✨ X Twist Compensation & Calibration (#23238)
Giuseppe499
3 years ago
committed by
Scott Lahteine
parent
15204470a8
commit
efd67cf80d
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../../inc/MarlinConfig.h"
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#if ENABLED(X_AXIS_TWIST_COMPENSATION)
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#include "../bedlevel.h"
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XATC xatc;
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float XATC::spacing, XATC::start;
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xatc_points_t XATC::z_values;
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void XATC::print_points() {
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SERIAL_ECHOLNPGM(" X-Twist Correction:");
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LOOP_L_N(x, XATC_MAX_POINTS) {
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SERIAL_CHAR(' ');
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if (!isnan(z_values[x])) {
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if (z_values[x] >= 0) SERIAL_CHAR('+');
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SERIAL_ECHO_F(z_values[x], 3);
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}
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else {
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LOOP_L_N(i, 6)
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SERIAL_CHAR(i ? '=' : ' ');
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}
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}
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SERIAL_EOL();
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}
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float lerp(const_float_t t, const_float_t a, const_float_t b) { return a + t * (b - a); }
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float XATC::compensation(const xy_pos_t &raw) {
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float t = (raw.x - start) / spacing;
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int i = FLOOR(t);
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LIMIT(i, 0, XATC_MAX_POINTS - 2);
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t -= i;
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return lerp(t, z_values[i], z_values[i + 1]);
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}
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#endif // X_AXIS_TWIST_COMPENSATION
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@ -0,0 +1,37 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../../../inc/MarlinConfigPre.h"
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typedef float xatc_points_t[XATC_MAX_POINTS];
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class XATC {
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public:
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static float spacing, start;
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static xatc_points_t z_values;
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static float compensation(const xy_pos_t &raw);
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static void print_points();
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};
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extern XATC xatc;
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@ -0,0 +1,224 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfigPre.h"
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#if ENABLED(X_AXIS_TWIST_COMPENSATION)
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#include "menu_item.h"
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#include "menu_addon.h"
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#include "../../module/planner.h"
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#include "../../feature/bedlevel/bedlevel.h"
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#include "../../module/motion.h"
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#include "../../gcode/queue.h"
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#include "../../module/probe.h"
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#ifndef XATC_Y_POSITION
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#define XATC_Y_POSITION ((probe.max_y() - probe.min_y())/2)
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#endif
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void _goto_manual_move_z(const_float_t);
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float measured_z, z_offset;
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//
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// Step 9: X Axis Twist Compensation Wizard is finished.
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//
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void xatc_wizard_done() {
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if (!ui.wait_for_move) {
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xatc.print_points();
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set_bed_leveling_enabled(leveling_was_active);
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SET_SOFT_ENDSTOP_LOOSE(false);
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ui.goto_screen(menu_advanced_settings);
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}
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if (ui.should_draw())
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MenuItem_static::draw(LCD_HEIGHT >= 4, GET_TEXT(MSG_XATC_DONE));
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ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
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}
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void xatc_wizard_goto_next_point();
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//
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// Step 8: Ask the user if he wants to update the z-offset of the probe
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//
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void xatc_wizard_update_z_offset() {
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MenuItem_confirm::select_screen(
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GET_TEXT(MSG_YES), GET_TEXT(MSG_NO)
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, []{
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probe.offset.z = z_offset;
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ui.goto_screen(xatc_wizard_done);
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}
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, xatc_wizard_done
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, GET_TEXT(MSG_XATC_UPDATE_Z_OFFSET)
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, ftostr42_52(z_offset), PSTR("?")
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);
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}
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//
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// Step 7: Set the Z-offset for this point and go to the next one.
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//
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void xatc_wizard_set_offset_and_go_to_next_point() {
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// Set Z-offset at probed point
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xatc.z_values[manual_probe_index++] = probe.offset.z + current_position.z - measured_z;
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// Go to next point
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ui.goto_screen(xatc_wizard_goto_next_point);
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}
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//
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// Step 6: Wizard Menu. Move the nozzle down until it touches the bed.
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//
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void xatc_wizard_menu() {
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START_MENU();
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float calculated_z_offset = probe.offset.z + current_position.z - measured_z;
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if (LCD_HEIGHT >= 4)
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STATIC_ITEM(MSG_MOVE_NOZZLE_TO_BED, SS_CENTER|SS_INVERT);
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STATIC_ITEM_P(PSTR("Z="), SS_CENTER, ftostr42_52(current_position.z));
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STATIC_ITEM(MSG_ZPROBE_ZOFFSET, SS_LEFT, ftostr42_52(calculated_z_offset));
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SUBMENU(MSG_MOVE_1MM, []{ _goto_manual_move_z( 1); });
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SUBMENU(MSG_MOVE_01MM, []{ _goto_manual_move_z( 0.1f); });
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if ((FINE_MANUAL_MOVE) > 0.0f && (FINE_MANUAL_MOVE) < 0.1f) {
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char tmp[20], numstr[10];
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// Determine digits needed right of decimal
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const uint8_t digs = !UNEAR_ZERO((FINE_MANUAL_MOVE) * 1000 - int((FINE_MANUAL_MOVE) * 1000)) ? 4 :
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!UNEAR_ZERO((FINE_MANUAL_MOVE) * 100 - int((FINE_MANUAL_MOVE) * 100)) ? 3 : 2;
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sprintf_P(tmp, GET_TEXT(MSG_MOVE_N_MM), dtostrf(FINE_MANUAL_MOVE, 1, digs, numstr));
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#if DISABLED(HAS_GRAPHICAL_TFT)
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SUBMENU_P(NUL_STR, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
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MENU_ITEM_ADDON_START(0 + ENABLED(HAS_MARLINUI_HD44780));
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lcd_put_u8str(tmp);
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MENU_ITEM_ADDON_END();
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#else
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SUBMENU_P(tmp, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
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#endif
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}
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ACTION_ITEM(MSG_BUTTON_DONE, xatc_wizard_set_offset_and_go_to_next_point);
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END_MENU();
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}
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//
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// Step 5: Display "Next point: 1 / 9" while waiting for move to finish
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//
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void xatc_wizard_moving() {
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if (ui.should_draw()) {
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char msg[10];
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sprintf_P(msg, PSTR("%i / %u"), manual_probe_index + 1, XATC_MAX_POINTS);
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MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_LEVEL_BED_NEXT_POINT), msg);
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}
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ui.refresh(LCDVIEW_CALL_NO_REDRAW);
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if (!ui.wait_for_move) ui.goto_screen(xatc_wizard_menu);
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}
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//
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// Step 4: Initiate a move to the next point
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//
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void xatc_wizard_goto_next_point() {
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if (manual_probe_index < XATC_MAX_POINTS) {
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const float x = xatc.start + manual_probe_index * xatc.spacing;
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// Avoid probing outside the round or hexagonal area
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if (!TERN0(IS_KINEMATIC, !probe.can_reach(x, XATC_Y_POSITION))) {
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ui.wait_for_move = true;
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ui.goto_screen(xatc_wizard_moving);
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// Deploy certain probes before starting probing
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TERN_(BLTOUCH, do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE));
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measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW);
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current_position += probe.offset_xy;
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current_position.z = XATC_START_Z - probe.offset.z + measured_z;
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line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE));
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ui.wait_for_move = false;
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}
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else
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manual_probe_index++; // Go to next point
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}
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else {
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// Compute the z-offset by averaging the values found with this wizard
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z_offset = 0;
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LOOP_L_N(i, XATC_MAX_POINTS) z_offset += xatc.z_values[i];
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z_offset /= XATC_MAX_POINTS;
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// Subtract the average from the values found with this wizard.
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// This way they are indipendent from the z-offset
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LOOP_L_N(i, XATC_MAX_POINTS) xatc.z_values[i] -= z_offset;
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ui.goto_screen(xatc_wizard_update_z_offset);
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}
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}
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//
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// Step 3: Display "Click to Begin", wait for click
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// Move to the first probe position
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//
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void xatc_wizard_homing_done() {
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if (ui.should_draw()) {
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MenuItem_static::draw(1, GET_TEXT(MSG_LEVEL_BED_WAITING));
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// Color UI needs a control to detect a touch
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#if BOTH(TOUCH_SCREEN, HAS_GRAPHICAL_TFT)
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touch.add_control(CLICK, 0, 0, TFT_WIDTH, TFT_HEIGHT);
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#endif
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}
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if (ui.use_click()) {
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xatc.spacing = (probe.max_x() - probe.min_x()) / (XATC_MAX_POINTS - 1);
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xatc.start = probe.min_x();
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SET_SOFT_ENDSTOP_LOOSE(true); // Disable soft endstops for free Z movement
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ui.goto_screen(xatc_wizard_goto_next_point);
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}
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}
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//
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// Step 2: Display "Homing XYZ" - Wait for homing to finish
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//
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void xatc_wizard_homing() {
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_lcd_draw_homing();
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if (all_axes_homed())
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ui.goto_screen(xatc_wizard_homing_done);
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}
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//
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// Step 1: Prepare for the wizard...
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//
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void xatc_wizard_continue() {
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// Store Bed-Leveling-State and disable
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#if HAS_LEVELING
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leveling_was_active = planner.leveling_active;
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set_bed_leveling_enabled(false);
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#endif
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// Home all axes
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ui.defer_status_screen();
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set_all_unhomed();
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ui.goto_screen(xatc_wizard_homing);
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queue.inject_P(G28_STR);
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}
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#endif // X_AXIS_TWIST_COMPENSATION
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