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Use forwardKinematics in DELTA run_z_probe()

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AnHardt 2016-07-21 18:05:48 +02:00 committed by Scott Lahteine
parent 499e404fbf
commit 5db9b940ee
2 changed files with 27 additions and 6 deletions
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4
Marlin/Marlin.h
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@ -318,6 +318,10 @@ float code_value_temp_diff();
void calculate_delta(float cartesian[3]); void calculate_delta(float cartesian[3]);
void recalc_delta_settings(float radius, float diagonal_rod); void recalc_delta_settings(float radius, float diagonal_rod);
float delta_safe_distance_from_top(); float delta_safe_distance_from_top();
void set_current_from_steppers();
void set_cartesian_from_steppers();
void forwardKinematics(float point[3]);
void forwardKinematics(float z1, float z2, float z3);
#if ENABLED(AUTO_BED_LEVELING_FEATURE) #if ENABLED(AUTO_BED_LEVELING_FEATURE)
extern int delta_grid_spacing[2]; extern int delta_grid_spacing[2];
void adjust_delta(float cartesian[3]); void adjust_delta(float cartesian[3]);

29
Marlin/Marlin_main.cpp
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@ -462,6 +462,7 @@ static uint8_t target_extruder;
#define TOWER_3 Z_AXIS #define TOWER_3 Z_AXIS
float delta[3] = { 0 }; float delta[3] = { 0 };
float cartesian[3] = { 0 };
#define SIN_60 0.8660254037844386 #define SIN_60 0.8660254037844386
#define COS_60 0.5 #define COS_60 0.5
float endstop_adj[3] = { 0 }; float endstop_adj[3] = { 0 };
@ -2087,9 +2088,9 @@ static void clean_up_after_endstop_or_probe_move() {
} }
#if ENABLED(DELTA) #if ENABLED(DELTA)
#define Z_FROM_STEPPERS() z_before + stepper.get_axis_position_mm(Z_AXIS) - z_mm #define SET_Z_FROM_STEPPERS() set_current_from_steppers()
#else #else
#define Z_FROM_STEPPERS() stepper.get_axis_position_mm(Z_AXIS) #define SET_Z_FROM_STEPPERS() current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS)
#endif #endif
// Do a single Z probe and return with current_position[Z_AXIS] // Do a single Z probe and return with current_position[Z_AXIS]
@ -2110,7 +2111,7 @@ static void clean_up_after_endstop_or_probe_move() {
do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST); do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST);
endstops.hit_on_purpose(); endstops.hit_on_purpose();
current_position[Z_AXIS] = Z_FROM_STEPPERS(); SET_Z_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
// move up the retract distance // move up the retract distance
@ -2124,7 +2125,7 @@ static void clean_up_after_endstop_or_probe_move() {
// move back down slowly to find bed // move back down slowly to find bed
do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW); do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW);
endstops.hit_on_purpose(); endstops.hit_on_purpose();
current_position[Z_AXIS] = Z_FROM_STEPPERS(); SET_Z_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -7780,7 +7781,6 @@ void clamp_to_software_endstops(float target[3]) {
return abs(distance - delta[TOWER_3]); return abs(distance - delta[TOWER_3]);
} }
float cartesian[3]; // result
void forwardKinematics(float z1, float z2, float z3) { void forwardKinematics(float z1, float z2, float z3) {
//As discussed in Wikipedia "Trilateration" //As discussed in Wikipedia "Trilateration"
//we are establishing a new coordinate //we are establishing a new coordinate
@ -7803,7 +7803,7 @@ void clamp_to_software_endstops(float target[3]) {
// Result is in cartesian[]. // Result is in cartesian[].
//Create a vector in old coords along x axis of new coord //Create a vector in old coordinates along x axis of new coordinate
float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 }; float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
//Get the Magnitude of vector. //Get the Magnitude of vector.
@ -7850,6 +7850,23 @@ void clamp_to_software_endstops(float target[3]) {
cartesian[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew; cartesian[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
}; };
void forwardKinematics(float point[3]) {
forwardKinematics(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]);
}
void set_cartesian_from_steppers() {
forwardKinematics(stepper.get_axis_position_mm(X_AXIS),
stepper.get_axis_position_mm(Y_AXIS),
stepper.get_axis_position_mm(Z_AXIS));
}
void set_current_from_steppers() {
set_cartesian_from_steppers();
current_position[X_AXIS] = cartesian[X_AXIS];
current_position[Y_AXIS] = cartesian[Y_AXIS];
current_position[Z_AXIS] = cartesian[Z_AXIS];
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE) #if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Adjust print surface height by linear interpolation over the bed_level array. // Adjust print surface height by linear interpolation over the bed_level array.