Optionally an initial_height can be set that tell the intial probe where to stop the fast decent before it probes, this should be around 5-10mm above the bed
leveling-strategy.rectangular-grid.initial_height 10
+ If two corners rectangular mode activated using "leveling-strategy.rectangular-grid.only_by_two_corners true" then G29/31/32 will not work without providing XYAB parameters
+ XY - start point, AB rectangle size from starting point
+
Usage
-----
#define x_size_checksum CHECKSUM("x_size")
#define y_size_checksum CHECKSUM("y_size")
#define do_home_checksum CHECKSUM("do_home")
+#define only_by_two_corners_checksum CHECKSUM("only_by_two_corners")
#define GRIDFILE "/sd/cartesian.grid"
#define GRIDFILE_NM "/sd/cartesian_nm.grid"
tolerance = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, tolerance_checksum)->by_default(0.03F)->as_number();
save = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, save_checksum)->by_default(false)->as_bool();
do_home = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, do_home_checksum)->by_default(true)->as_bool();
+ only_by_two_corners = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, only_by_two_corners_checksum)->by_default(false)->as_bool();
+ x_start = 0.0F;
+ y_start = 0.0F;
x_size = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, x_size_checksum)->by_default(0.0F)->as_number();
y_size = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, y_size_checksum)->by_default(0.0F)->as_number();
if (x_size == 0.0F || y_size == 0.0F) {
void CartGridStrategy::save_grid(StreamOutput *stream)
{
+ if(only_by_two_corners){
+ stream->printf("error:Unable to save grid in only_by_two_corners mode\n");
+ return;
+ }
+
if(isnan(grid[0])) {
stream->printf("error:No grid to save\n");
return;
bool CartGridStrategy::load_grid(StreamOutput *stream)
{
+ if(only_by_two_corners){
+ stream->printf("error:Unable to load grid in only_by_two_corners mode\n");
+ return false;
+ }
+
FILE *fp = (configured_grid_x_size == configured_grid_y_size)?fopen(GRIDFILE, "r"):fopen(GRIDFILE_NM, "r");
if(fp == NULL) {
stream->printf("error:Failed to open grid %s\n", GRIDFILE);
return true;
}
-bool CartGridStrategy::probe_grid(int n, int m, float x_size, float y_size, StreamOutput *stream)
+bool CartGridStrategy::probe_grid(int n, int m, float x_start, float y_start, float x_size, float y_size, StreamOutput *stream)
{
if((n < 5)||(m < 5)) {
stream->printf("Need at least a 5x5 grid to probe\n");
float initial_z = findBed();
if(isnan(initial_z)) return false;
- float x_step= x_size / n;
- float y_step= y_size / m;
+ float x_step = x_size / n;
+ float y_step = y_size / m;
for (int c = 0; c < n; ++c) {
- float y = y_step * c;
+ float y = y_start + y_step * c;
for (int r = 0; r < n; ++r) {
- float x = x_step * r;
+ float x = x_start + x_step * r;
float z = 0.0F;
float mm;
if(!zprobe->doProbeAt(mm, x, y)) return false;
int n = gcode->has_letter('I') ? gcode->get_value('I') : configured_grid_x_size;
int m = gcode->has_letter('J') ? gcode->get_value('J') : configured_grid_y_size;
-
- float x = x_size, y = y_size;
- if(gcode->has_letter('X')) x = gcode->get_value('X'); // override default probe width
- if(gcode->has_letter('Y')) y = gcode->get_value('Y'); // override default probe length
- probe_grid(n, m, x, y, gcode->stream);
+
+ float x_size = this->x_size, y_size = this->x_size;
+ float x_start = this->x_start, y_start = this->y_start;
+
+ if(only_by_two_corners){
+ if(gcode->has_letter('X') && gcode->has_letter('X') && gcode->has_letter('A') && gcode->has_letter('B')){
+ x_start = gcode->get_value('X'); // override default probe start point
+ y_start = gcode->get_value('Y'); // override default probe start point
+ x_size = gcode->get_value('A'); // override default probe width
+ y_size = gcode->get_value('B'); // override default probe length
+ } else {
+ gcode->stream->printf("In only_by_two_corners mode all XYAB parameters needed\n");
+ return true;
+ }
+ } else {
+ if(gcode->has_letter('X')) x_size = gcode->get_value('X'); // override default probe width
+ if(gcode->has_letter('Y')) y_size = gcode->get_value('Y'); // override default probe length
+ }
+
+ probe_grid(n, m, x_start, y_start, x_size, y_size, gcode->stream);
return true;
// These are convenience defines to keep the code as close to the original as possible it also saves memory and flash
// set the rectangle in which to probe
-#define LEFT_PROBE_BED_POSITION (0)
+#define LEFT_PROBE_BED_POSITION (x_start)
#define RIGHT_PROBE_BED_POSITION (x_size)
#define BACK_PROBE_BED_POSITION (y_size)
-#define FRONT_PROBE_BED_POSITION (0)
+#define FRONT_PROBE_BED_POSITION (y_start)
// probe at the points of a lattice grid
-#define AUTO_BED_LEVELING_GRID_X ((RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (current_grid_x_size - 1))
-#define AUTO_BED_LEVELING_GRID_Y ((BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (current_grid_y_size - 1))
+#define AUTO_BED_LEVELING_GRID_X (RIGHT_PROBE_BED_POSITION / (current_grid_x_size - 1))
+#define AUTO_BED_LEVELING_GRID_Y (BACK_PROBE_BED_POSITION / (current_grid_y_size - 1))
#define X_PROBE_OFFSET_FROM_EXTRUDER std::get<0>(probe_offsets)
#define Y_PROBE_OFFSET_FROM_EXTRUDER std::get<1>(probe_offsets)
if (do_home) zprobe->home();
// move to an initial position fast so as to not take all day, we move down max_z - initial_height, which is set in config, default 10mm
float deltaz = initial_height;
- zprobe->coordinated_move(NAN, NAN, deltaz, zprobe->getFastFeedrate());
- zprobe->coordinated_move(0, 0, NAN, zprobe->getFastFeedrate()); // move to 0,0
+ zprobe->coordinated_move(NAN, NAN, deltaz, zprobe->getFastFeedrate()); //move Z only to initial_height
+ zprobe->coordinated_move(x_start, y_start, NAN, zprobe->getFastFeedrate()); // move at initial_height to x_start, y_start
// find bed at 0,0 run at slow rate so as to not hit bed hard
float mm;
bool CartGridStrategy::doProbe(Gcode *gc)
{
gc->stream->printf("Rectangular Grid Probe...\n");
+
+ if(only_by_two_corners){
+ if(gc->has_letter('X') && gc->has_letter('X') && gc->has_letter('A') && gc->has_letter('B')){
+ x_start = gc->get_value('X'); // override default probe start point, will get saved
+ y_start = gc->get_value('Y'); // override default probe start point, will get saved
+ x_size = gc->get_value('A'); // override default probe width, will get saved
+ y_size = gc->get_value('B'); // override default probe length, will get saved
+ } else {
+ gc->stream->printf("In only_by_two_corners mode all XYAB parameters needed\n");
+ return false;
+ }
+ } else {
+ if(gc->has_letter('X')) x_size = gc->get_value('X'); // override default probe width, will get saved
+ if(gc->has_letter('Y')) y_size = gc->get_value('Y'); // override default probe length, will get saved
+ }
+
setAdjustFunction(false);
reset_bed_level();
- if(gc->has_letter('X')) x_size = gc->get_value('X'); // override default probe width, will get saved
- if(gc->has_letter('Y')) y_size = gc->get_value('Y'); // override default probe length, will get saved
-
if(gc->has_letter('I')) current_grid_x_size = gc->get_value('I'); // override default grid x size
if(gc->has_letter('J')) current_grid_y_size = gc->get_value('J'); // override default grid y size
if((current_grid_x_size * current_grid_y_size) > (configured_grid_x_size * configured_grid_y_size)){
- gc->stream->printf("Grid size (%d x %d = %d) bigger than configured (%d x %d = %d). Change configuration.\n", current_grid_x_size, current_grid_y_size, current_grid_x_size*current_grid_x_size, configured_grid_x_size, configured_grid_y_size, configured_grid_x_size*configured_grid_y_size);
+ gc->stream->printf("Grid size (%d x %d = %d) bigger than configured (%d x %d = %d). Change configuration.\n", current_grid_x_size, current_grid_y_size, current_grid_x_size*current_grid_x_size, configured_grid_x_size, configured_grid_y_size, configured_grid_x_size*configured_grid_y_size);
return false;
}
-
// find bed, and leave probe probe height above bed
float initial_z = findBed();
if(isnan(initial_z)) {
// do first probe for 0,0
float mm;
- if(!zprobe->doProbeAt(mm, -X_PROBE_OFFSET_FROM_EXTRUDER, -Y_PROBE_OFFSET_FROM_EXTRUDER)) return false;
+ if(!zprobe->doProbeAt(mm, x_start - X_PROBE_OFFSET_FROM_EXTRUDER, y_start - Y_PROBE_OFFSET_FROM_EXTRUDER)) return false;
float z_reference = zprobe->getProbeHeight() - mm; // this should be zero
gc->stream->printf("probe at 0,0 is %f mm\n", z_reference);
void CartGridStrategy::doCompensation(float *target, bool inverse)
{
// Adjust print surface height by linear interpolation over the bed_level array.
- float grid_x = std::max(0.001F, target[X_AXIS] / AUTO_BED_LEVELING_GRID_X);
- float grid_y = std::max(0.001F, target[Y_AXIS] / AUTO_BED_LEVELING_GRID_Y);
- int floor_x = floorf(grid_x);
- int floor_y = floorf(grid_y);
- float ratio_x = grid_x - floor_x;
- float ratio_y = grid_y - floor_y;
- float z1 = grid[(floor_x) + ((floor_y) * current_grid_x_size)];
- float z2 = grid[(floor_x) + ((floor_y + 1) * current_grid_x_size)];
- float z3 = grid[(floor_x + 1) + ((floor_y) * current_grid_x_size)];
- float z4 = grid[(floor_x + 1) + ((floor_y + 1) * current_grid_x_size)];
- float left = (1 - ratio_y) * z1 + ratio_y * z2;
- float right = (1 - ratio_y) * z3 + ratio_y * z4;
- float offset = (1 - ratio_x) * left + ratio_x * right;
-
- if(inverse)
- target[Z_AXIS] -= offset;
- else
- target[Z_AXIS] += offset;
+ if ((std::min(x_start, x_start + x_size) <= target[X_AXIS]) && (target[X_AXIS] <= std::max(x_start, x_start + x_size)) &&
+ (std::min(y_start, y_start + y_size) <= target[Y_AXIS]) && (target[Y_AXIS] <= std::max(y_start, y_start + y_size))) {
+
+ float grid_x = std::max(0.001F, (target[X_AXIS] - x_start) / AUTO_BED_LEVELING_GRID_X);
+ float grid_y = std::max(0.001F, (target[Y_AXIS] - y_start) / AUTO_BED_LEVELING_GRID_Y);
+ int floor_x = floorf(grid_x);
+ int floor_y = floorf(grid_y);
+ float ratio_x = grid_x - floor_x;
+ float ratio_y = grid_y - floor_y;
+ float z1 = grid[(floor_x) + ((floor_y) * current_grid_x_size)];
+ float z2 = grid[(floor_x) + ((floor_y + 1) * current_grid_x_size)];
+ float z3 = grid[(floor_x + 1) + ((floor_y) * current_grid_x_size)];
+ float z4 = grid[(floor_x + 1) + ((floor_y + 1) * current_grid_x_size)];
+ float left = (1 - ratio_y) * z1 + ratio_y * z2;
+ float right = (1 - ratio_y) * z3 + ratio_y * z4;
+ float offset = (1 - ratio_x) * left + ratio_x * right;
+
+ if(inverse)
+ target[Z_AXIS] -= offset;
+ else
+ target[Z_AXIS] += offset;
/*
THEKERNEL->streams->printf("//DEBUG: right= %f\n", right);
THEKERNEL->streams->printf("//DEBUG: offset= %f\n", offset);
*/
+ }
}
HCoop / clinton / Smoothieware.git / commitdiff