#include <tuple>
#include <algorithm>
-#define radius_checksum CHECKSUM("radius")
+#define radius_checksum CHECKSUM("radius")
+#define initial_height_checksum CHECKSUM("initial_height")
+
// deprecated
#define probe_radius_checksum CHECKSUM("probe_radius")
r = THEKERNEL->config->value(zprobe_checksum, probe_radius_checksum)->by_default(100.0F)->as_number();
}
this->probe_radius= r;
+
+ // the initial height above the bed we stop the intial move down after home to find the bed
+ // this should be a height that is enough that the probe will not hit the bed and is an offset from max_z (can be set to 0 if max_z takes into account the probe offset)
+ this->initial_height= THEKERNEL->config->value(leveling_strategy_checksum, delta_calibration_strategy_checksum, initial_height_checksum)->by_default(10)->as_number();
return true;
}
// first wait for an empty queue i.e. no moves left
THEKERNEL->conveyor->wait_for_empty_queue();
+ // turn off any compensation transform as it will be invalidated anyway by this
+ THEKERNEL->robot->compensationTransform= nullptr;
+
if(!gcode->has_letter('R')) {
if(!calibrate_delta_endstops(gcode)) {
gcode->stream->printf("Calibration failed to complete, probe not triggered\n");
// Probes the 7 points on a delta can be used for off board calibration
bool DeltaCalibrationStrategy::probe_delta_points(Gcode *gcode)
{
+ float bedht= findBed();
+ if(isnan(bedht)) return false;
+
+ gcode->stream->printf("initial Bed ht is %f mm\n", bedht);
+
+ // check probe ht
+ int s;
+ if(!zprobe->doProbeAt(s, 0, 0)) return false;
+ float dz = zprobe->getProbeHeight() - zprobe->zsteps_to_mm(s);
+ gcode->stream->printf("center probe: %1.4f\n", dz);
+
// get probe points
float t1x, t1y, t2x, t2y, t3x, t3y;
std::tie(t1x, t1y, t2x, t2y, t3x, t3y) = getCoordinates(this->probe_radius);
// gather probe points
float pp[][2] {{t1x, t1y}, {t2x, t2y}, {t3x, t3y}, {0, 0}, {-t1x, -t1y}, {-t2x, -t2y}, {-t3x, -t3y}};
+ float max_delta= 0;
+ float last_z= NAN;
+ float start_z;
+ std::tie(std::ignore, std::ignore, start_z)= THEKERNEL->robot->get_axis_position();
+
for(auto& i : pp) {
int s;
if(!zprobe->doProbeAt(s, i[0], i[1])) return false;
float z = zprobe->zsteps_to_mm(s);
- gcode->stream->printf("X:%1.4f Y:%1.4f Z:%1.4f (%d) A:%1.4f B:%1.4f C:%1.4f\n",
- i[0], i[1], z, s,
- THEKERNEL->robot->actuators[0]->get_current_position()+z,
- THEKERNEL->robot->actuators[1]->get_current_position()+z,
- THEKERNEL->robot->actuators[2]->get_current_position()+z);
+ if(gcode->subcode == 0) {
+ gcode->stream->printf("X:%1.4f Y:%1.4f Z:%1.4f (%d) A:%1.4f B:%1.4f C:%1.4f\n",
+ i[0], i[1], z, s,
+ THEKERNEL->robot->actuators[0]->get_current_position()+z,
+ THEKERNEL->robot->actuators[1]->get_current_position()+z,
+ THEKERNEL->robot->actuators[2]->get_current_position()+z);
+
+ }else if(gcode->subcode == 1) {
+ // format that can be pasted here http://escher3d.com/pages/wizards/wizarddelta.php
+ gcode->stream->printf("X%1.4f Y%1.4f Z%1.4f\n", i[0], i[1], start_z - z);
+ }
+
+ if(isnan(last_z)) {
+ last_z= z;
+ }else{
+ max_delta= std::max(max_delta, fabsf(z-last_z));
+ }
}
+ gcode->stream->printf("max delta: %f\n", max_delta);
+
return true;
}
+float DeltaCalibrationStrategy::findBed()
+{
+ // 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= zprobe->getMaxZ() - initial_height;
+ zprobe->coordinated_move(NAN, NAN, -deltaz, zprobe->getFastFeedrate(), true);
+
+ // find bed, run at slow rate so as to not hit bed hard
+ int s;
+ if(!zprobe->run_probe(s, false)) return NAN;
+ zprobe->return_probe(s);
+
+ // leave the probe zprobe->getProbeHeight() above bed
+ float dz= zprobe->getProbeHeight() - zprobe->zsteps_to_mm(s);
+ if(dz >= 0) {
+ // probe was not started above bed
+ return NAN;
+ }
+ zprobe->coordinated_move(NAN, NAN, dz, zprobe->getFastFeedrate(), true); // relative move
+
+ return zprobe->zsteps_to_mm(s) + deltaz - zprobe->getProbeHeight(); // distance to move from home to 5mm above bed
+}
+
/* Run a calibration routine for a delta
1. Home
2. probe for z bed
}
}
- // home
- zprobe->home();
+ // find the bed, as we potentially have a temporary z probe we don't know how low under the nozzle it is
+ // so we need to find the initial place that the probe triggers when it hits the bed
+ float bedht= findBed();
+ if(isnan(bedht)) return false;
+ gcode->stream->printf("initial Bed ht is %f mm\n", bedht);
- // find bed, run at fast rate
+ // check probe ht
int s;
- if(!zprobe->run_probe(s, true)) return false;
-
- float bedht = zprobe->zsteps_to_mm(s) - zprobe->getProbeHeight(); // distance to move from home to 5mm above bed
- gcode->stream->printf("Bed ht is %f mm\n", bedht);
-
- // move to start position
- zprobe->home();
- zprobe->coordinated_move(NAN, NAN, -bedht, zprobe->getFastFeedrate(), true); // do a relative move from home to the point above the bed
+ if(!zprobe->doProbeAt(s, 0, 0)) return false;
+ float dz = zprobe->getProbeHeight() - zprobe->zsteps_to_mm(s);
+ gcode->stream->printf("center probe: %1.4f\n", dz);
+ if(fabsf(dz) > target) {
+ gcode->stream->printf("Probe was not repeatable to %f mm, (%f)\n", target, dz);
+ return false;
+ }
// get initial probes
// probe the base of the X tower
float t1x, t1y, t2x, t2y, t3x, t3y;
std::tie(t1x, t1y, t2x, t2y, t3x, t3y) = getCoordinates(this->probe_radius);
- zprobe->home();
- // find bed, then move to a point 5mm above it
- int s;
- if(!zprobe->run_probe(s, true)) return false;
- float bedht = zprobe->zsteps_to_mm(s) - zprobe->getProbeHeight(); // distance to move from home to 5mm above bed
- gcode->stream->printf("Bed ht is %f mm\n", bedht);
+ // find the bed, as we potentially have a temporary z probe we don't know how low under the nozzle it is
+ // so we need to find thr initial place that the probe triggers when it hits the bed
+ float bedht= findBed();
+ if(isnan(bedht)) return false;
+ gcode->stream->printf("initial Bed ht is %f mm\n", bedht);
- zprobe->home();
- zprobe->coordinated_move(NAN, NAN, -bedht, zprobe->getFastFeedrate(), true); // do a relative move from home to the point above the bed
+ // check probe ht
+ int s;
+ if(!zprobe->doProbeAt(s, 0, 0)) return false;
+ float dz = zprobe->getProbeHeight() - zprobe->zsteps_to_mm(s);
+ gcode->stream->printf("center probe: %1.4f\n", dz);
+ if(fabsf(dz) > target) {
+ gcode->stream->printf("Probe was not repeatable to %f mm, (%f)\n", target, dz);
+ return false;
+ }
// probe center to get reference point at this Z height
int dc;
}
options.clear();
+ bool good= false;
float drinc = 2.5F; // approx
for (int i = 1; i <= 10; ++i) {
// probe t1, t2, t3 and get average, but use coordinated moves, probing center won't change
float d = cmm - m;
gcode->stream->printf("C-%d Z-ave:%1.4f delta: %1.3f\n", i, m, d);
- if(abs(d) <= target) break; // resolution of success
+ if(fabsf(d) <= target){
+ good= true;
+ break; // resolution of success
+ }
// increase delta radius to adjust for low center
// decrease delta radius to adjust for high center
// flush the output
THEKERNEL->call_event(ON_IDLE);
}
+
+ if(!good) {
+ gcode->stream->printf("WARNING: delta radius did not resolve to within required parameters: %f\n", target);
+ }
+
return true;
}
HCoop / clinton / Smoothieware.git / blobdiff