Merge pull request #976 from cocktailyogi/SCARA_by_Yogi
Implemented SCARA-Maths
This commit is contained in:
Erik van der Zalm
commit
018b68a5c4
9 changed files with 1714 additions and 96 deletions
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@ -12,6 +12,13 @@
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// example_configurations/delta directory.
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//
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//===========================================================================
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//============================= SCARA Printer ===============================
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//===========================================================================
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// For a Delta printer replace the configuration files with the files in the
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// example_configurations/SCARA directory.
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//
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// User-specified version info of this build to display in [Pronterface, etc] terminal window during
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// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
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// build by the user have been successfully uploaded into firmware.
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@ -133,7 +140,6 @@
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// 1010 is Pt1000 with 1k pullup (non standard)
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// 147 is Pt100 with 4k7 pullup
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// 110 is Pt100 with 1k pullup (non standard)
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// 70 is 500C thermistor for Pico hot end
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#define TEMP_SENSOR_0 -1
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#define TEMP_SENSOR_1 -1
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@ -37,10 +37,15 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
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// the default values are used whenever there is a change to the data, to prevent
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// wrong data being written to the variables.
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// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
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#ifdef DELTA
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#define EEPROM_VERSION "V11"
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#else
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#define EEPROM_VERSION "V10"
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#ifdef DELTA
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#undef EEPROM_VERSION
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#define EEPROM_VERSION "V11"
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#endif
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#ifdef SCARA
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#undef EEPROM_VERSION
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#define EEPROM_VERSION "V12"
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#endif
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#ifdef EEPROM_SETTINGS
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@ -49,7 +54,7 @@ void Config_StoreSettings()
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char ver[4]= "000";
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int i=EEPROM_OFFSET;
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EEPROM_WRITE_VAR(i,ver); // invalidate data first
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EEPROM_WRITE_VAR(i,axis_steps_per_unit);
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EEPROM_WRITE_VAR(i,axis_steps_per_unit);
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EEPROM_WRITE_VAR(i,max_feedrate);
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EEPROM_WRITE_VAR(i,max_acceleration_units_per_sq_second);
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EEPROM_WRITE_VAR(i,acceleration);
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@ -93,6 +98,9 @@ void Config_StoreSettings()
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int lcd_contrast = 32;
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#endif
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EEPROM_WRITE_VAR(i,lcd_contrast);
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#ifdef SCARA
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EEPROM_WRITE_VAR(i,axis_scaling); // Add scaling for SCARA
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#endif
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char ver2[4]=EEPROM_VERSION;
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i=EEPROM_OFFSET;
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EEPROM_WRITE_VAR(i,ver2); // validate data
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@ -115,6 +123,16 @@ void Config_PrintSettings()
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SERIAL_ECHOLN("");
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SERIAL_ECHO_START;
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#ifdef SCARA
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SERIAL_ECHOLNPGM("Scaling factors:");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M365 X",axis_scaling[0]);
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SERIAL_ECHOPAIR(" Y",axis_scaling[1]);
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SERIAL_ECHOPAIR(" Z",axis_scaling[2]);
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SERIAL_ECHOLN("");
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SERIAL_ECHO_START;
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#endif
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SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M203 X",max_feedrate[0]);
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@ -196,7 +214,7 @@ void Config_RetrieveSettings()
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if (strncmp(ver,stored_ver,3) == 0)
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{
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// version number match
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EEPROM_READ_VAR(i,axis_steps_per_unit);
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EEPROM_READ_VAR(i,axis_steps_per_unit);
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EEPROM_READ_VAR(i,max_feedrate);
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EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second);
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@ -240,6 +258,9 @@ void Config_RetrieveSettings()
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int lcd_contrast;
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#endif
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EEPROM_READ_VAR(i,lcd_contrast);
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#ifdef SCARA
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EEPROM_READ_VAR(i,axis_scaling);
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#endif
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// Call updatePID (similar to when we have processed M301)
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updatePID();
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@ -266,6 +287,9 @@ void Config_ResetDefault()
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axis_steps_per_unit[i]=tmp1[i];
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max_feedrate[i]=tmp2[i];
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max_acceleration_units_per_sq_second[i]=tmp3[i];
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#ifdef SCARA
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axis_scaling[i]=1;
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#endif
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}
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// steps per sq second need to be updated to agree with the units per sq second
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@ -178,6 +178,10 @@ void get_coordinates();
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void calculate_delta(float cartesian[3]);
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extern float delta[3];
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#endif
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#ifdef SCARA
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void calculate_delta(float cartesian[3]);
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void calculate_SCARA_forward_Transform(float f_scara[3]);
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#endif
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void prepare_move();
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void kill();
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void Stop();
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@ -215,6 +219,9 @@ extern float delta_diagonal_rod;
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extern float delta_segments_per_second;
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void recalc_delta_settings(float radius, float diagonal_rod);
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#endif
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#ifdef SCARA
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extern float axis_scaling[3]; // Build size scaling
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#endif
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extern float min_pos[3];
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extern float max_pos[3];
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extern bool axis_known_position[3];
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@ -172,6 +172,16 @@
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// M908 - Control digital trimpot directly.
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// M350 - Set microstepping mode.
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// M351 - Toggle MS1 MS2 pins directly.
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// ************ SCARA Specific - This can change to suit future G-code regulations
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// M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
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// M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
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// M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
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// M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
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// M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
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// M365 - SCARA calibration: Scaling factor, X, Y, Z axis
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//************* SCARA End ***************
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// M928 - Start SD logging (M928 filename.g) - ended by M29
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// M999 - Restart after being stopped by error
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@ -214,6 +224,7 @@ float add_homeing[3]={0,0,0};
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#ifdef DELTA
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float endstop_adj[3]={0,0,0};
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#endif
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float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
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float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
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bool axis_known_position[3] = {false, false, false};
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@ -294,7 +305,11 @@ int EtoPPressure=0;
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float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
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float delta_diagonal_rod_2= sq(delta_diagonal_rod);
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float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
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#endif
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#endif
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#ifdef SCARA // Build size scaling
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float axis_scaling[3]={1,1,1}; // Build size scaling, default to 1
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#endif
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bool cancel_heatup = false ;
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@ -303,6 +318,7 @@ bool cancel_heatup = false ;
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//===========================================================================
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const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
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static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
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static float delta[3] = {0.0, 0.0, 0.0};
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static float offset[3] = {0.0, 0.0, 0.0};
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static bool home_all_axis = true;
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static float feedrate = 1500.0, next_feedrate, saved_feedrate;
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@ -876,9 +892,59 @@ static void axis_is_at_home(int axis) {
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}
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}
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#endif
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#ifdef SCARA
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float homeposition[3];
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char i;
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if (axis < 2)
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{
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for (i=0; i<3; i++)
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{
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homeposition[i] = base_home_pos(i);
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}
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// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
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// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
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// Works out real Homeposition angles using inverse kinematics,
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// and calculates homing offset using forward kinematics
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calculate_delta(homeposition);
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// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
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// SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
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for (i=0; i<2; i++)
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{
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delta[i] -= add_homeing[i];
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}
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// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homeing[X_AXIS]);
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// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homeing[Y_AXIS]);
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// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
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// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
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calculate_SCARA_forward_Transform(delta);
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// SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
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// SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
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current_position[axis] = delta[axis];
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// SCARA home positions are based on configuration since the actual limits are determined by the
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// inverse kinematic transform.
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min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
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max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
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}
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else
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{
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current_position[axis] = base_home_pos(axis) + add_homeing[axis];
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min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
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max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
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}
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#else
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current_position[axis] = base_home_pos(axis) + add_homeing[axis];
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min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
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max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
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#endif
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}
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#ifdef ENABLE_AUTO_BED_LEVELING
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@ -1142,6 +1208,7 @@ static void homeaxis(int axis) {
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}
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}
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
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void refresh_cmd_timeout(void)
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{
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previous_millis_cmd = millis();
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@ -1269,6 +1336,7 @@ void process_commands()
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return;
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}
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break;
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#ifndef SCARA //disable arc support
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case 2: // G2 - CW ARC
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if(Stopped == false) {
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get_arc_coordinates();
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@ -1283,6 +1351,7 @@ void process_commands()
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return;
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}
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break;
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#endif
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case 4: // G4 dwell
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LCD_MESSAGEPGM(MSG_DWELL);
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codenum = 0;
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@ -1361,12 +1430,12 @@ void process_commands()
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HOMEAXIS(Z);
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calculate_delta(current_position);
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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#else // NOT DELTA
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home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
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HOMEAXIS(Z);
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@ -1410,7 +1479,9 @@ void process_commands()
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current_position[X_AXIS] = destination[X_AXIS];
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current_position[Y_AXIS] = destination[Y_AXIS];
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#ifndef SCARA
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current_position[Z_AXIS] = destination[Z_AXIS];
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#endif
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}
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#endif
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@ -1440,13 +1511,21 @@ void process_commands()
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if(code_seen(axis_codes[X_AXIS]))
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{
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if(code_value_long() != 0) {
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current_position[X_AXIS]=code_value()+add_homeing[0];
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#ifdef SCARA
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current_position[X_AXIS]=code_value();
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#else
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current_position[X_AXIS]=code_value()+add_homeing[0];
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#endif
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}
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}
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if(code_seen(axis_codes[Y_AXIS])) {
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if(code_value_long() != 0) {
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current_position[Y_AXIS]=code_value()+add_homeing[1];
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#ifdef SCARA
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current_position[Y_AXIS]=code_value();
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#else
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current_position[Y_AXIS]=code_value()+add_homeing[1];
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#endif
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}
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}
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@ -1521,6 +1600,11 @@ void process_commands()
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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#endif // else DELTA
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#ifdef SCARA
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calculate_delta(current_position);
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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#endif SCARA
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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enable_endstops(false);
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#endif
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@ -1729,8 +1813,17 @@ void process_commands()
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plan_set_e_position(current_position[E_AXIS]);
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}
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else {
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current_position[i] = code_value()+add_homeing[i];
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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#ifdef SCARA
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if (i == X_AXIS || i == Y_AXIS) {
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current_position[i] = code_value();
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}
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else {
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current_position[i] = code_value()+add_homeing[i];
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}
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#else
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current_position[i] = code_value()+add_homeing[i];
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#endif
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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}
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}
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}
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@ -2597,6 +2690,26 @@ Sigma_Exit:
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SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
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SERIAL_PROTOCOLLN("");
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#ifdef SCARA
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SERIAL_PROTOCOLPGM("SCARA Theta:");
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SERIAL_PROTOCOL(delta[X_AXIS]);
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SERIAL_PROTOCOLPGM(" Psi+Theta:");
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SERIAL_PROTOCOL(delta[Y_AXIS]);
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SERIAL_PROTOCOLLN("");
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SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
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SERIAL_PROTOCOL(delta[X_AXIS]+add_homeing[0]);
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SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
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SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homeing[1]);
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SERIAL_PROTOCOLLN("");
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SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
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SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
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SERIAL_PROTOCOLPGM(" Psi+Theta:");
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SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
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SERIAL_PROTOCOLLN("");
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SERIAL_PROTOCOLLN("");
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#endif
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break;
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case 120: // M120
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enable_endstops(false) ;
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@ -2718,6 +2831,16 @@ Sigma_Exit:
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{
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if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
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}
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#ifdef SCARA
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if(code_seen('T')) // Theta
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{
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add_homeing[0] = code_value() ;
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}
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if(code_seen('P')) // Psi
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{
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add_homeing[1] = code_value() ;
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}
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#endif
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break;
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#ifdef DELTA
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case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
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@ -3096,6 +3219,105 @@ Sigma_Exit:
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PID_autotune(temp, e, c);
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}
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break;
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#ifdef SCARA
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case 360: // M360 SCARA Theta pos1
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SERIAL_ECHOLN(" Cal: Theta 0 ");
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//SoftEndsEnabled = false; // Ignore soft endstops during calibration
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if(Stopped == false) {
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//get_coordinates(); // For X Y Z E F
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delta[0] = 0;
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delta[1] = 120;
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calculate_SCARA_forward_Transform(delta);
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destination[0] = delta[0]/axis_scaling[X_AXIS];
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destination[1] = delta[1]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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return;
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}
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break;
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case 361: // SCARA Theta pos2
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SERIAL_ECHOLN(" Cal: Theta 90 ");
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//SoftEndsEnabled = false; // Ignore soft endstops during calibration
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if(Stopped == false) {
|
||||
//get_coordinates(); // For X Y Z E F
|
||||
delta[0] = 90;
|
||||
delta[1] = 130;
|
||||
calculate_SCARA_forward_Transform(delta);
|
||||
destination[0] = delta[0]/axis_scaling[X_AXIS];
|
||||
destination[1] = delta[1]/axis_scaling[Y_AXIS];
|
||||
|
||||
prepare_move();
|
||||
//ClearToSend();
|
||||
return;
|
||||
}
|
||||
break;
|
||||
case 362: // SCARA Psi pos1
|
||||
SERIAL_ECHOLN(" Cal: Psi 0 ");
|
||||
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
|
||||
//SERIAL_ECHOLN(" Soft endstops disabled ");
|
||||
if(Stopped == false) {
|
||||
//get_coordinates(); // For X Y Z E F
|
||||
delta[0] = 60;
|
||||
delta[1] = 180;
|
||||
calculate_SCARA_forward_Transform(delta);
|
||||
destination[0] = delta[0]/axis_scaling[X_AXIS];
|
||||
destination[1] = delta[1]/axis_scaling[Y_AXIS];
|
||||
|
||||
prepare_move();
|
||||
//ClearToSend();
|
||||
return;
|
||||
}
|
||||
break;
|
||||
case 363: // SCARA Psi pos2
|
||||
SERIAL_ECHOLN(" Cal: Psi 90 ");
|
||||
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
|
||||
//SERIAL_ECHOLN(" Soft endstops disabled ");
|
||||
if(Stopped == false) {
|
||||
//get_coordinates(); // For X Y Z E F
|
||||
delta[0] = 50;
|
||||
delta[1] = 90;
|
||||
calculate_SCARA_forward_Transform(delta);
|
||||
destination[0] = delta[0]/axis_scaling[X_AXIS];
|
||||
destination[1] = delta[1]/axis_scaling[Y_AXIS];
|
||||
|
||||
prepare_move();
|
||||
//ClearToSend();
|
||||
return;
|
||||
}
|
||||
break;
|
||||
case 364: // SCARA Psi pos3 (90 deg to Theta)
|
||||
SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
|
||||
// SoftEndsEnabled = false; // Ignore soft endstops during calibration
|
||||
//SERIAL_ECHOLN(" Soft endstops disabled ");
|
||||
if(Stopped == false) {
|
||||
//get_coordinates(); // For X Y Z E F
|
||||
delta[0] = 45;
|
||||
delta[1] = 135;
|
||||
calculate_SCARA_forward_Transform(delta);
|
||||
destination[0] = delta[0]/axis_scaling[X_AXIS];
|
||||
destination[1] = delta[1]/axis_scaling[Y_AXIS];
|
||||
|
||||
prepare_move();
|
||||
//ClearToSend();
|
||||
return;
|
||||
}
|
||||
break;
|
||||
case 365: // M364 Set SCARA scaling for X Y Z
|
||||
for(int8_t i=0; i < 3; i++)
|
||||
{
|
||||
if(code_seen(axis_codes[i]))
|
||||
{
|
||||
|
||||
axis_scaling[i] = code_value();
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
case 400: // M400 finish all moves
|
||||
{
|
||||
st_synchronize();
|
||||
|
|
@ -3658,8 +3880,46 @@ void calculate_delta(float cartesian[3])
|
|||
void prepare_move()
|
||||
{
|
||||
clamp_to_software_endstops(destination);
|
||||
|
||||
previous_millis_cmd = millis();
|
||||
|
||||
#ifdef SCARA //for now same as delta-code
|
||||
|
||||
float difference[NUM_AXIS];
|
||||
for (int8_t i=0; i < NUM_AXIS; i++) {
|
||||
difference[i] = destination[i] - current_position[i];
|
||||
}
|
||||
|
||||
float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
|
||||
sq(difference[Y_AXIS]) +
|
||||
sq(difference[Z_AXIS]));
|
||||
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
|
||||
if (cartesian_mm < 0.000001) { return; }
|
||||
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
|
||||
int steps = max(1, int(scara_segments_per_second * seconds));
|
||||
//SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
|
||||
//SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
|
||||
//SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
|
||||
for (int s = 1; s <= steps; s++) {
|
||||
float fraction = float(s) / float(steps);
|
||||
for(int8_t i=0; i < NUM_AXIS; i++) {
|
||||
destination[i] = current_position[i] + difference[i] * fraction;
|
||||
}
|
||||
|
||||
|
||||
calculate_delta(destination);
|
||||
//SERIAL_ECHOPGM("destination[0]="); SERIAL_ECHOLN(destination[0]);
|
||||
//SERIAL_ECHOPGM("destination[1]="); SERIAL_ECHOLN(destination[1]);
|
||||
//SERIAL_ECHOPGM("destination[2]="); SERIAL_ECHOLN(destination[2]);
|
||||
//SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
|
||||
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
|
||||
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
|
||||
|
||||
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
|
||||
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
|
||||
active_extruder);
|
||||
}
|
||||
#endif // SCARA
|
||||
|
||||
#ifdef DELTA
|
||||
float difference[NUM_AXIS];
|
||||
for (int8_t i=0; i < NUM_AXIS; i++) {
|
||||
|
|
@ -3685,7 +3945,8 @@ void prepare_move()
|
|||
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
|
||||
active_extruder);
|
||||
}
|
||||
#else
|
||||
|
||||
#endif // DELTA
|
||||
|
||||
#ifdef DUAL_X_CARRIAGE
|
||||
if (active_extruder_parked)
|
||||
|
|
@ -3728,6 +3989,7 @@ void prepare_move()
|
|||
}
|
||||
#endif //DUAL_X_CARRIAGE
|
||||
|
||||
#if ! (defined DELTA || defined SCARA)
|
||||
// Do not use feedmultiply for E or Z only moves
|
||||
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
|
|
@ -3735,7 +3997,8 @@ void prepare_move()
|
|||
else {
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
|
||||
}
|
||||
#endif //else DELTA
|
||||
#endif // !(DELTA || SCARA)
|
||||
|
||||
for(int8_t i=0; i < NUM_AXIS; i++) {
|
||||
current_position[i] = destination[i];
|
||||
}
|
||||
|
|
@ -3803,6 +4066,84 @@ void controllerFan()
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef SCARA
|
||||
void calculate_SCARA_forward_Transform(float f_scara[3])
|
||||
{
|
||||
// Perform forward kinematics, and place results in delta[3]
|
||||
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
|
||||
|
||||
float x_sin, x_cos, y_sin, y_cos;
|
||||
|
||||
//SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
|
||||
//SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
|
||||
|
||||
x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
|
||||
x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
|
||||
y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
|
||||
y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
|
||||
|
||||
// SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
|
||||
// SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
|
||||
// SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
|
||||
// SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
|
||||
|
||||
delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
|
||||
delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
|
||||
|
||||
//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
|
||||
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
|
||||
}
|
||||
|
||||
void calculate_delta(float cartesian[3]){
|
||||
//reverse kinematics.
|
||||
// Perform reversed kinematics, and place results in delta[3]
|
||||
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
|
||||
|
||||
float SCARA_pos[2];
|
||||
static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
|
||||
|
||||
SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
|
||||
SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
|
||||
|
||||
#if (Linkage_1 == Linkage_2)
|
||||
SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1;
|
||||
#else
|
||||
SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000;
|
||||
#endif
|
||||
|
||||
SCARA_S2 = sqrt( 1 - sq(SCARA_C2) );
|
||||
|
||||
SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
|
||||
SCARA_K2 = Linkage_2 * SCARA_S2;
|
||||
|
||||
SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1;
|
||||
SCARA_psi = atan2(SCARA_S2,SCARA_C2);
|
||||
|
||||
delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
|
||||
delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
|
||||
delta[Z_AXIS] = cartesian[Z_AXIS];
|
||||
|
||||
/*
|
||||
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
|
||||
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
|
||||
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
|
||||
|
||||
SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
|
||||
SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
|
||||
|
||||
SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
|
||||
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
|
||||
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
|
||||
|
||||
SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
|
||||
SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
|
||||
SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
|
||||
SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
|
||||
SERIAL_ECHOLN(" ");*/
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef TEMP_STAT_LEDS
|
||||
static bool blue_led = false;
|
||||
static bool red_led = false;
|
||||
|
|
|
|||
802
Marlin/example_configurations/SCARA/Configuration.h
Normal file
802
Marlin/example_configurations/SCARA/Configuration.h
Normal file
|
|
@ -0,0 +1,802 @@
|
|||
#ifndef CONFIGURATION_H
|
||||
#define CONFIGURATION_H
|
||||
|
||||
// This configuration file contains the basic settings.
|
||||
// Advanced settings can be found in Configuration_adv.h
|
||||
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
|
||||
|
||||
//===========================================================================
|
||||
//========================= SCARA Settings ==================================
|
||||
//===========================================================================
|
||||
// SCARA-mode for Marlin has been developed by QHARLEY in ZA in 2012/2013. Implemented
|
||||
// and slightly reworked by JCERNY in 06/2014 with the goal to bring it into Master-Branch
|
||||
// QHARLEYS Autobedlevelling has not been ported, because Marlin has now Bed-levelling
|
||||
// You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
|
||||
// Uncomment to use Morgan scara mode
|
||||
#define SCARA
|
||||
#define scara_segments_per_second 200 //careful, two much will decrease performance...
|
||||
// Length of inner support arm
|
||||
#define Linkage_1 150 //mm Preprocessor cannot handle decimal point...
|
||||
// Length of outer support arm Measure arm lengths precisely and enter
|
||||
#define Linkage_2 150 //mm
|
||||
|
||||
// SCARA tower offset (position of Tower relative to bed zero position)
|
||||
// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
|
||||
#define SCARA_offset_x 100 //mm
|
||||
#define SCARA_offset_y -56 //mm
|
||||
#define SCARA_RAD2DEG 57.2957795 // to convert RAD to degrees
|
||||
|
||||
#define THETA_HOMING_OFFSET 0 //calculatated from Calibration Guide and command M360 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
|
||||
#define PSI_HOMING_OFFSET 0 // calculatated from Calibration Guide and command M364 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
|
||||
|
||||
//some helper variables to make kinematics faster
|
||||
#define L1_2 sq(Linkage_1) // do not change
|
||||
#define L2_2 sq(Linkage_2) // do not change
|
||||
|
||||
//===========================================================================
|
||||
//========================= SCARA Settings end ==================================
|
||||
//===========================================================================
|
||||
|
||||
// User-specified version info of this build to display in [Pronterface, etc] terminal window during
|
||||
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
|
||||
// build by the user have been successfully uploaded into firmware.
|
||||
#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
|
||||
#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
|
||||
|
||||
// SERIAL_PORT selects which serial port should be used for communication with the host.
|
||||
// This allows the connection of wireless adapters (for instance) to non-default port pins.
|
||||
// Serial port 0 is still used by the Arduino bootloader regardless of this setting.
|
||||
#define SERIAL_PORT 0
|
||||
|
||||
// This determines the communication speed of the printer
|
||||
// This determines the communication speed of the printer
|
||||
#define BAUDRATE 250000
|
||||
|
||||
// This enables the serial port associated to the Bluetooth interface
|
||||
//#define BTENABLED // Enable BT interface on AT90USB devices
|
||||
|
||||
|
||||
//// The following define selects which electronics board you have. Please choose the one that matches your setup
|
||||
// 10 = Gen7 custom (Alfons3 Version) "https://github.com/Alfons3/Generation_7_Electronics"
|
||||
// 11 = Gen7 v1.1, v1.2 = 11
|
||||
// 12 = Gen7 v1.3
|
||||
// 13 = Gen7 v1.4
|
||||
// 131 = OpenHardware.co.za custom Gen7 electronics
|
||||
// 2 = Cheaptronic v1.0
|
||||
// 20 = Sethi 3D_1
|
||||
// 3 = MEGA/RAMPS up to 1.2 = 3
|
||||
// 33 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Bed)
|
||||
// 34 = RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Bed)
|
||||
// 35 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Fan)
|
||||
// 4 = Duemilanove w/ ATMega328P pin assignment
|
||||
// 5 = Gen6
|
||||
// 51 = Gen6 deluxe
|
||||
// 6 = Sanguinololu < 1.2
|
||||
// 62 = Sanguinololu 1.2 and above
|
||||
// 63 = Melzi
|
||||
// 64 = STB V1.1
|
||||
// 65 = Azteeg X1
|
||||
// 66 = Melzi with ATmega1284 (MaKr3d version)
|
||||
// 67 = Azteeg X3
|
||||
// 68 = Azteeg X3 Pro
|
||||
// 7 = Ultimaker
|
||||
// 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)
|
||||
// 72 = Ultimainboard 2.x (Uses TEMP_SENSOR 20)
|
||||
// 77 = 3Drag Controller
|
||||
// 8 = Teensylu
|
||||
// 80 = Rumba
|
||||
// 81 = Printrboard (AT90USB1286)
|
||||
// 82 = Brainwave (AT90USB646)
|
||||
// 83 = SAV Mk-I (AT90USB1286)
|
||||
// 84 = Teensy++2.0 (AT90USB1286) // CLI compile: DEFINES=AT90USBxx_TEENSYPP_ASSIGNMENTS HARDWARE_MOTHERBOARD=84 make
|
||||
// 9 = Gen3+
|
||||
// 70 = Megatronics
|
||||
// 701= Megatronics v2.0
|
||||
// 702= Minitronics v1.0
|
||||
// 90 = Alpha OMCA board
|
||||
// 91 = Final OMCA board
|
||||
// 301= Rambo
|
||||
// 21 = Elefu Ra Board (v3)
|
||||
// 88 = 5DPrint D8 Driver Board
|
||||
|
||||
#ifndef MOTHERBOARD
|
||||
#define MOTHERBOARD 33
|
||||
#endif
|
||||
|
||||
// Define this to set a custom name for your generic Mendel,
|
||||
// #define CUSTOM_MENDEL_NAME "This Mendel"
|
||||
|
||||
// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
|
||||
// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
|
||||
// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
|
||||
|
||||
// This defines the number of extruders
|
||||
#define EXTRUDERS 1
|
||||
|
||||
//// The following define selects which power supply you have. Please choose the one that matches your setup
|
||||
// 1 = ATX
|
||||
// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
|
||||
|
||||
#define POWER_SUPPLY 1
|
||||
|
||||
// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
|
||||
// #define PS_DEFAULT_OFF
|
||||
|
||||
//===========================================================================
|
||||
//=============================Thermal Settings ============================
|
||||
//===========================================================================
|
||||
//
|
||||
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
|
||||
//
|
||||
//// Temperature sensor settings:
|
||||
// -2 is thermocouple with MAX6675 (only for sensor 0)
|
||||
// -1 is thermocouple with AD595
|
||||
// 0 is not used
|
||||
// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
|
||||
// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
|
||||
// 3 is Mendel-parts thermistor (4.7k pullup)
|
||||
// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
|
||||
// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
|
||||
// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
|
||||
// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
|
||||
// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
|
||||
// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
|
||||
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
|
||||
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
|
||||
// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
|
||||
// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
|
||||
// 20 is the PT100 circuit found in the Ultimainboard V2.x
|
||||
// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
|
||||
//
|
||||
// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
|
||||
// (but gives greater accuracy and more stable PID)
|
||||
// 51 is 100k thermistor - EPCOS (1k pullup)
|
||||
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
|
||||
// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
|
||||
//
|
||||
// 1047 is Pt1000 with 4k7 pullup
|
||||
// 1010 is Pt1000 with 1k pullup (non standard)
|
||||
// 147 is Pt100 with 4k7 pullup
|
||||
// 110 is Pt100 with 1k pullup (non standard)
|
||||
|
||||
#define TEMP_SENSOR_0 1
|
||||
#define TEMP_SENSOR_1 0
|
||||
#define TEMP_SENSOR_2 0
|
||||
#define TEMP_SENSOR_BED 1
|
||||
|
||||
// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
|
||||
//#define TEMP_SENSOR_1_AS_REDUNDANT
|
||||
#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
|
||||
|
||||
// Actual temperature must be close to target for this long before M109 returns success
|
||||
#define TEMP_RESIDENCY_TIME 3 // (seconds)
|
||||
#define TEMP_HYSTERESIS 2 // (degC) range of +/- temperatures considered "close" to the target one
|
||||
#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early.
|
||||
|
||||
// The minimal temperature defines the temperature below which the heater will not be enabled It is used
|
||||
// to check that the wiring to the thermistor is not broken.
|
||||
// Otherwise this would lead to the heater being powered on all the time.
|
||||
#define HEATER_0_MINTEMP 5
|
||||
#define HEATER_1_MINTEMP 5
|
||||
#define HEATER_2_MINTEMP 5
|
||||
#define BED_MINTEMP 5
|
||||
|
||||
// When temperature exceeds max temp, your heater will be switched off.
|
||||
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
|
||||
// You should use MINTEMP for thermistor short/failure protection.
|
||||
#define HEATER_0_MAXTEMP 275
|
||||
#define HEATER_1_MAXTEMP 275
|
||||
#define HEATER_2_MAXTEMP 275
|
||||
#define BED_MAXTEMP 150
|
||||
|
||||
// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
|
||||
// average current. The value should be an integer and the heat bed will be turned on for 1 interval of
|
||||
// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
|
||||
//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4
|
||||
|
||||
// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS
|
||||
#define EXTRUDER_WATTS (2*2/5.9) // P=I^2/R
|
||||
#define BED_WATTS (5.45*5.45/2.2) // P=I^2/R
|
||||
|
||||
// PID settings:
|
||||
// Comment the following line to disable PID and enable bang-bang.
|
||||
#define PIDTEMP
|
||||
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
|
||||
#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
|
||||
#ifdef PIDTEMP
|
||||
//#define PID_DEBUG // Sends debug data to the serial port.
|
||||
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
|
||||
#define PID_FUNCTIONAL_RANGE 20 // If the temperature difference between the target temperature and the actual temperature
|
||||
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
|
||||
#define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term
|
||||
#define K1 0.95 //smoothing factor within the PID
|
||||
#define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
|
||||
|
||||
// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
|
||||
// Ultimaker
|
||||
// #define DEFAULT_Kp 22.2
|
||||
// #define DEFAULT_Ki 1.08
|
||||
// #define DEFAULT_Kd 114
|
||||
|
||||
// Jhead MK5: From Autotune
|
||||
// #define DEFAULT_Kp 20.92
|
||||
// #define DEFAULT_Ki 1.51
|
||||
// #define DEFAULT_Kd 72.34
|
||||
|
||||
//Merlin Hotend: From Autotune
|
||||
#define DEFAULT_Kp 24.5
|
||||
#define DEFAULT_Ki 1.72
|
||||
#define DEFAULT_Kd 87.73
|
||||
|
||||
// MakerGear
|
||||
// #define DEFAULT_Kp 7.0
|
||||
// #define DEFAULT_Ki 0.1
|
||||
// #define DEFAULT_Kd 12
|
||||
|
||||
// Mendel Parts V9 on 12V
|
||||
// #define DEFAULT_Kp 63.0
|
||||
// #define DEFAULT_Ki 2.25
|
||||
// #define DEFAULT_Kd 440
|
||||
#endif // PIDTEMP
|
||||
|
||||
// Bed Temperature Control
|
||||
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
|
||||
//
|
||||
// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
|
||||
// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
|
||||
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
|
||||
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
|
||||
// If your configuration is significantly different than this and you don't understand the issues involved, you probably
|
||||
// shouldn't use bed PID until someone else verifies your hardware works.
|
||||
// If this is enabled, find your own PID constants below.
|
||||
#define PIDTEMPBED
|
||||
//
|
||||
#define BED_LIMIT_SWITCHING
|
||||
|
||||
// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
|
||||
// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
|
||||
// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
|
||||
// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
|
||||
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
|
||||
|
||||
#ifdef PIDTEMPBED
|
||||
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
|
||||
//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
|
||||
// #define DEFAULT_bedKp 10.00
|
||||
// #define DEFAULT_bedKi .023
|
||||
// #define DEFAULT_bedKd 305.4
|
||||
|
||||
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
|
||||
//from pidautotune
|
||||
// #define DEFAULT_bedKp 97.1
|
||||
// #define DEFAULT_bedKi 1.41
|
||||
// #define DEFAULT_bedKd 1675.16
|
||||
|
||||
//12v Heatbed Mk3 12V in parallel
|
||||
//from pidautotune
|
||||
#define DEFAULT_bedKp 630.14
|
||||
#define DEFAULT_bedKi 121.71
|
||||
#define DEFAULT_bedKd 815.64
|
||||
|
||||
// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
|
||||
#endif // PIDTEMPBED
|
||||
|
||||
|
||||
|
||||
//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
|
||||
//can be software-disabled for whatever purposes by
|
||||
//#define PREVENT_DANGEROUS_EXTRUDE
|
||||
//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
|
||||
#define PREVENT_LENGTHY_EXTRUDE
|
||||
|
||||
#define EXTRUDE_MINTEMP 150
|
||||
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
|
||||
|
||||
/*================== Thermal Runaway Protection ==============================
|
||||
This is a feature to protect your printer from burn up in flames if it has
|
||||
a thermistor coming off place (this happened to a friend of mine recently and
|
||||
motivated me writing this feature).
|
||||
|
||||
The issue: If a thermistor come off, it will read a lower temperature than actual.
|
||||
The system will turn the heater on forever, burning up the filament and anything
|
||||
else around.
|
||||
|
||||
After the temperature reaches the target for the first time, this feature will
|
||||
start measuring for how long the current temperature stays below the target
|
||||
minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS).
|
||||
|
||||
If it stays longer than _PERIOD, it means the thermistor temperature
|
||||
cannot catch up with the target, so something *may be* wrong. Then, to be on the
|
||||
safe side, the system will he halt.
|
||||
|
||||
Bear in mind the count down will just start AFTER the first time the
|
||||
thermistor temperature is over the target, so you will have no problem if
|
||||
your extruder heater takes 2 minutes to hit the target on heating.
|
||||
|
||||
*/
|
||||
// If you want to enable this feature for all your extruder heaters,
|
||||
// uncomment the 2 defines below:
|
||||
|
||||
// Parameters for all extruder heaters
|
||||
//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds
|
||||
//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius
|
||||
|
||||
// If you want to enable this feature for your bed heater,
|
||||
// uncomment the 2 defines below:
|
||||
|
||||
// Parameters for the bed heater
|
||||
//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds
|
||||
//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius
|
||||
//===========================================================================
|
||||
|
||||
//===========================================================================
|
||||
//=============================Mechanical Settings===========================
|
||||
//===========================================================================
|
||||
|
||||
// Uncomment the following line to enable CoreXY kinematics
|
||||
// #define COREXY
|
||||
|
||||
// coarse Endstop Settings
|
||||
//#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
|
||||
|
||||
#ifndef ENDSTOPPULLUPS
|
||||
// fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
|
||||
// #define ENDSTOPPULLUP_XMAX
|
||||
// #define ENDSTOPPULLUP_YMAX
|
||||
#define ENDSTOPPULLUP_ZMAX // open pin, inverted
|
||||
#define ENDSTOPPULLUP_XMIN // open pin, inverted
|
||||
#define ENDSTOPPULLUP_YMIN // open pin, inverted
|
||||
// #define ENDSTOPPULLUP_ZMIN
|
||||
#endif
|
||||
|
||||
#ifdef ENDSTOPPULLUPS
|
||||
#define ENDSTOPPULLUP_XMAX
|
||||
#define ENDSTOPPULLUP_YMAX
|
||||
#define ENDSTOPPULLUP_ZMAX
|
||||
#define ENDSTOPPULLUP_XMIN
|
||||
#define ENDSTOPPULLUP_YMIN
|
||||
#define ENDSTOPPULLUP_ZMIN
|
||||
#endif
|
||||
|
||||
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
|
||||
const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
|
||||
const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
|
||||
const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
|
||||
const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
|
||||
const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
|
||||
const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
|
||||
//#define DISABLE_MAX_ENDSTOPS
|
||||
//#define DISABLE_MIN_ENDSTOPS
|
||||
|
||||
// Disable max endstops for compatibility with endstop checking routine
|
||||
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
|
||||
#define DISABLE_MAX_ENDSTOPS
|
||||
#endif
|
||||
|
||||
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
|
||||
#define X_ENABLE_ON 0
|
||||
#define Y_ENABLE_ON 0
|
||||
#define Z_ENABLE_ON 0
|
||||
#define E_ENABLE_ON 0 // For all extruders
|
||||
|
||||
// Disables axis when it's not being used.
|
||||
#define DISABLE_X false
|
||||
#define DISABLE_Y false
|
||||
#define DISABLE_Z false
|
||||
#define DISABLE_E false // For all extruders
|
||||
#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
|
||||
|
||||
#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
|
||||
#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
|
||||
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
|
||||
#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
|
||||
#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
|
||||
#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
|
||||
|
||||
// ENDSTOP SETTINGS:
|
||||
// Sets direction of endstop s when homing; 1=MAX, -1=MIN
|
||||
#define X_HOME_DIR 1
|
||||
#define Y_HOME_DIR 1
|
||||
#define Z_HOME_DIR -1
|
||||
|
||||
#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
|
||||
#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below.
|
||||
|
||||
// Travel limits after homing
|
||||
#define X_MAX_POS 200
|
||||
#define X_MIN_POS 0
|
||||
#define Y_MAX_POS 200
|
||||
#define Y_MIN_POS 0
|
||||
#define Z_MAX_POS 225
|
||||
#define Z_MIN_POS MANUAL_Z_HOME_POS
|
||||
|
||||
#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
|
||||
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
|
||||
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
|
||||
//============================= Bed Auto Leveling ===========================
|
||||
|
||||
//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
|
||||
|
||||
#ifdef ENABLE_AUTO_BED_LEVELING
|
||||
|
||||
// There are 2 different ways to pick the X and Y locations to probe:
|
||||
|
||||
// - "grid" mode
|
||||
// Probe every point in a rectangular grid
|
||||
// You must specify the rectangle, and the density of sample points
|
||||
// This mode is preferred because there are more measurements.
|
||||
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
|
||||
|
||||
// - "3-point" mode
|
||||
// Probe 3 arbitrary points on the bed (that aren't colinear)
|
||||
// You must specify the X & Y coordinates of all 3 points
|
||||
|
||||
#define AUTO_BED_LEVELING_GRID
|
||||
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
|
||||
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
|
||||
// and least squares solution is calculated
|
||||
// Note: this feature occupies 10'206 byte
|
||||
#ifdef AUTO_BED_LEVELING_GRID
|
||||
|
||||
// set the rectangle in which to probe
|
||||
#define LEFT_PROBE_BED_POSITION 15
|
||||
#define RIGHT_PROBE_BED_POSITION 170
|
||||
#define BACK_PROBE_BED_POSITION 180
|
||||
#define FRONT_PROBE_BED_POSITION 20
|
||||
|
||||
// set the number of grid points per dimension
|
||||
// I wouldn't see a reason to go above 3 (=9 probing points on the bed)
|
||||
#define AUTO_BED_LEVELING_GRID_POINTS 2
|
||||
|
||||
|
||||
#else // not AUTO_BED_LEVELING_GRID
|
||||
// with no grid, just probe 3 arbitrary points. A simple cross-product
|
||||
// is used to esimate the plane of the print bed
|
||||
|
||||
#define ABL_PROBE_PT_1_X 15
|
||||
#define ABL_PROBE_PT_1_Y 180
|
||||
#define ABL_PROBE_PT_2_X 15
|
||||
#define ABL_PROBE_PT_2_Y 20
|
||||
#define ABL_PROBE_PT_3_X 170
|
||||
#define ABL_PROBE_PT_3_Y 20
|
||||
|
||||
#endif // AUTO_BED_LEVELING_GRID
|
||||
|
||||
|
||||
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
|
||||
#define X_PROBE_OFFSET_FROM_EXTRUDER -25
|
||||
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29
|
||||
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
|
||||
|
||||
//#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
|
||||
// Be sure you have this distance over your Z_MAX_POS in case
|
||||
|
||||
#define XY_TRAVEL_SPEED 8000 // X and Y axis travel speed between probes, in mm/min
|
||||
|
||||
#define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point.
|
||||
#define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points
|
||||
|
||||
|
||||
//If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
|
||||
//The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
|
||||
// You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
|
||||
|
||||
// #define PROBE_SERVO_DEACTIVATION_DELAY 300
|
||||
|
||||
|
||||
//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
|
||||
//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
|
||||
|
||||
// #define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area.
|
||||
// When defined, it will:
|
||||
// - Allow Z homing only after X and Y homing AND stepper drivers still enabled
|
||||
// - If stepper drivers timeout, it will need X and Y homing again before Z homing
|
||||
// - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
|
||||
// - Block Z homing only when the probe is outside bed area.
|
||||
|
||||
#ifdef Z_SAFE_HOMING
|
||||
|
||||
#define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28)
|
||||
#define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28)
|
||||
|
||||
#endif
|
||||
|
||||
#endif // ENABLE_AUTO_BED_LEVELING
|
||||
|
||||
|
||||
// The position of the homing switches
|
||||
#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used
|
||||
//#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0)
|
||||
|
||||
//Manual homing switch locations:
|
||||
// For deltabots this means top and center of the Cartesian print volume.
|
||||
// For SCARA: Offset between HomingPosition and Bed X=0 / Y=0
|
||||
#define MANUAL_X_HOME_POS -22.
|
||||
#define MANUAL_Y_HOME_POS -52.
|
||||
#define MANUAL_Z_HOME_POS 0.1 // Distance between nozzle and print surface after homing.
|
||||
|
||||
|
||||
//// MOVEMENT SETTINGS
|
||||
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
|
||||
#define HOMING_FEEDRATE {40*60, 40*60, 10*60, 0} // set the homing speeds (mm/min)
|
||||
|
||||
// default settings
|
||||
|
||||
#define DEFAULT_AXIS_STEPS_PER_UNIT {103.69,106.65,200/1.25,1000} // default steps per unit for SCARA
|
||||
#define DEFAULT_MAX_FEEDRATE {300, 300, 30, 25} // (mm/sec)
|
||||
#define DEFAULT_MAX_ACCELERATION {300,300,20,1000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
|
||||
|
||||
#define DEFAULT_ACCELERATION 400 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
|
||||
#define DEFAULT_RETRACT_ACCELERATION 2000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
|
||||
|
||||
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
|
||||
// The offset has to be X=0, Y=0 for extruder 0 hotend (default extruder).
|
||||
// For the other hotends it is their distance from the extruder 0 hotend.
|
||||
// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
|
||||
// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
|
||||
|
||||
// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
|
||||
#define DEFAULT_XYJERK 5 // (mm/sec)
|
||||
#define DEFAULT_ZJERK 0.4 // (mm/sec)
|
||||
#define DEFAULT_EJERK 3 // (mm/sec)
|
||||
|
||||
//===========================================================================
|
||||
//=============================Additional Features===========================
|
||||
//===========================================================================
|
||||
|
||||
// Custom M code points
|
||||
//#define CUSTOM_M_CODES
|
||||
#ifdef CUSTOM_M_CODES
|
||||
#define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
|
||||
#define Z_PROBE_OFFSET_RANGE_MIN -15
|
||||
#define Z_PROBE_OFFSET_RANGE_MAX -5
|
||||
#endif
|
||||
|
||||
|
||||
// EEPROM
|
||||
// The microcontroller can store settings in the EEPROM, e.g. max velocity...
|
||||
// M500 - stores parameters in EEPROM
|
||||
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
|
||||
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
|
||||
//define this to enable EEPROM support
|
||||
//#define EEPROM_SETTINGS
|
||||
//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
|
||||
// please keep turned on if you can.
|
||||
#define EEPROM_CHITCHAT
|
||||
|
||||
// Preheat Constants
|
||||
#define PLA_PREHEAT_HOTEND_TEMP 180
|
||||
#define PLA_PREHEAT_HPB_TEMP 70
|
||||
#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
|
||||
|
||||
#define ABS_PREHEAT_HOTEND_TEMP 240
|
||||
#define ABS_PREHEAT_HPB_TEMP 100
|
||||
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
|
||||
|
||||
//LCD and SD support
|
||||
//#define ULTRA_LCD //general LCD support, also 16x2
|
||||
//#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
|
||||
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
|
||||
//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
|
||||
//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
|
||||
//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
|
||||
//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
|
||||
//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
|
||||
//#define ULTIPANEL //the UltiPanel as on Thingiverse
|
||||
//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
|
||||
//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
|
||||
|
||||
// The MaKr3d Makr-Panel with graphic controller and SD support
|
||||
// http://reprap.org/wiki/MaKr3d_MaKrPanel
|
||||
//#define MAKRPANEL
|
||||
|
||||
// The RepRapDiscount Smart Controller (white PCB)
|
||||
// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
|
||||
//#define REPRAP_DISCOUNT_SMART_CONTROLLER
|
||||
|
||||
// The GADGETS3D G3D LCD/SD Controller (blue PCB)
|
||||
// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
|
||||
//#define G3D_PANEL
|
||||
|
||||
// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)
|
||||
// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
|
||||
//
|
||||
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
|
||||
//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
|
||||
|
||||
// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
|
||||
// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
|
||||
//#define REPRAPWORLD_KEYPAD
|
||||
//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
|
||||
|
||||
// The Elefu RA Board Control Panel
|
||||
// http://www.elefu.com/index.php?route=product/product&product_id=53
|
||||
// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARUDINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
|
||||
//#define RA_CONTROL_PANEL
|
||||
|
||||
//automatic expansion
|
||||
#if defined (MAKRPANEL)
|
||||
#define DOGLCD
|
||||
#define SDSUPPORT
|
||||
#define ULTIPANEL
|
||||
#define NEWPANEL
|
||||
#define DEFAULT_LCD_CONTRAST 17
|
||||
#endif
|
||||
|
||||
#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
|
||||
#define DOGLCD
|
||||
#define U8GLIB_ST7920
|
||||
#define REPRAP_DISCOUNT_SMART_CONTROLLER
|
||||
#endif
|
||||
|
||||
#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
|
||||
#define ULTIPANEL
|
||||
#define NEWPANEL
|
||||
#endif
|
||||
|
||||
#if defined(REPRAPWORLD_KEYPAD)
|
||||
#define NEWPANEL
|
||||
#define ULTIPANEL
|
||||
#endif
|
||||
#if defined(RA_CONTROL_PANEL)
|
||||
#define ULTIPANEL
|
||||
#define NEWPANEL
|
||||
#define LCD_I2C_TYPE_PCA8574
|
||||
#define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander
|
||||
#endif
|
||||
|
||||
//I2C PANELS
|
||||
|
||||
//#define LCD_I2C_SAINSMART_YWROBOT
|
||||
#ifdef LCD_I2C_SAINSMART_YWROBOT
|
||||
// This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
|
||||
// Make sure it is placed in the Arduino libraries directory.
|
||||
#define LCD_I2C_TYPE_PCF8575
|
||||
#define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander
|
||||
#define NEWPANEL
|
||||
#define ULTIPANEL
|
||||
#endif
|
||||
|
||||
// PANELOLU2 LCD with status LEDs, separate encoder and click inputs
|
||||
//#define LCD_I2C_PANELOLU2
|
||||
#ifdef LCD_I2C_PANELOLU2
|
||||
// This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
|
||||
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
|
||||
// (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
|
||||
// Note: The PANELOLU2 encoder click input can either be directly connected to a pin
|
||||
// (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
|
||||
#define LCD_I2C_TYPE_MCP23017
|
||||
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
|
||||
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
|
||||
#define NEWPANEL
|
||||
#define ULTIPANEL
|
||||
|
||||
#ifndef ENCODER_PULSES_PER_STEP
|
||||
#define ENCODER_PULSES_PER_STEP 4
|
||||
#endif
|
||||
|
||||
#ifndef ENCODER_STEPS_PER_MENU_ITEM
|
||||
#define ENCODER_STEPS_PER_MENU_ITEM 1
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef LCD_USE_I2C_BUZZER
|
||||
#define LCD_FEEDBACK_FREQUENCY_HZ 1000
|
||||
#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
|
||||
//#define LCD_I2C_VIKI
|
||||
#ifdef LCD_I2C_VIKI
|
||||
// This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
|
||||
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
|
||||
// Note: The pause/stop/resume LCD button pin should be connected to the Arduino
|
||||
// BTN_ENC pin (or set BTN_ENC to -1 if not used)
|
||||
#define LCD_I2C_TYPE_MCP23017
|
||||
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
|
||||
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
|
||||
#define NEWPANEL
|
||||
#define ULTIPANEL
|
||||
#endif
|
||||
|
||||
// Shift register panels
|
||||
// ---------------------
|
||||
// 2 wire Non-latching LCD SR from:
|
||||
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
|
||||
//#define SR_LCD
|
||||
#ifdef SR_LCD
|
||||
#define SR_LCD_2W_NL // Non latching 2 wire shift register
|
||||
//#define NEWPANEL
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef ULTIPANEL
|
||||
// #define NEWPANEL //enable this if you have a click-encoder panel
|
||||
#define SDSUPPORT
|
||||
#define ULTRA_LCD
|
||||
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
|
||||
#define LCD_WIDTH 20
|
||||
#define LCD_HEIGHT 5
|
||||
#else
|
||||
#define LCD_WIDTH 20
|
||||
#define LCD_HEIGHT 4
|
||||
#endif
|
||||
#else //no panel but just LCD
|
||||
#ifdef ULTRA_LCD
|
||||
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
|
||||
#define LCD_WIDTH 20
|
||||
#define LCD_HEIGHT 5
|
||||
#else
|
||||
#define LCD_WIDTH 16
|
||||
#define LCD_HEIGHT 2
|
||||
#endif
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// default LCD contrast for dogm-like LCD displays
|
||||
#ifdef DOGLCD
|
||||
# ifndef DEFAULT_LCD_CONTRAST
|
||||
# define DEFAULT_LCD_CONTRAST 32
|
||||
# endif
|
||||
#endif
|
||||
|
||||
// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
|
||||
//#define FAST_PWM_FAN
|
||||
|
||||
// Temperature status LEDs that display the hotend and bet temperature.
|
||||
// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
|
||||
// Otherwise the RED led is on. There is 1C hysteresis.
|
||||
//#define TEMP_STAT_LEDS
|
||||
|
||||
// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
|
||||
// which is not ass annoying as with the hardware PWM. On the other hand, if this frequency
|
||||
// is too low, you should also increment SOFT_PWM_SCALE.
|
||||
//#define FAN_SOFT_PWM
|
||||
|
||||
// Incrementing this by 1 will double the software PWM frequency,
|
||||
// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
|
||||
// However, control resolution will be halved for each increment;
|
||||
// at zero value, there are 128 effective control positions.
|
||||
#define SOFT_PWM_SCALE 0
|
||||
|
||||
// M240 Triggers a camera by emulating a Canon RC-1 Remote
|
||||
// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
|
||||
// #define PHOTOGRAPH_PIN 23
|
||||
|
||||
// SF send wrong arc g-codes when using Arc Point as fillet procedure
|
||||
//#define SF_ARC_FIX
|
||||
|
||||
// Support for the BariCUDA Paste Extruder.
|
||||
//#define BARICUDA
|
||||
|
||||
//define BlinkM/CyzRgb Support
|
||||
//#define BLINKM
|
||||
|
||||
/*********************************************************************\
|
||||
* R/C SERVO support
|
||||
* Sponsored by TrinityLabs, Reworked by codexmas
|
||||
**********************************************************************/
|
||||
|
||||
// Number of servos
|
||||
//
|
||||
// If you select a configuration below, this will receive a default value and does not need to be set manually
|
||||
// set it manually if you have more servos than extruders and wish to manually control some
|
||||
// leaving it undefined or defining as 0 will disable the servo subsystem
|
||||
// If unsure, leave commented / disabled
|
||||
//
|
||||
//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
|
||||
|
||||
// Servo Endstops
|
||||
//
|
||||
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
|
||||
// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
|
||||
//
|
||||
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
|
||||
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
|
||||
|
||||
#include "Configuration_adv.h"
|
||||
#include "thermistortables.h"
|
||||
|
||||
#endif //__CONFIGURATION_H
|
||||
507
Marlin/example_configurations/SCARA/Configuration_adv.h
Normal file
507
Marlin/example_configurations/SCARA/Configuration_adv.h
Normal file
|
|
@ -0,0 +1,507 @@
|
|||
#ifndef CONFIGURATION_ADV_H
|
||||
#define CONFIGURATION_ADV_H
|
||||
|
||||
//===========================================================================
|
||||
//=============================Thermal Settings ============================
|
||||
//===========================================================================
|
||||
|
||||
#ifdef BED_LIMIT_SWITCHING
|
||||
#define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
|
||||
#endif
|
||||
#define BED_CHECK_INTERVAL 3000 //ms between checks in bang-bang control
|
||||
|
||||
//// Heating sanity check:
|
||||
// This waits for the watch period in milliseconds whenever an M104 or M109 increases the target temperature
|
||||
// If the temperature has not increased at the end of that period, the target temperature is set to zero.
|
||||
// It can be reset with another M104/M109. This check is also only triggered if the target temperature and the current temperature
|
||||
// differ by at least 2x WATCH_TEMP_INCREASE
|
||||
//#define WATCH_TEMP_PERIOD 40000 //40 seconds
|
||||
//#define WATCH_TEMP_INCREASE 10 //Heat up at least 10 degree in 20 seconds
|
||||
|
||||
#ifdef PIDTEMP
|
||||
// this adds an experimental additional term to the heating power, proportional to the extrusion speed.
|
||||
// if Kc is chosen well, the additional required power due to increased melting should be compensated.
|
||||
#define PID_ADD_EXTRUSION_RATE
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
#define DEFAULT_Kc (1) //heating power=Kc*(e_speed)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
|
||||
//The maximum buffered steps/sec of the extruder motor are called "se".
|
||||
//You enter the autotemp mode by a M109 S<mintemp> B<maxtemp> F<factor>
|
||||
// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
|
||||
// you exit the value by any M109 without F*
|
||||
// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
|
||||
// on an Ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
|
||||
#define AUTOTEMP
|
||||
#ifdef AUTOTEMP
|
||||
#define AUTOTEMP_OLDWEIGHT 0.98
|
||||
#endif
|
||||
|
||||
//Show Temperature ADC value
|
||||
//The M105 command return, besides traditional information, the ADC value read from temperature sensors.
|
||||
//#define SHOW_TEMP_ADC_VALUES
|
||||
|
||||
// extruder run-out prevention.
|
||||
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
|
||||
//#define EXTRUDER_RUNOUT_PREVENT
|
||||
#define EXTRUDER_RUNOUT_MINTEMP 180
|
||||
#define EXTRUDER_RUNOUT_SECONDS 30.
|
||||
#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
|
||||
#define EXTRUDER_RUNOUT_SPEED 180. //extrusion speed
|
||||
#define EXTRUDER_RUNOUT_EXTRUDE 100
|
||||
|
||||
//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
|
||||
//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
|
||||
#define TEMP_SENSOR_AD595_OFFSET 0.0
|
||||
#define TEMP_SENSOR_AD595_GAIN 1.0
|
||||
|
||||
//This is for controlling a fan to cool down the stepper drivers
|
||||
//it will turn on when any driver is enabled
|
||||
//and turn off after the set amount of seconds from last driver being disabled again
|
||||
#define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable)
|
||||
#define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run
|
||||
#define CONTROLLERFAN_SPEED 255 // == full speed
|
||||
|
||||
// When first starting the main fan, run it at full speed for the
|
||||
// given number of milliseconds. This gets the fan spinning reliably
|
||||
// before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
|
||||
//#define FAN_KICKSTART_TIME 100
|
||||
|
||||
// Extruder cooling fans
|
||||
// Configure fan pin outputs to automatically turn on/off when the associated
|
||||
// extruder temperature is above/below EXTRUDER_AUTO_FAN_TEMPERATURE.
|
||||
// Multiple extruders can be assigned to the same pin in which case
|
||||
// the fan will turn on when any selected extruder is above the threshold.
|
||||
#define EXTRUDER_0_AUTO_FAN_PIN -1
|
||||
#define EXTRUDER_1_AUTO_FAN_PIN -1
|
||||
#define EXTRUDER_2_AUTO_FAN_PIN -1
|
||||
#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
|
||||
#define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed
|
||||
|
||||
|
||||
//===========================================================================
|
||||
//=============================Mechanical Settings===========================
|
||||
//===========================================================================
|
||||
|
||||
#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
|
||||
|
||||
|
||||
//// AUTOSET LOCATIONS OF LIMIT SWITCHES
|
||||
//// Added by ZetaPhoenix 09-15-2012
|
||||
#ifdef MANUAL_HOME_POSITIONS // Use manual limit switch locations
|
||||
#define X_HOME_POS MANUAL_X_HOME_POS
|
||||
#define Y_HOME_POS MANUAL_Y_HOME_POS
|
||||
#define Z_HOME_POS MANUAL_Z_HOME_POS
|
||||
#else //Set min/max homing switch positions based upon homing direction and min/max travel limits
|
||||
//X axis
|
||||
#if X_HOME_DIR == -1
|
||||
#ifdef BED_CENTER_AT_0_0
|
||||
#define X_HOME_POS X_MAX_LENGTH * -0.5
|
||||
#else
|
||||
#define X_HOME_POS X_MIN_POS
|
||||
#endif //BED_CENTER_AT_0_0
|
||||
#else
|
||||
#ifdef BED_CENTER_AT_0_0
|
||||
#define X_HOME_POS X_MAX_LENGTH * 0.5
|
||||
#else
|
||||
#define X_HOME_POS X_MAX_POS
|
||||
#endif //BED_CENTER_AT_0_0
|
||||
#endif //X_HOME_DIR == -1
|
||||
|
||||
//Y axis
|
||||
#if Y_HOME_DIR == -1
|
||||
#ifdef BED_CENTER_AT_0_0
|
||||
#define Y_HOME_POS Y_MAX_LENGTH * -0.5
|
||||
#else
|
||||
#define Y_HOME_POS Y_MIN_POS
|
||||
#endif //BED_CENTER_AT_0_0
|
||||
#else
|
||||
#ifdef BED_CENTER_AT_0_0
|
||||
#define Y_HOME_POS Y_MAX_LENGTH * 0.5
|
||||
#else
|
||||
#define Y_HOME_POS Y_MAX_POS
|
||||
#endif //BED_CENTER_AT_0_0
|
||||
#endif //Y_HOME_DIR == -1
|
||||
|
||||
// Z axis
|
||||
#if Z_HOME_DIR == -1 //BED_CENTER_AT_0_0 not used
|
||||
#define Z_HOME_POS Z_MIN_POS
|
||||
#else
|
||||
#define Z_HOME_POS Z_MAX_POS
|
||||
#endif //Z_HOME_DIR == -1
|
||||
#endif //End auto min/max positions
|
||||
//END AUTOSET LOCATIONS OF LIMIT SWITCHES -ZP
|
||||
|
||||
|
||||
//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
|
||||
|
||||
// A single Z stepper driver is usually used to drive 2 stepper motors.
|
||||
// Uncomment this define to utilize a separate stepper driver for each Z axis motor.
|
||||
// Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used
|
||||
// to control the 2nd Z axis stepper motor). The pins are currently only defined for a RAMPS motherboards.
|
||||
// On a RAMPS (or other 5 driver) motherboard, using this feature will limit you to using 1 extruder.
|
||||
//#define Z_DUAL_STEPPER_DRIVERS
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
#undef EXTRUDERS
|
||||
#define EXTRUDERS 1
|
||||
#endif
|
||||
|
||||
// Same again but for Y Axis.
|
||||
//#define Y_DUAL_STEPPER_DRIVERS
|
||||
|
||||
// Define if the two Y drives need to rotate in opposite directions
|
||||
#define INVERT_Y2_VS_Y_DIR true
|
||||
|
||||
#ifdef Y_DUAL_STEPPER_DRIVERS
|
||||
#undef EXTRUDERS
|
||||
#define EXTRUDERS 1
|
||||
#endif
|
||||
|
||||
#if defined (Z_DUAL_STEPPER_DRIVERS) && defined (Y_DUAL_STEPPER_DRIVERS)
|
||||
#error "You cannot have dual drivers for both Y and Z"
|
||||
#endif
|
||||
|
||||
// Enable this for dual x-carriage printers.
|
||||
// A dual x-carriage design has the advantage that the inactive extruder can be parked which
|
||||
// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
|
||||
// allowing faster printing speeds.
|
||||
//#define DUAL_X_CARRIAGE
|
||||
#ifdef DUAL_X_CARRIAGE
|
||||
// Configuration for second X-carriage
|
||||
// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
|
||||
// the second x-carriage always homes to the maximum endstop.
|
||||
#define X2_MIN_POS 80 // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
|
||||
#define X2_MAX_POS 353 // set maximum to the distance between toolheads when both heads are homed
|
||||
#define X2_HOME_DIR 1 // the second X-carriage always homes to the maximum endstop position
|
||||
#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position
|
||||
// However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software
|
||||
// override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
|
||||
// without modifying the firmware (through the "M218 T1 X???" command).
|
||||
// Remember: you should set the second extruder x-offset to 0 in your slicer.
|
||||
|
||||
// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
|
||||
#define X2_ENABLE_PIN 29
|
||||
#define X2_STEP_PIN 25
|
||||
#define X2_DIR_PIN 23
|
||||
|
||||
// There are a few selectable movement modes for dual x-carriages using M605 S<mode>
|
||||
// Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
|
||||
// as long as it supports dual x-carriages. (M605 S0)
|
||||
// Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
|
||||
// that additional slicer support is not required. (M605 S1)
|
||||
// Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all
|
||||
// actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
|
||||
// once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
|
||||
|
||||
// This is the default power-up mode which can be later using M605.
|
||||
#define DEFAULT_DUAL_X_CARRIAGE_MODE 0
|
||||
|
||||
// As the x-carriages are independent we can now account for any relative Z offset
|
||||
#define EXTRUDER1_Z_OFFSET 0.0 // z offset relative to extruder 0
|
||||
|
||||
// Default settings in "Auto-park Mode"
|
||||
#define TOOLCHANGE_PARK_ZLIFT 0.2 // the distance to raise Z axis when parking an extruder
|
||||
#define TOOLCHANGE_UNPARK_ZLIFT 1 // the distance to raise Z axis when unparking an extruder
|
||||
|
||||
// Default x offset in duplication mode (typically set to half print bed width)
|
||||
#define DEFAULT_DUPLICATION_X_OFFSET 100
|
||||
|
||||
#endif //DUAL_X_CARRIAGE
|
||||
|
||||
//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
|
||||
#define X_HOME_RETRACT_MM 3
|
||||
#define Y_HOME_RETRACT_MM 3
|
||||
#define Z_HOME_RETRACT_MM 3
|
||||
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
|
||||
#ifdef SCARA
|
||||
#define QUICK_HOME //SCARA needs Quickhome
|
||||
#endif
|
||||
|
||||
#define AXIS_RELATIVE_MODES {false, false, false, false}
|
||||
|
||||
#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
|
||||
|
||||
//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
|
||||
#define INVERT_X_STEP_PIN false
|
||||
#define INVERT_Y_STEP_PIN false
|
||||
#define INVERT_Z_STEP_PIN false
|
||||
#define INVERT_E_STEP_PIN false
|
||||
|
||||
//default stepper release if idle
|
||||
#define DEFAULT_STEPPER_DEACTIVE_TIME 240
|
||||
|
||||
#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
|
||||
#define DEFAULT_MINTRAVELFEEDRATE 0.0
|
||||
|
||||
// Feedrates for manual moves along X, Y, Z, E from panel
|
||||
#ifdef ULTIPANEL
|
||||
#define MANUAL_FEEDRATE {50*60, 50*60, 10*60, 60} // set the speeds for manual moves (mm/min)
|
||||
#endif
|
||||
|
||||
//Comment to disable setting feedrate multiplier via encoder
|
||||
#ifdef ULTIPANEL
|
||||
#define ULTIPANEL_FEEDMULTIPLY
|
||||
#endif
|
||||
|
||||
// minimum time in microseconds that a movement needs to take if the buffer is emptied.
|
||||
#define DEFAULT_MINSEGMENTTIME 20000
|
||||
|
||||
// If defined the movements slow down when the look ahead buffer is only half full
|
||||
//#define SLOWDOWN
|
||||
#ifdef SCARA
|
||||
#undef SLOWDOWN
|
||||
#endif
|
||||
// Frequency limit
|
||||
// See nophead's blog for more info
|
||||
// Not working O
|
||||
//#define XY_FREQUENCY_LIMIT 15
|
||||
|
||||
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
|
||||
// of the buffer and all stops. This should not be much greater than zero and should only be changed
|
||||
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
|
||||
#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
|
||||
|
||||
// MS1 MS2 Stepper Driver Microstepping mode table
|
||||
#define MICROSTEP1 LOW,LOW
|
||||
#define MICROSTEP2 HIGH,LOW
|
||||
#define MICROSTEP4 LOW,HIGH
|
||||
#define MICROSTEP8 HIGH,HIGH
|
||||
#define MICROSTEP16 HIGH,HIGH
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16]
|
||||
|
||||
// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
|
||||
#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
|
||||
|
||||
// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
|
||||
//#define DIGIPOT_I2C
|
||||
// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8
|
||||
#define DIGIPOT_I2C_NUM_CHANNELS 8
|
||||
// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
|
||||
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}
|
||||
|
||||
//===========================================================================
|
||||
//=============================Additional Features===========================
|
||||
//===========================================================================
|
||||
|
||||
//#define CHDK 4 //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
|
||||
#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
|
||||
|
||||
#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers?
|
||||
#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
|
||||
|
||||
#define SDCARD_RATHERRECENTFIRST //reverse file order of sd card menu display. Its sorted practically after the file system block order.
|
||||
// if a file is deleted, it frees a block. hence, the order is not purely chronological. To still have auto0.g accessible, there is again the option to do that.
|
||||
// using:
|
||||
//#define MENU_ADDAUTOSTART
|
||||
|
||||
// The hardware watchdog should reset the microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation.
|
||||
//#define USE_WATCHDOG
|
||||
|
||||
#ifdef USE_WATCHDOG
|
||||
// If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on.
|
||||
// The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset.
|
||||
// However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
|
||||
//#define WATCHDOG_RESET_MANUAL
|
||||
#endif
|
||||
|
||||
// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
|
||||
//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
|
||||
|
||||
// Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process
|
||||
// it can e.g. be used to change z-positions in the print startup phase in real-time
|
||||
// does not respect endstops!
|
||||
//#define BABYSTEPPING
|
||||
#ifdef BABYSTEPPING
|
||||
#define BABYSTEP_XY //not only z, but also XY in the menu. more clutter, more functions
|
||||
#define BABYSTEP_INVERT_Z false //true for inverse movements in Z
|
||||
#define BABYSTEP_Z_MULTIPLICATOR 2 //faster z movements
|
||||
|
||||
#ifdef COREXY
|
||||
#error BABYSTEPPING not implemented for COREXY yet.
|
||||
#endif
|
||||
|
||||
#ifdef DELTA
|
||||
#ifdef BABYSTEP_XY
|
||||
#error BABYSTEPPING only implemented for Z axis on deltabots.
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef SCARA
|
||||
#error BABYSTEPPING not implemented for SCARA yet.
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
// extruder advance constant (s2/mm3)
|
||||
//
|
||||
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
|
||||
//
|
||||
// Hooke's law says: force = k * distance
|
||||
// Bernoulli's principle says: v ^ 2 / 2 + g . h + pressure / density = constant
|
||||
// so: v ^ 2 is proportional to number of steps we advance the extruder
|
||||
#define ADVANCE
|
||||
|
||||
#ifdef ADVANCE
|
||||
#define EXTRUDER_ADVANCE_K .0
|
||||
|
||||
#define D_FILAMENT 1.75
|
||||
#define STEPS_MM_E 1000
|
||||
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
|
||||
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
|
||||
|
||||
#endif // ADVANCE
|
||||
|
||||
// Arc interpretation settings:
|
||||
#define MM_PER_ARC_SEGMENT 1
|
||||
#define N_ARC_CORRECTION 25
|
||||
|
||||
const unsigned int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
|
||||
|
||||
// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
|
||||
// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT
|
||||
// in the pins.h file. When using a push button pulling the pin to ground this will need inverted. This setting should
|
||||
// be commented out otherwise
|
||||
#define SDCARDDETECTINVERTED
|
||||
|
||||
#ifdef ULTIPANEL
|
||||
#undef SDCARDDETECTINVERTED
|
||||
#endif
|
||||
|
||||
// Power Signal Control Definitions
|
||||
// By default use ATX definition
|
||||
#ifndef POWER_SUPPLY
|
||||
#define POWER_SUPPLY 1
|
||||
#endif
|
||||
// 1 = ATX
|
||||
#if (POWER_SUPPLY == 1)
|
||||
#define PS_ON_AWAKE LOW
|
||||
#define PS_ON_ASLEEP HIGH
|
||||
#endif
|
||||
// 2 = X-Box 360 203W
|
||||
#if (POWER_SUPPLY == 2)
|
||||
#define PS_ON_AWAKE HIGH
|
||||
#define PS_ON_ASLEEP LOW
|
||||
#endif
|
||||
|
||||
// Control heater 0 and heater 1 in parallel.
|
||||
//#define HEATERS_PARALLEL
|
||||
|
||||
//===========================================================================
|
||||
//=============================Buffers ============================
|
||||
//===========================================================================
|
||||
|
||||
// The number of linear motions that can be in the plan at any give time.
|
||||
// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ring-buffering.
|
||||
#if defined SDSUPPORT
|
||||
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
|
||||
#else
|
||||
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer
|
||||
#endif
|
||||
|
||||
|
||||
//The ASCII buffer for receiving from the serial:
|
||||
#define MAX_CMD_SIZE 96
|
||||
#define BUFSIZE 4
|
||||
|
||||
|
||||
// Firmware based and LCD controlled retract
|
||||
// M207 and M208 can be used to define parameters for the retraction.
|
||||
// The retraction can be called by the slicer using G10 and G11
|
||||
// until then, intended retractions can be detected by moves that only extrude and the direction.
|
||||
// the moves are than replaced by the firmware controlled ones.
|
||||
|
||||
// #define FWRETRACT //ONLY PARTIALLY TESTED
|
||||
#ifdef FWRETRACT
|
||||
#define MIN_RETRACT 0.1 //minimum extruded mm to accept a automatic gcode retraction attempt
|
||||
#define RETRACT_LENGTH 3 //default retract length (positive mm)
|
||||
#define RETRACT_FEEDRATE 35 //default feedrate for retracting (mm/s)
|
||||
#define RETRACT_ZLIFT 0 //default retract Z-lift
|
||||
#define RETRACT_RECOVER_LENGTH 0 //default additional recover length (mm, added to retract length when recovering)
|
||||
#define RETRACT_RECOVER_FEEDRATE 8 //default feedrate for recovering from retraction (mm/s)
|
||||
#endif
|
||||
|
||||
//adds support for experimental filament exchange support M600; requires display
|
||||
#ifdef ULTIPANEL
|
||||
#define FILAMENTCHANGEENABLE
|
||||
#ifdef FILAMENTCHANGEENABLE
|
||||
#define FILAMENTCHANGE_XPOS 3
|
||||
#define FILAMENTCHANGE_YPOS 3
|
||||
#define FILAMENTCHANGE_ZADD 10
|
||||
#define FILAMENTCHANGE_FIRSTRETRACT -2
|
||||
#define FILAMENTCHANGE_FINALRETRACT -100
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef FILAMENTCHANGEENABLE
|
||||
#ifdef EXTRUDER_RUNOUT_PREVENT
|
||||
#error EXTRUDER_RUNOUT_PREVENT currently incompatible with FILAMENTCHANGE
|
||||
#endif
|
||||
#endif
|
||||
|
||||
//===========================================================================
|
||||
//============================= Define Defines ============================
|
||||
//===========================================================================
|
||||
#if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
|
||||
#error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
|
||||
#endif
|
||||
|
||||
#if EXTRUDERS > 1 && defined HEATERS_PARALLEL
|
||||
#error "You cannot use HEATERS_PARALLEL if EXTRUDERS > 1"
|
||||
#endif
|
||||
|
||||
#if TEMP_SENSOR_0 > 0
|
||||
#define THERMISTORHEATER_0 TEMP_SENSOR_0
|
||||
#define HEATER_0_USES_THERMISTOR
|
||||
#endif
|
||||
#if TEMP_SENSOR_1 > 0
|
||||
#define THERMISTORHEATER_1 TEMP_SENSOR_1
|
||||
#define HEATER_1_USES_THERMISTOR
|
||||
#endif
|
||||
#if TEMP_SENSOR_2 > 0
|
||||
#define THERMISTORHEATER_2 TEMP_SENSOR_2
|
||||
#define HEATER_2_USES_THERMISTOR
|
||||
#endif
|
||||
#if TEMP_SENSOR_BED > 0
|
||||
#define THERMISTORBED TEMP_SENSOR_BED
|
||||
#define BED_USES_THERMISTOR
|
||||
#endif
|
||||
#if TEMP_SENSOR_0 == -1
|
||||
#define HEATER_0_USES_AD595
|
||||
#endif
|
||||
#if TEMP_SENSOR_1 == -1
|
||||
#define HEATER_1_USES_AD595
|
||||
#endif
|
||||
#if TEMP_SENSOR_2 == -1
|
||||
#define HEATER_2_USES_AD595
|
||||
#endif
|
||||
#if TEMP_SENSOR_BED == -1
|
||||
#define BED_USES_AD595
|
||||
#endif
|
||||
#if TEMP_SENSOR_0 == -2
|
||||
#define HEATER_0_USES_MAX6675
|
||||
#endif
|
||||
#if TEMP_SENSOR_0 == 0
|
||||
#undef HEATER_0_MINTEMP
|
||||
#undef HEATER_0_MAXTEMP
|
||||
#endif
|
||||
#if TEMP_SENSOR_1 == 0
|
||||
#undef HEATER_1_MINTEMP
|
||||
#undef HEATER_1_MAXTEMP
|
||||
#endif
|
||||
#if TEMP_SENSOR_2 == 0
|
||||
#undef HEATER_2_MINTEMP
|
||||
#undef HEATER_2_MAXTEMP
|
||||
#endif
|
||||
#if TEMP_SENSOR_BED == 0
|
||||
#undef BED_MINTEMP
|
||||
#undef BED_MAXTEMP
|
||||
#endif
|
||||
|
||||
|
||||
#endif //__CONFIGURATION_ADV_H
|
||||
|
|
@ -1021,81 +1021,6 @@ const short temptable_1047[][2] PROGMEM = {
|
|||
PtLine(300,1000,4700)
|
||||
};
|
||||
#endif
|
||||
#if (THERMISTORHEATER_0 == 70) || (THERMISTORHEATER_1 == 70) || (THERMISTORHEATER_2 == 70) || (THERMISTORBED == 70) // 500C thermistor for Pico hot end
|
||||
const short temptable_70[][2] PROGMEM = {
|
||||
{ 110.774119598719*OVERSAMPLENR , 350 },
|
||||
{ 118.214386957249*OVERSAMPLENR , 345 },
|
||||
{ 126.211418543166*OVERSAMPLENR , 340 },
|
||||
{ 134.789559066223*OVERSAMPLENR , 335 },
|
||||
{ 144.004513869701*OVERSAMPLENR , 330 },
|
||||
{ 153.884483790827*OVERSAMPLENR , 325 },
|
||||
{ 164.484880793637*OVERSAMPLENR , 320 },
|
||||
{ 175.848885102724*OVERSAMPLENR , 315 },
|
||||
{ 188.006799079015*OVERSAMPLENR , 310 },
|
||||
{ 201.008072969044*OVERSAMPLENR , 305 },
|
||||
{ 214.83716032276*OVERSAMPLENR , 300 },
|
||||
{ 229.784739779664*OVERSAMPLENR , 295 },
|
||||
{ 245.499466045473*OVERSAMPLENR , 290 },
|
||||
{ 262.2766342096*OVERSAMPLENR , 285 },
|
||||
{ 280.073883176433*OVERSAMPLENR , 280 },
|
||||
{ 298.952693467726*OVERSAMPLENR , 275 },
|
||||
{ 318.808251051674*OVERSAMPLENR , 270 },
|
||||
{ 337.490932563222*OVERSAMPLENR , 265 },
|
||||
{ 361.683649122745*OVERSAMPLENR , 260 },
|
||||
{ 384.717024083981*OVERSAMPLENR , 255 },
|
||||
{ 408.659301759076*OVERSAMPLENR , 250 },
|
||||
{ 433.471659455884*OVERSAMPLENR , 245 },
|
||||
{ 459.199039926034*OVERSAMPLENR , 240 },
|
||||
{ 485.566500982316*OVERSAMPLENR , 235 },
|
||||
{ 512.538918631075*OVERSAMPLENR , 230 },
|
||||
{ 539.980999544838*OVERSAMPLENR , 225 },
|
||||
{ 567.783095549935*OVERSAMPLENR , 220 },
|
||||
{ 595.698041673552*OVERSAMPLENR , 215 },
|
||||
{ 623.633922319597*OVERSAMPLENR , 210 },
|
||||
{ 651.356162750829*OVERSAMPLENR , 205 },
|
||||
{ 678.700901620956*OVERSAMPLENR , 200 },
|
||||
{ 705.528145361264*OVERSAMPLENR , 195 },
|
||||
{ 731.61267976339*OVERSAMPLENR , 190 },
|
||||
{ 756.786212184365*OVERSAMPLENR , 185 },
|
||||
{ 780.950223357761*OVERSAMPLENR , 180 },
|
||||
{ 804.012961595082*OVERSAMPLENR , 175 },
|
||||
{ 825.904975939166*OVERSAMPLENR , 170 },
|
||||
{ 846.403941639008*OVERSAMPLENR , 165 },
|
||||
{ 865.52326974895*OVERSAMPLENR , 160 },
|
||||
{ 883.246145367727*OVERSAMPLENR , 155 },
|
||||
{ 899.5821946515*OVERSAMPLENR , 150 },
|
||||
{ 914.544289228582*OVERSAMPLENR , 145 },
|
||||
{ 928.145628221761*OVERSAMPLENR , 140 },
|
||||
{ 940.422208546562*OVERSAMPLENR , 135 },
|
||||
{ 951.456922916497*OVERSAMPLENR , 130 },
|
||||
{ 961.303500633788*OVERSAMPLENR , 125 },
|
||||
{ 970.044756889055*OVERSAMPLENR , 120 },
|
||||
{ 977.761456230051*OVERSAMPLENR , 115 },
|
||||
{ 984.540978083453*OVERSAMPLENR , 110 },
|
||||
{ 990.440780765757*OVERSAMPLENR , 105 },
|
||||
{ 995.589621465301*OVERSAMPLENR , 100 },
|
||||
{ 1000.02514280144*OVERSAMPLENR , 95 },
|
||||
{ 1003.84429789876*OVERSAMPLENR , 90 },
|
||||
{ 1007.10199009318*OVERSAMPLENR , 85 },
|
||||
{ 1009.87151698323*OVERSAMPLENR , 80 },
|
||||
{ 1012.21633594237*OVERSAMPLENR , 75 },
|
||||
{ 1014.18959892949*OVERSAMPLENR , 70 },
|
||||
{ 1015.84079162998*OVERSAMPLENR , 65 },
|
||||
{ 1017.21555915335*OVERSAMPLENR , 60 },
|
||||
{ 1018.35284662863*OVERSAMPLENR , 55 },
|
||||
{ 1019.28926921888*OVERSAMPLENR , 50 },
|
||||
{ 1020.05398015669*OVERSAMPLENR , 45 },
|
||||
{ 1020.67737496272*OVERSAMPLENR , 40 },
|
||||
{ 1021.1802909627*OVERSAMPLENR , 35 },
|
||||
{ 1021.58459281248*OVERSAMPLENR , 30 },
|
||||
{ 1021.90701441192*OVERSAMPLENR , 25 },
|
||||
{ 1022.16215103698*OVERSAMPLENR , 20 },
|
||||
{ 1022.36275529549*OVERSAMPLENR , 15 },
|
||||
{ 1022.51930392497*OVERSAMPLENR , 10 },
|
||||
{ 1022.64051573734*OVERSAMPLENR , 5 },
|
||||
{ 1022.73355805611*OVERSAMPLENR , 0 }
|
||||
};
|
||||
#endif
|
||||
|
||||
#define _TT_NAME(_N) temptable_ ## _N
|
||||
#define TT_NAME(_N) _TT_NAME(_N)
|
||||
|
|
|
|||
|
|
@ -19,6 +19,7 @@ int absPreheatHotendTemp;
|
|||
int absPreheatHPBTemp;
|
||||
int absPreheatFanSpeed;
|
||||
|
||||
|
||||
#ifdef ULTIPANEL
|
||||
static float manual_feedrate[] = MANUAL_FEEDRATE;
|
||||
#endif // ULTIPANEL
|
||||
|
|
@ -255,8 +256,8 @@ static void lcd_sdcard_stop()
|
|||
enquecommand_P(PSTR(SD_FINISHED_RELEASECOMMAND));
|
||||
}
|
||||
autotempShutdown();
|
||||
|
||||
cancel_heatup = true;
|
||||
|
||||
cancel_heatup = true;
|
||||
}
|
||||
|
||||
/* Menu implementation */
|
||||
|
|
@ -868,6 +869,10 @@ static void lcd_control_motion_menu()
|
|||
MENU_ITEM_EDIT(float51, MSG_ESTEPS, &axis_steps_per_unit[E_AXIS], 5, 9999);
|
||||
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
|
||||
MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &abort_on_endstop_hit);
|
||||
#endif
|
||||
#ifdef SCARA
|
||||
MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS],0.5,2);
|
||||
MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS],0.5,2);
|
||||
#endif
|
||||
END_MENU();
|
||||
}
|
||||
|
|
@ -904,13 +909,13 @@ static void lcd_control_retract_menu()
|
|||
MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
|
||||
MENU_ITEM_EDIT(bool, MSG_AUTORETRACT, &autoretract_enabled);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT, &retract_length, 0, 100);
|
||||
#if EXTRUDERS > 1
|
||||
#if EXTRUDERS > 1
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_SWAP, &retract_length_swap, 0, 100);
|
||||
#endif
|
||||
MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACTF, &retract_feedrate, 1, 999);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_ZLIFT, &retract_zlift, 0, 999);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_RECOVER, &retract_recover_length, 0, 100);
|
||||
#if EXTRUDERS > 1
|
||||
#if EXTRUDERS > 1
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_RECOVER_SWAP, &retract_recover_length_swap, 0, 100);
|
||||
#endif
|
||||
MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACT_RECOVERF, &retract_recover_feedrate, 1, 999);
|
||||
|
|
|
|||
|
|
@ -47,6 +47,7 @@ Features:
|
|||
* PID tuning
|
||||
* CoreXY kinematics (www.corexy.com/theory.html)
|
||||
* Delta kinematics
|
||||
* SCARA kinematics
|
||||
* Dual X-carriage support for multiple extruder systems
|
||||
* Configurable serial port to support connection of wireless adaptors.
|
||||
* Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
|
||||
|
|
|
|||
Loading…
Reference in a new issue