#include "SlowTicker.h"
#include "Planner.h"
#include "SerialMessage.h"
+#include "PublicDataRequest.h"
+#include "EndstopsPublicAccess.h"
+#include "PublicData.h"
#include <tuple>
#include <algorithm>
4. set initial trims such that trims will be minimal negative values
5. home, probe three towers again
6. calculate trim offset and apply to all trims
- 7. repeat 5, 6 4 times to converge on a solution
- 8. home, Probe center
- 9. calculate delta radius and apply it
- 10. check level
+ 7. repeat 5, 6 until it converges on a solution
*/
bool ZProbe::calibrate_delta_endstops(Gcode *gcode)
{
+ float target= 0.03F;
+ if(gcode->has_letter('I')) target= gcode->get_value('I'); // override default target
+ if(gcode->has_letter('J')) this->probe_radius= gcode->get_value('J'); // override default probe radius
+
+ bool keep= false;
+ if(gcode->has_letter('K')) keep= true; // keep current settings
+
+ gcode->stream->printf("Calibrating Endstops: target %fmm, radius %fmm\n", target, this->probe_radius);
+
// get probe points
float t1x, t1y, t2x, t2y, t3x, t3y;
std::tie(t1x, t1y, t2x, t2y, t3x, t3y) = getCoordinates(this->probe_radius);
- gcode->stream->printf("Calibrating Endstops\n");
+ float trimx= 0.0F, trimy= 0.0F, trimz= 0.0F;
+ if(!keep) {
+ // zero trim values
+ set_trim(0, 0, 0, &(StreamOutput::NullStream));
- // TODO get current trim, and continue from that if requested
+ }else{
+ // get current trim, and continue from that
+ void *returned_data;
+ bool ok = THEKERNEL->public_data->get_value( endstops_checksum, trim_checksum, &returned_data );
- // zero trim values
- set_trim(0, 0, 0, &(StreamOutput::NullStream));
+ if (ok) {
+ float *trim = static_cast<float *>(returned_data);
+ gcode->stream->printf("Current Trim X: %f, Y: %f, Z: %f\r\n", trim[0], trim[1], trim[2]);
+ trimx= trim[0];
+ trimy= trim[1];
+ trimz= trim[2];
+
+ } else {
+ gcode->stream->printf("Could not get current trim, are endstops enabled?\n");
+ return false;
+ }
+ }
// home
home();
// probe the base of the X tower
if(!probe_delta_tower(s, t1x, t1y)) return false;
float t1z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T1-1 Z:%1.4f C:%d\n", t1z, s);
+ gcode->stream->printf("T1-0 Z:%1.4f C:%d\n", t1z, s);
// probe the base of the Y tower
if(!probe_delta_tower(s, t2x, t2y)) return false;
float t2z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T2-1 Z:%1.4f C:%d\n", t2z, s);
+ gcode->stream->printf("T2-0 Z:%1.4f C:%d\n", t2z, s);
// probe the base of the Z tower
if(!probe_delta_tower(s, t3x, t3y)) return false;
float t3z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T3-1 Z:%1.4f C:%d\n", t3z, s);
+ gcode->stream->printf("T3-0 Z:%1.4f C:%d\n", t3z, s);
float trimscale= 1.2522F; // empirically determined
- // set initial trims to worst case so we always have a negative trim
- float min= std::min({t1z, t2z, t3z});
- float trimx= (min-t1z)*trimscale, trimy= (min-t2z)*trimscale, trimz= (min-t3z)*trimscale;
-
- // set initial trim
- set_trim(trimx, trimy, trimz, gcode->stream);
+ auto mm= std::minmax({t1z, t2z, t3z});
+ if((mm.second-mm.first) <= target) {
+ gcode->stream->printf("trim already set within required parameters: delta %f\n", mm.second-mm.first);
+ return true;
+ }
- float target= 0.03F;
- if(gcode->has_letter('I')) target= gcode->get_value('I'); // override default target
+ // set trims to worst case so we always have a negative trim
+ trimx += (mm.first-t1z)*trimscale;
+ trimy += (mm.first-t2z)*trimscale;
+ trimz += (mm.first-t3z)*trimscale;
for (int i = 1; i <= 10; ++i) {
+ // set trim
+ gcode->stream->printf("Set Trim:\n");
+ set_trim(trimx, trimy, trimz, gcode->stream);
+
// home and move probe to start position just above the bed
home();
coordinated_move(NAN, NAN, -bedht, this->fast_feedrate, true); // do a relative move from home to the point above the bed
// probe the base of the X tower
if(!probe_delta_tower(s, t1x, t1y)) return false;
t1z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T1-2-%d Z:%1.4f C:%d\n", i, t1z, s);
+ gcode->stream->printf("T1-%d Z:%1.4f C:%d\n", i, t1z, s);
// probe the base of the Y tower
if(!probe_delta_tower(s, t2x, t2y)) return false;
t2z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T2-2-%d Z:%1.4f C:%d\n", i, t2z, s);
+ gcode->stream->printf("T2-%d Z:%1.4f C:%d\n", i, t2z, s);
// probe the base of the Z tower
if(!probe_delta_tower(s, t3x, t3y)) return false;
t3z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T3-2-%d Z:%1.4f C:%d\n", i, t3z, s);
+ gcode->stream->printf("T3-%d Z:%1.4f C:%d\n", i, t3z, s);
- auto mm= std::minmax({t1z, t2z, t3z});
- if((mm.second-mm.first) <= target) break; // probably as good as it gets
+ mm= std::minmax({t1z, t2z, t3z});
+ if((mm.second-mm.first) <= target) {
+ gcode->stream->printf("trim set to within required parameters: delta %f\n", mm.second-mm.first);
+ break;
+ }
// set new trim values based on min difference
- min= mm.first;
- trimx += (min-t1z)*trimscale;
- trimy += (min-t2z)*trimscale;
- trimz += (min-t3z)*trimscale;
-
- // set trim
- gcode->stream->printf("Set Trim: ");
- set_trim(trimx, trimy, trimz, gcode->stream);
+ trimx += (mm.first-t1z)*trimscale;
+ trimy += (mm.first-t2z)*trimscale;
+ trimz += (mm.first-t3z)*trimscale;
// flush the output
THEKERNEL->call_event(ON_IDLE);
}
- // move probe to start position just above the bed
- home();
- coordinated_move(NAN, NAN, -bedht, this->fast_feedrate, true); // do a relative move from home to the point above the bed
-
- // probe the base of the three towers again to see if we are level
- int dx= 0, dy= 0, dz= 0;
- if(!probe_delta_tower(dx, t1x, t1y)) return false;
- gcode->stream->printf("T1-final Z:%1.4f C:%d\n", dx / Z_STEPS_PER_MM, dx);
- if(!probe_delta_tower(dy, t2x, t2y)) return false;
- gcode->stream->printf("T2-final Z:%1.4f C:%d\n", dy / Z_STEPS_PER_MM, dy);
- if(!probe_delta_tower(dz, t3x, t3y)) return false;
- gcode->stream->printf("T3-final Z:%1.4f C:%d\n", dz / Z_STEPS_PER_MM, dz);
-
- // compare the three and report
- auto mm= std::minmax({dx, dy, dz});
- gcode->stream->printf("max endstop delta= %1.4f\n", (mm.second-mm.first)/Z_STEPS_PER_MM);
+ if((mm.second-mm.first) > target) {
+ gcode->stream->printf("WARNING: trim did not resolve to within required parameters: delta %f\n", mm.second-mm.first);
+ }
return true;
}
+/*
+ probe edges to get outer positions, then probe center
+ modify the delta radius until center and X converge
+*/
+
bool ZProbe::calibrate_delta_radius(Gcode *gcode)
{
- gcode->stream->printf("Calibrating delta radius\n");
+ float target= 0.03F;
+ if(gcode->has_letter('I')) target= gcode->get_value('I'); // override default target
+ if(gcode->has_letter('J')) this->probe_radius= gcode->get_value('J'); // override default probe radius
+
+ gcode->stream->printf("Calibrating delta radius: target %f, radius %f\n", target, this->probe_radius);
// get probe points
float t1x, t1y, t2x, t2y, t3x, t3y;
if(!probe_delta_tower(dc, 0, 0)) return false;
gcode->stream->printf("CT Z:%1.3f C:%d\n", dc / Z_STEPS_PER_MM, dc);
- float target= 0.03F;
- if(gcode->has_letter('I')) target= gcode->get_value('I'); // override default target
// See if we are already in range and skip calibration if not needed
float cmm= dc / Z_STEPS_PER_MM;
HCoop / clinton / Smoothieware.git / blobdiff