#define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm")
#define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm")
+#define STEPS_PER_MM(a) (this->steppers[a]->steps_per_mm)
+
Endstops::Endstops()
{
this->status = NOT_HOMING;
// Get config
void Endstops::on_config_reload(void *argument)
{
- this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
-
- // we need to know steps per mm for M206, also use them for all settings
- this->steps_per_mm[0] = THEKERNEL->config->value(alpha_steps_per_mm_checksum )->as_number();
- this->steps_per_mm[1] = THEKERNEL->config->value(beta_steps_per_mm_checksum )->as_number();
- this->steps_per_mm[2] = THEKERNEL->config->value(gamma_steps_per_mm_checksum )->as_number();
-
- //These are the old ones in steps still here for backwards compatibility
- this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number();
- this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number();
- this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number();
- this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number();
- this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number();
- this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number();
- this->retract_steps[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number();
- this->retract_steps[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number();
- this->retract_steps[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number();
+ this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+
+ // These are the old ones in steps still here for backwards compatibility
+ this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(0);
+ this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(1);
+ this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number() / STEPS_PER_MM(2);
+ this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(0);
+ this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(1);
+ this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number() / STEPS_PER_MM(2);
+ this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(0);
+ this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(1);
+ this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number() / STEPS_PER_MM(2);
// newer mm based config values override the old ones, convert to steps/mm and steps, defaults to what was set in the older config settings above
- this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
- this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
- this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
- this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
- this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
- this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
- this->retract_steps[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_steps[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
- this->retract_steps[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_steps[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
- this->retract_steps[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_steps[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
+ this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0])->as_number();
+ this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1])->as_number();
+ this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2])->as_number();
+ this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0])->as_number();
+ this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1])->as_number();
+ this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2])->as_number();
+ this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_mm[0])->as_number();
+ this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_mm[1])->as_number();
+ this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_mm[2])->as_number();
this->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number();
this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
- // endstop trim used by deltas to do soft adjusting, in mm, convert to steps, and negate depending on homing direction
+ // endstop trim used by deltas to do soft adjusting, in mm, negate depending on homing direction
// eg on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
int dirx = (this->home_direction[0] ? 1 : -1);
int diry = (this->home_direction[1] ? 1 : -1);
int dirz = (this->home_direction[2] ? 1 : -1);
- this->trim[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[0] * dirx;
- this->trim[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[1] * diry;
- this->trim[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[2] * dirz;
+ this->trim_mm[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number() * dirx;
+ this->trim_mm[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number() * diry;
+ this->trim_mm[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number() * dirz;
}
void Endstops::wait_for_homed(char axes_to_move)
while (running) {
running = false;
THEKERNEL->call_event(ON_IDLE);
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- if ( this->pins[c - 'X' + (this->home_direction[c - 'X'] ? 0 : 3)].get() ) {
- if ( debounce[c - 'X'] < debounce_count ) {
- debounce[c - 'X'] ++;
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
+ if ( this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) {
+ if ( debounce[c] < debounce_count ) {
+ debounce[c]++;
running = true;
- } else if ( this->steppers[c - 'X']->moving ) {
- this->steppers[c - 'X']->move(0, 0);
+ } else if ( this->steppers[c]->moving ) {
+ this->steppers[c]->move(0, 0);
}
} else {
// The endstop was not hit yet
running = true;
- debounce[c - 'X'] = 0;
+ debounce[c] = 0;
}
}
}
{
// Start moving the axes to the origin
this->status = MOVING_TO_ORIGIN_FAST;
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- this->feed_rate[c - 'X']= this->fast_rates[c - 'X'];
- this->steppers[c - 'X']->set_speed(0);
- this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000);
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c) & 1 ) {
+ this->feed_rate[c]= this->fast_rates[c];
+ this->steppers[c]->set_speed(0);
+ this->steppers[c]->move(this->home_direction[c], 10000000);
}
}
// Move back a small distance
this->status = MOVING_BACK;
bool inverted_dir;
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- inverted_dir = !this->home_direction[c - 'X'];
- this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
- this->steppers[c - 'X']->set_speed(0);
- this->steppers[c - 'X']->move(inverted_dir, this->retract_steps[c - 'X']);
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
+ inverted_dir = !this->home_direction[c];
+ this->feed_rate[c]= this->slow_rates[c];
+ this->steppers[c]->set_speed(0);
+ this->steppers[c]->move(inverted_dir, this->retract_mm[c]*STEPS_PER_MM(c));
}
}
// Wait for moves to be done
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- while ( this->steppers[c - 'X']->moving ) {
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
+ while ( this->steppers[c]->moving ) {
THEKERNEL->call_event(ON_IDLE);
}
}
// Start moving the axes to the origin slowly
this->status = MOVING_TO_ORIGIN_SLOW;
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
- this->steppers[c - 'X']->set_speed(0);
- this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000);
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
+ this->feed_rate[c]= this->slow_rates[c];
+ this->steppers[c]->set_speed(0);
+ this->steppers[c]->move(this->home_direction[c], 10000000);
}
}
if (this->is_delta) {
// move for soft trim
this->status = MOVING_BACK;
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( this->trim[c - 'X'] != 0 && ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- inverted_dir = !this->home_direction[c - 'X'];
- // move up or down depending on sign of trim
- if (this->trim[c - 'X'] < 0) inverted_dir = !inverted_dir;
- this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
- this->steppers[c - 'X']->set_speed(0);
- this->steppers[c - 'X']->move(inverted_dir, abs(this->trim[c - 'X']));
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( this->trim_mm[c] != 0.0F && ( axes_to_move >> c ) & 1 ) {
+ inverted_dir = this->home_direction[c];
+ // move up or down depending on sign of trim, -ive is down away from home
+ if (this->trim_mm[c] < 0) inverted_dir = !inverted_dir;
+ this->feed_rate[c]= this->slow_rates[c];
+ this->steppers[c]->set_speed(0);
+ this->steppers[c]->move(inverted_dir, abs(round(this->trim_mm[c]*STEPS_PER_MM(c))));
}
}
// Wait for moves to be done
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
//THEKERNEL->streams->printf("axis %c \r\n", c );
- while ( this->steppers[c - 'X']->moving ) {
+ while ( this->steppers[c]->moving ) {
THEKERNEL->call_event(ON_IDLE);
}
}
// move individual axis
if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction
bool dir= this->home_direction[X_AXIS];
- corexy_home(X_AXIS, dir, dir, this->fast_rates[X_AXIS], this->slow_rates[X_AXIS], this->retract_steps[X_AXIS]);
+ corexy_home(X_AXIS, dir, dir, this->fast_rates[X_AXIS], this->slow_rates[X_AXIS], this->retract_mm[X_AXIS]*STEPS_PER_MM(X_AXIS));
}
if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions
bool dir= this->home_direction[Y_AXIS];
- corexy_home(Y_AXIS, dir, !dir, this->fast_rates[Y_AXIS], this->slow_rates[Y_AXIS], this->retract_steps[Y_AXIS]);
+ corexy_home(Y_AXIS, dir, !dir, this->fast_rates[Y_AXIS], this->slow_rates[Y_AXIS], this->retract_mm[Y_AXIS]*STEPS_PER_MM(Y_AXIS));
}
if (axes_to_move & 0x04) { // move Z
// only enable homing if the endstop is defined, deltas always home all axis
bool home_all = this->is_delta || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( (home_all || gcode->has_letter(c)) && this->pins[c - 'X' + (this->home_direction[c - 'X'] ? 0 : 3)].connected() ) {
- axes_to_move += ( 1 << (c - 'X' ) );
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( (home_all || gcode->has_letter(c+'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) {
+ axes_to_move += ( 1 << c );
}
}
do_homing(axes_to_move);
// Zero the ax(i/e)s position, add in the home offset
- for ( int c = 0; c <= 2; c++ ) {
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
if ( (axes_to_move >> c) & 1 ) {
THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
}
case 503: // print settings
gcode->stream->printf(";Home offset (mm):\nM206 X%1.2f Y%1.2f Z%1.2f\n", home_offset[0], home_offset[1], home_offset[2]);
if (is_delta) {
- float mm[3];
- trim2mm(mm);
- gcode->stream->printf(";Trim (mm):\nM666 X%1.2f Y%1.2f Z%1.2f\n", mm[0], mm[1], mm[2]);
- gcode->stream->printf(";Max Z\nM665 Z%1.2f\n", this->homing_position[2]);
+ gcode->stream->printf(";Trim (mm):\nM666 X%1.3f Y%1.3f Z%1.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]);
+ gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]);
}
gcode->mark_as_taken();
break;
break;
- case 666: { // M666 - set trim for each axis in mm, NB negative mm and positive steps trim is down
- float mm[3];
- trim2mm(mm);
+ case 666:
+ if(this->is_delta) { // M666 - set trim for each axis in mm, NB negative mm trim is down
+ if (gcode->has_letter('X')) trim_mm[0] = gcode->get_value('X');
+ if (gcode->has_letter('Y')) trim_mm[1] = gcode->get_value('Y');
+ if (gcode->has_letter('Z')) trim_mm[2] = gcode->get_value('Z');
- if (gcode->has_letter('X')) mm[0] = gcode->get_value('X');
- if (gcode->has_letter('Y')) mm[1] = gcode->get_value('Y');
- if (gcode->has_letter('Z')) mm[2] = gcode->get_value('Z');
-
- int dirx = (this->home_direction[0] ? 1 : -1);
- int diry = (this->home_direction[1] ? 1 : -1);
- int dirz = (this->home_direction[2] ? 1 : -1);
- trim[0] = lround(mm[0] * steps_per_mm[0]) * dirx; // convert back to steps
- trim[1] = lround(mm[1] * steps_per_mm[1]) * diry;
- trim[2] = lround(mm[2] * steps_per_mm[2]) * dirz;
-
- // print the current trim values in mm and steps
- gcode->stream->printf("X %5.3f (%d) Y %5.3f (%d) Z %5.3f (%d)\n", mm[0], trim[0], mm[1], trim[1], mm[2], trim[2]);
- gcode->mark_as_taken();
- }
+ // print the current trim values in mm
+ gcode->stream->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]);
+ gcode->mark_as_taken();
+ }
break;
// NOTE this is to test accuracy of lead screws etc.
}
}
-void Endstops::trim2mm(float *mm)
-{
- int dirx = (this->home_direction[0] ? 1 : -1);
- int diry = (this->home_direction[1] ? 1 : -1);
- int dirz = (this->home_direction[2] ? 1 : -1);
-
- mm[0] = this->trim[0] / this->steps_per_mm[0] * dirx; // convert to mm
- mm[1] = this->trim[1] / this->steps_per_mm[1] * diry;
- mm[2] = this->trim[2] / this->steps_per_mm[2] * dirz;
-}
-
#define max(a,b) (((a) > (b)) ? (a) : (b))
// Called periodically to change the speed to match acceleration
uint32_t Endstops::acceleration_tick(uint32_t dummy)
if( !this->steppers[c]->moving ) continue;
uint32_t current_rate = this->steppers[c]->steps_per_second;
- uint32_t target_rate = int(floor(this->feed_rate[c]));
+ uint32_t target_rate = int(floor(this->feed_rate[c]*STEPS_PER_MM(c)));
if( current_rate < target_rate ){
- uint32_t rate_increase = int(floor((THEKERNEL->planner->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->steps_per_mm[c]));
+ uint32_t rate_increase = int(floor((THEKERNEL->planner->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*STEPS_PER_MM(c)));
current_rate = min( target_rate, current_rate + rate_increase );
}
if( current_rate > target_rate ){ current_rate = target_rate; }
#define Y_AXIS 1
#define Z_AXIS 2
+#define STEPS_PER_MM(a) (this->steppers[a]->steps_per_mm)
+#define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
+
void ZProbe::on_module_loaded()
{
// if the module is disabled -> do nothing
- this->enabled = THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool();
- if( !(this->enabled) ) {
+ if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
// as this module is not needed free up the resource
delete this;
return;
this->steppers[1] = THEKERNEL->robot->beta_stepper_motor;
this->steppers[2] = THEKERNEL->robot->gamma_stepper_motor;
- // we need to know steps per mm
- // FIXME we need to get this after config loaded from robot as the config settings can be overriden or trap M92
- this->steps_per_mm[0] = THEKERNEL->config->value(alpha_steps_per_mm_checksum)->as_number();
- this->steps_per_mm[1] = THEKERNEL->config->value(beta_steps_per_mm_checksum)->as_number();
- this->steps_per_mm[2] = THEKERNEL->config->value(gamma_steps_per_mm_checksum)->as_number();
-
this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
}
{
// Enable the motors
THEKERNEL->stepper->turn_enable_pins_on();
- this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * this->steps_per_mm[Z_AXIS]; // steps/sec
+ this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * Z_STEPS_PER_MM; // steps/sec
// move Z down
this->running = true;
this->steppers[Z_AXIS]->set_speed(0); // will be increased by acceleration tick
- this->steppers[Z_AXIS]->move(true, 1000 * this->steps_per_mm[Z_AXIS]); // always probes down, no more than 1000mm TODO should be 2*maxz
+ this->steppers[Z_AXIS]->move(true, 1000 * Z_STEPS_PER_MM); // always probes down, no more than 1000mm TODO should be 2*maxz
if(this->is_delta) {
// for delta need to move all three actuators
this->steppers[X_AXIS]->set_speed(0);
- this->steppers[X_AXIS]->move(true, 1000 * this->steps_per_mm[X_AXIS]);
+ this->steppers[X_AXIS]->move(true, 1000 * STEPS_PER_MM(X_AXIS));
this->steppers[Y_AXIS]->set_speed(0);
- this->steppers[Y_AXIS]->move(true, 1000 * this->steps_per_mm[Y_AXIS]);
+ this->steppers[Y_AXIS]->move(true, 1000 * STEPS_PER_MM(Y_AXIS));
}
int s[3];
bool r = wait_for_probe(s);
- steps= s[2]; // only need z
+ steps= s[Z_AXIS]; // only need z
this->running = false;
return r;
}
bool ZProbe::return_probe(int steps)
{
// move probe back to where it was
- this->current_feedrate = this->fast_feedrate * this->steps_per_mm[Z_AXIS]; // feedrate in steps/sec
+ this->current_feedrate = this->fast_feedrate * Z_STEPS_PER_MM; // feedrate in steps/sec
bool dir= steps < 0;
steps= abs(steps);
float t1x, t1y, t2x, t2y, t3x, t3y;
std::tie(t1x, t1y, t2x, t2y, t3x, t3y) = getCoordinates(this->probe_radius);
+ // TODO get current trim, and continue from that if requested
+
// zero trim values
set_trim(0, 0, 0, &(StreamOutput::NullStream));
if(!run_probe(s, true)) return false;
// how far to move down from home before probe
- int probestart = s - (this->probe_height*this->steps_per_mm[Z_AXIS]);
- gcode->stream->printf("Probe start ht is %f mm\n", probestart/this->steps_per_mm[Z_AXIS]);
-
+ int probestart = s - (this->probe_height*Z_STEPS_PER_MM);
+ gcode->stream->printf("Probe start ht is %f mm\n", probestart/Z_STEPS_PER_MM);
// move to start position
home();
return_probe(-probestart);
-
gcode->stream->printf("Calibrating Endstops\n");
// get initial probes
// probe the base of the X tower
if(!probe_delta_tower(s, t1x, t1y)) return false;
- float t1z= s / this->steps_per_mm[Z_AXIS];
+ float t1z= s / Z_STEPS_PER_MM;
gcode->stream->printf("T1-1 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 / this->steps_per_mm[Z_AXIS];
+ float t2z= s / Z_STEPS_PER_MM;
gcode->stream->printf("T2-1 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 / this->steps_per_mm[Z_AXIS];
+ float t3z= s / Z_STEPS_PER_MM;
gcode->stream->printf("T3-1 Z:%1.4f C:%d\n", t3z, s);
float trimscale= 1.2522F; // empirically determined
// set initial trim
set_trim(trimx, trimy, trimz, gcode->stream);
- for (int i = 1; i <= 4; ++i) {
+ float target= 0.03F;
+ if(gcode->has_letter('I')) target= gcode->get_value('I'); // override default target
+
+ for (int i = 1; i <= 10; ++i) {
// home and move probe to start position just above the bed
home();
return_probe(-probestart);
// probe the base of the X tower
if(!probe_delta_tower(s, t1x, t1y)) return false;
- t1z= s / this->steps_per_mm[Z_AXIS];
+ t1z= s / Z_STEPS_PER_MM;
gcode->stream->printf("T1-2-%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 / this->steps_per_mm[Z_AXIS];
+ t2z= s / Z_STEPS_PER_MM;
gcode->stream->printf("T2-2-%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 / this->steps_per_mm[Z_AXIS];
+ t3z= s / Z_STEPS_PER_MM;
gcode->stream->printf("T3-2-%d Z:%1.4f C:%d\n", i, t3z, s);
auto mm= std::minmax({t1z, t2z, t3z});
- if((mm.second-mm.first) < 0.03F) break; // probably as good as it gets, TODO set 0.02 as config value
+ if((mm.second-mm.first) <= target) break; // probably as good as it gets
// set new trim values based on min difference
min= mm.first;
// 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 / this->steps_per_mm[Z_AXIS], dx);
+ 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 / this->steps_per_mm[Z_AXIS], dy);
+ 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 / this->steps_per_mm[Z_AXIS], dz);
+ 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= %f\n", (mm.second-mm.first)/this->steps_per_mm[Z_AXIS]);
+ gcode->stream->printf("max endstop delta= %1.4f\n", (mm.second-mm.first)/Z_STEPS_PER_MM);
return true;
}
// find bed, then move to a point 5mm above it
int s;
if(!run_probe(s, true)) return false;
- float bedht= s/this->steps_per_mm[Z_AXIS] - this->probe_height; // distance to move from home to 5mm above bed
+ float bedht= s/Z_STEPS_PER_MM - this->probe_height; // distance to move from home to 5mm above bed
gcode->stream->printf("Bed ht is %f mm\n", bedht);
home();
// probe the base of the three towers to get reference point at this Z height
int dx= 0, dy= 0, dz= 0, dc= 0;
if(!probe_delta_tower(dx, t1x, t1y)) return false;
- gcode->stream->printf("T1 Z:%1.3f C:%d\n", dx / this->steps_per_mm[Z_AXIS], dx);
+ gcode->stream->printf("T1 Z:%1.3f C:%d\n", dx / Z_STEPS_PER_MM, dx);
if(!probe_delta_tower(dy, t2x, t2y)) return false;
- gcode->stream->printf("T2 Z:%1.3f C:%d\n", dy / this->steps_per_mm[Z_AXIS], dy);
+ gcode->stream->printf("T2 Z:%1.3f C:%d\n", dy / Z_STEPS_PER_MM, dy);
if(!probe_delta_tower(dz, t3x, t3y)) return false;
- gcode->stream->printf("T3 Z:%1.3f C:%d\n", dz / this->steps_per_mm[Z_AXIS], dz);
+ gcode->stream->printf("T3 Z:%1.3f C:%d\n", dz / Z_STEPS_PER_MM, dz);
if(!probe_delta_tower(dc, 0, 0)) return false;
- gcode->stream->printf("CT Z:%1.3f C:%d\n", dc / this->steps_per_mm[Z_AXIS], dc);
-
- float cmm= dc / this->steps_per_mm[Z_AXIS];
+ 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;
+ float m= dx / Z_STEPS_PER_MM;
+ float d= cmm-m;
+ if(abs(d) <= target) {
+ gcode->stream->printf("Delta Radius already in range: %1.3f\n", d);
+ return true;
+ }
// get current delta radius
float delta_radius= 0.0F;
if(!probe_delta_tower(dx, t1x, t1y)) return false;
// now look at the difference and reduce it by adjusting delta radius
- float m= dx / this->steps_per_mm[Z_AXIS];
- float d= cmm-m;
+ m= dx / Z_STEPS_PER_MM;
+ d= cmm-m;
gcode->stream->printf("T1-%d Z:%1.4f C:%d delta: %1.3f\n", i, m, dx, d);
- if(abs(d) < 0.03F) break; // resolution of success TODO should be in config
+ if(abs(d) <= target) break; // resolution of success
// increase delta radius to adjust for low center
// decrease delta radius to adjust for high center
delta_radius += (d*drinc);
int steps;
if(run_probe(steps)) {
- gcode->stream->printf("Z:%1.4f C:%d\n", steps / this->steps_per_mm[Z_AXIS], steps);
+ gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
// move back to where it started, unless a Z is specified
if(gcode->has_letter('Z')) {
// set Z to the specified value, and leave probe where it is
uint32_t target_rate = int(floor(this->current_feedrate));
if( current_rate < target_rate ) {
- uint32_t rate_increase = int(floor((THEKERNEL->planner->acceleration / THEKERNEL->stepper->acceleration_ticks_per_second) * this->steps_per_mm[c]));
+ uint32_t rate_increase = int(floor((THEKERNEL->planner->acceleration / THEKERNEL->stepper->acceleration_ticks_per_second) * STEPS_PER_MM(c)));
current_rate = min( target_rate, current_rate + rate_increase );
}
if( current_rate > target_rate ) {
HCoop / clinton / Smoothieware.git / commitdiff