,7 +37,6 @@
* L = diagonal rod
* R = delta radius
* S = segments per second
* B = delta calibration radius
* X = Alpha (Tower 1) angle trim
* Y = Beta (Tower 2) angle trim
* Z = Gamma (Tower 3) angle trim
@ -47,7 +46,6 @@
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
if (parser.seen('R')) delta_radius = parser.value_linear_units();
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
if (parser.seen('B')) delta_calibration_radius = parser.value_float();
if (parser.seen('X')) delta_tower_angle_trim.a = parser.value_float();
if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();

115
Marlin/src/inc/Conditionals_post.h
View file

@ -132,10 +132,12 @@
/**
* SCARA cannot use SLOWDOWN and requires QUICKHOME
* Printable radius assumes joints can fully extend
*/
#if IS_SCARA
#undef SLOWDOWN
#define QUICK_HOME
#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
#endif
/**
@ -1434,6 +1436,7 @@
#define PLANNER_LEVELING (HAS_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL))
#define HAS_PROBING_PROCEDURE (HAS_ABL_OR_UBL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
#define HAS_POSITION_MODIFIERS (ENABLED(FWRETRACT) || HAS_LEVELING || ENABLED(SKEW_CORRECTION))
#define NEEDS_THREE_PROBE_POINTS EITHER(AUTO_BED_LEVELING_UBL, AUTO_BED_LEVELING_3POINT)
#if ENABLED(AUTO_BED_LEVELING_UBL)
#undef LCD_BED_LEVELING
@ -1470,37 +1473,37 @@
#endif
/**
* Bed Probing rectangular bounds
* These can be further constrained in code for Delta and SCARA
* Bed Probing bounds
*/
#ifndef MIN_PROBE_EDGE
#define MIN_PROBE_EDGE 0
#endif
#ifndef MIN_PROBE_EDGE_LEFT
#define MIN_PROBE_EDGE_LEFT MIN_PROBE_EDGE
#endif
#ifndef MIN_PROBE_EDGE_RIGHT
#define MIN_PROBE_EDGE_RIGHT MIN_PROBE_EDGE
#endif
#ifndef MIN_PROBE_EDGE_FRONT
#define MIN_PROBE_EDGE_FRONT MIN_PROBE_EDGE
#endif
#ifndef MIN_PROBE_EDGE_BACK
#define MIN_PROBE_EDGE_BACK MIN_PROBE_EDGE
#if IS_KINEMATIC
#undef MIN_PROBE_EDGE_LEFT
#undef MIN_PROBE_EDGE_RIGHT
#undef MIN_PROBE_EDGE_FRONT
#undef MIN_PROBE_EDGE_BACK
#else
#ifndef MIN_PROBE_EDGE_LEFT
#define MIN_PROBE_EDGE_LEFT MIN_PROBE_EDGE
#endif
#ifndef MIN_PROBE_EDGE_RIGHT
#define MIN_PROBE_EDGE_RIGHT MIN_PROBE_EDGE
#endif
#ifndef MIN_PROBE_EDGE_FRONT
#define MIN_PROBE_EDGE_FRONT MIN_PROBE_EDGE
#endif
#ifndef MIN_PROBE_EDGE_BACK
#define MIN_PROBE_EDGE_BACK MIN_PROBE_EDGE
#endif
#endif
#if ENABLED(DELTA)
/**
* Delta radius/rod trimmers/angle trimmers
*/
#define _PROBE_RADIUS (DELTA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE))
#ifndef DELTA_CALIBRATION_RADIUS
#if HAS_BED_PROBE
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - _MAX(ABS(probe_offset.x), ABS(probe_offset.y), ABS(MIN_PROBE_EDGE)))
#else
#define DELTA_CALIBRATION_RADIUS _PROBE_RADIUS
#endif
#endif
#ifndef DELTA_ENDSTOP_ADJ
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
#endif
@ -1513,24 +1516,6 @@
#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER
#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0, 0, 0 }
#endif
// Probing points may be verified at compile time within the radius
// using static_assert(HYPOT2(X2-X1,Y2-Y1)<=sq(DELTA_PRINTABLE_RADIUS),"bad probe point!")
// so that may be added to SanityCheck.h in the future.
#define PROBE_X_MIN (X_CENTER - (_PROBE_RADIUS))
#define PROBE_Y_MIN (Y_CENTER - (_PROBE_RADIUS))
#define PROBE_X_MAX (X_CENTER + _PROBE_RADIUS)
#define PROBE_Y_MAX (Y_CENTER + _PROBE_RADIUS)
#elif IS_SCARA
#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
#define _PROBE_RADIUS (SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE))
#define PROBE_X_MIN (X_CENTER - (SCARA_PRINTABLE_RADIUS) + MIN_PROBE_EDGE_LEFT)
#define PROBE_Y_MIN (Y_CENTER - (SCARA_PRINTABLE_RADIUS) + MIN_PROBE_EDGE_FRONT)
#define PROBE_X_MAX (X_CENTER + SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_RIGHT))
#define PROBE_Y_MAX (Y_CENTER + SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_BACK))
#endif
#if ENABLED(SEGMENT_LEVELED_MOVES) && !defined(LEVELED_SEGMENT_LENGTH)
@ -1540,7 +1525,7 @@
/**
* Default mesh area is an area with an inset margin on the print area.
*/
#if HAS_LEVELING
#if EITHER(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL)
#if IS_KINEMATIC
// Probing points may be verified at compile time within the radius
// using static_assert(HYPOT2(X2-X1,Y2-Y1)<=sq(DELTA_PRINTABLE_RADIUS),"bad probe point!")
@ -1551,17 +1536,10 @@
#define _MESH_MAX_Y (Y_MAX_BED - (MESH_INSET))
#else
// Boundaries for Cartesian probing based on set limits
#if ANY(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL, PROBE_MANUALLY)
#define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS)) // UBL is careful not to probe off the bed. It does not
#define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS)) // need NOZZLE_TO_PROBE_OFFSET in the mesh dimensions
#define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS))
#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS))
#else
#define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS + probe_offset.x))
#define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS + probe_offset.y))
#define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS + probe_offset.x))
#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS + probe_offset.y))
#endif
#define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS)) // UBL is careful not to probe off the bed. It does not
#define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS)) // need NOZZLE_TO_PROBE_OFFSET in the mesh dimensions
#define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS))
#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS))
#endif
// These may be overridden in Configuration.h if a smaller area is desired
@ -1577,40 +1555,17 @@
#ifndef MESH_MAX_Y
#define MESH_MAX_Y _MESH_MAX_Y
#endif
#endif // MESH_BED_LEVELING || AUTO_BED_LEVELING_UBL
#else
#undef MESH_MIN_X
#undef MESH_MIN_Y
#undef MESH_MAX_X
#undef MESH_MAX_Y
#endif
#if (defined(PROBE_PT_1_X) && defined(PROBE_PT_2_X) && defined(PROBE_PT_3_X) && defined(PROBE_PT_1_Y) && defined(PROBE_PT_2_Y) && defined(PROBE_PT_3_Y))
#define HAS_FIXED_3POINT
#endif
#if EITHER(AUTO_BED_LEVELING_UBL, AUTO_BED_LEVELING_3POINT) && IS_KINEMATIC
#define HAS_FIXED_3POINT
#define SIN0 0.0
#define SIN120 0.866025
#define SIN240 -0.866025
#define COS0 1.0
#define COS120 -0.5
#define COS240 -0.5
#ifndef PROBE_PT_1_X
#define PROBE_PT_1_X (X_CENTER + (_PROBE_RADIUS) * COS0)
#endif
#ifndef PROBE_PT_1_Y
#define PROBE_PT_1_Y (Y_CENTER + (_PROBE_RADIUS) * SIN0)
#endif
#ifndef PROBE_PT_2_X
#define PROBE_PT_2_X (X_CENTER + (_PROBE_RADIUS) * COS120)
#endif
#ifndef PROBE_PT_2_Y
#define PROBE_PT_2_Y (Y_CENTER + (_PROBE_RADIUS) * SIN120)
#endif
#ifndef PROBE_PT_3_X
#define PROBE_PT_3_X (X_CENTER + (_PROBE_RADIUS) * COS240)
#endif
#ifndef PROBE_PT_3_Y
#define PROBE_PT_3_Y (Y_CENTER + (_PROBE_RADIUS) * SIN240)
#endif
#endif
/**
* Buzzer/Speaker

2
Marlin/src/inc/SanityCheck.h
View file

@ -245,6 +245,8 @@
#error "NEOPIXEL_RGBW_LED is now NEOPIXEL_LED. Please update your configuration."
#elif ENABLED(DELTA) && defined(DELTA_PROBEABLE_RADIUS)
#error "Remove DELTA_PROBEABLE_RADIUS and use MIN_PROBE_EDGE to inset the probe area instead."
#elif ENABLED(DELTA) && defined(DELTA_CALIBRATION_RADIUS)
#error "Remove DELTA_CALIBRATION_RADIUS and use MIN_PROBE_EDGE to inset the probe area instead."
#elif defined(UBL_MESH_INSET)
#error "UBL_MESH_INSET is now just MESH_INSET. Please update your configuration."
#elif defined(UBL_MESH_MIN_X) || defined(UBL_MESH_MIN_Y) || defined(UBL_MESH_MAX_X) || defined(UBL_MESH_MAX_Y)

2
Marlin/src/lcd/menu/menu_delta_calibrate.cpp
View file

@ -85,7 +85,7 @@ void _man_probe_pt(const xy_pos_t &xy) {
void _goto_tower_a(const float &a) {
xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };
_man_probe_pt(tower_vec * delta_calibration_radius);
_man_probe_pt(tower_vec * delta_calibration_radius());
}
void _goto_tower_x() { _goto_tower_a(210); }
void _goto_tower_y() { _goto_tower_a(330); }

1
Marlin/src/libs/vector_3.h
View file

@ -50,6 +50,7 @@ struct vector_3 : xyz_float_t {
vector_3(const xy_float_t &in) { set(in.x, in.y); }
vector_3(const xyz_float_t &in) { set(in.x, in.y, in.z); }
vector_3(const xyze_float_t &in) { set(in.x, in.y, in.z); }
vector_3() { reset(); }
// Factory method
static vector_3 cross(const vector_3 &a, const vector_3 &b);

11
Marlin/src/module/configuration_store.cpp
View file

@ -37,7 +37,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V71"
#define EEPROM_VERSION "V72"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@ -223,8 +223,7 @@ typedef struct SettingsDataStruct {
abc_float_t delta_endstop_adj; // M666 XYZ
float delta_radius, // M665 R
delta_diagonal_rod, // M665 L
delta_segments_per_second, // M665 S
delta_calibration_radius; // M665 B
delta_segments_per_second; // M665 S
abc_float_t delta_tower_angle_trim; // M665 XYZ
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
float x2_endstop_adj, // M666 X
@ -724,7 +723,6 @@ 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 float
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
@ -1534,7 +1532,6 @@ 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 float
EEPROM_READ(delta_tower_angle_trim); // 3 floats
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
@ -2375,7 +2372,6 @@ void MarlinSettings::reset() {
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
delta_tower_angle_trim = dta;
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
@ -2939,14 +2935,13 @@ void MarlinSettings::reset() {
, " Z", LINEAR_UNIT(delta_endstop_adj.c)
);
CONFIG_ECHO_HEADING("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> B<calibration radius> XYZ<tower angle corrections>");
CONFIG_ECHO_HEADING("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> XYZ<tower angle corrections>");
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(
" M665 L", LINEAR_UNIT(delta_diagonal_rod)
, " R", LINEAR_UNIT(delta_radius)
, " H", LINEAR_UNIT(delta_height)
, " S", delta_segments_per_second
, " B", LINEAR_UNIT(delta_calibration_radius)
, " X", LINEAR_UNIT(delta_tower_angle_trim.a)
, " Y", LINEAR_UNIT(delta_tower_angle_trim.b)
, " Z", LINEAR_UNIT(delta_tower_angle_trim.c)

21
Marlin/src/module/delta.cpp
View file

@ -54,8 +54,7 @@ float delta_height;
abc_float_t delta_endstop_adj{0};
float delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius;
delta_segments_per_second;
abc_float_t delta_tower_angle_trim;
xy_float_t delta_tower[ABC];
abc_float_t delta_diagonal_rod_2_tower;
@ -83,6 +82,24 @@ void recalc_delta_settings() {
set_all_unhomed();
}
/**
* Get a safe radius for calibration
*/
#if ENABLED(DELTA_AUTO_CALIBRATION)
float calibration_radius_factor = 1;
#endif
float delta_calibration_radius() {
return FLOOR((DELTA_PRINTABLE_RADIUS - (
#if HAS_BED_PROBE
_MAX(HYPOT(probe_offset.x, probe_offset.y), MIN_PROBE_EDGE)
#else
MIN_PROBE_EDGE
#endif
)) * calibration_radius_factor);
}
/**
* Delta Inverse Kinematics
*

14
Marlin/src/module/delta.h
View file

@ -31,8 +31,7 @@ extern float delta_height;
extern abc_float_t delta_endstop_adj;
extern float delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius;
delta_segments_per_second;
extern abc_float_t delta_tower_angle_trim;
extern xy_float_t delta_tower[ABC];
extern abc_float_t delta_diagonal_rod_2_tower;
@ -44,6 +43,17 @@ extern float delta_clip_start_height;
*/
void recalc_delta_settings();
/**
* Get a safe radius for calibration
*/
#if ENABLED(DELTA_AUTO_CALIBRATION)
extern float calibration_radius_factor;
#else
constexpr float calibration_radius_factor = 1;
#endif
float delta_calibration_radius();
/**
* Delta Inverse Kinematics
*

83
Marlin/src/module/probe.h
View file

@ -60,48 +60,81 @@
#endif
#if HAS_LEVELING && (HAS_BED_PROBE || ENABLED(PROBE_MANUALLY))
inline float probe_min_x() {
return _MAX(
#if IS_KINEMATIC
PROBE_X_MIN, MESH_MIN_X
#else
(X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset.x
#if HAS_BED_PROBE || ENABLED(PROBE_MANUALLY)
#if IS_KINEMATIC
constexpr float printable_radius =
#if ENABLED(DELTA)
DELTA_PRINTABLE_RADIUS;
#elif IS_SCARA
SCARA_PRINTABLE_RADIUS;
#endif
inline float probe_radius() {
return printable_radius -
#if HAS_BED_PROBE
_MAX(MIN_PROBE_EDGE, HYPOT(probe_offset.x, probe_offset.y));
#else
MIN_PROBE_EDGE;
#endif
}
#endif
inline float probe_min_x() {
return
#if IS_KINEMATIC
(X_CENTER) - probe_radius();
#else
_MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset.x);
#endif
);
}
inline float probe_max_x() {
return _MIN(
return
#if IS_KINEMATIC
PROBE_X_MAX, MESH_MAX_X
(X_CENTER) + probe_radius();
#else
(X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset.x
_MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset.x);
#endif
);
}
inline float probe_min_y() {
return _MAX(
return
#if IS_KINEMATIC
PROBE_Y_MIN, MESH_MIN_Y
(Y_CENTER) - probe_radius();
#else
(Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset.y
_MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset.y);
#endif
);
}
inline float probe_max_y() {
return _MIN(
return
#if IS_KINEMATIC
PROBE_Y_MAX, MESH_MAX_Y
(Y_CENTER) + probe_radius();
#else
(Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset.y
_MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset.y);
#endif
);
}
#else
inline float probe_min_x() { return 0; };
inline float probe_max_x() { return 0; };
inline float probe_min_y() { return 0; };
inline float probe_max_y() { return 0; };
#if NEEDS_THREE_PROBE_POINTS
// Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
template <typename T>
inline void get_three_probe_points(T points[3]) {
#if ENABLED(HAS_FIXED_3POINT)
points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
#else
#if IS_KINEMATIC
constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
#else
points[0].set(probe_min_x(), probe_min_y());
points[1].set(probe_max_x(), probe_min_y());
points[2].set((probe_max_x() - probe_min_x()) / 2, probe_max_y());
#endif
#endif
}
#endif
#endif
#if HAS_Z_SERVO_PROBE

2
config/examples/delta/Anycubic/Kossel/Configuration.h
View file

@ -669,8 +669,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE) // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/Dreammaker/Overlord/Configuration.h
View file

@ -636,8 +636,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE) // (mm) Overlord 70mm
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/Dreammaker/Overlord_Pro/Configuration.h
View file

@ -648,8 +648,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE) // (mm) Overlord Pro 80mm
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/FLSUN/auto_calibrate/Configuration.h
View file

@ -636,8 +636,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 73.5 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/FLSUN/kossel/Configuration.h
View file

@ -636,8 +636,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 63 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/FLSUN/kossel_mini/Configuration.h
View file

@ -636,8 +636,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 73.5 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/Geeetech/Rostock 301/Configuration.h
View file

@ -626,8 +626,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/Hatchbox_Alpha/Configuration.h
View file

@ -641,8 +641,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/MKS/SBASE/Configuration.h
View file

@ -626,8 +626,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/Tevo Little Monster/Configuration.h
View file

@ -630,8 +630,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 140 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/generic/Configuration.h
View file

@ -626,8 +626,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/kossel_mini/Configuration.h
View file

@ -626,8 +626,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 78.0 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/kossel_pro/Configuration.h
View file

@ -612,8 +612,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 110.0 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

2
config/examples/delta/kossel_xl/Configuration.h
View file

@ -630,8 +630,6 @@
#endif
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // (mm)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif