✨ X Twist Compensation & Calibration (#23238)
Giuseppe499
3 years ago
committed by
Scott Lahteine
parent
15204470a8
commit
efd67cf80d
@ -0,0 +1,59 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#include "../../../inc/MarlinConfig.h"
|
||||||
|
|
||||||
|
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
|
||||||
|
|
||||||
|
#include "../bedlevel.h"
|
||||||
|
|
||||||
|
XATC xatc;
|
||||||
|
|
||||||
|
float XATC::spacing, XATC::start;
|
||||||
|
xatc_points_t XATC::z_values;
|
||||||
|
|
||||||
|
void XATC::print_points() {
|
||||||
|
SERIAL_ECHOLNPGM(" X-Twist Correction:");
|
||||||
|
LOOP_L_N(x, XATC_MAX_POINTS) {
|
||||||
|
SERIAL_CHAR(' ');
|
||||||
|
if (!isnan(z_values[x])) {
|
||||||
|
if (z_values[x] >= 0) SERIAL_CHAR('+');
|
||||||
|
SERIAL_ECHO_F(z_values[x], 3);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
LOOP_L_N(i, 6)
|
||||||
|
SERIAL_CHAR(i ? '=' : ' ');
|
||||||
|
}
|
||||||
|
}
|
||||||
|
SERIAL_EOL();
|
||||||
|
}
|
||||||
|
|
||||||
|
float lerp(const_float_t t, const_float_t a, const_float_t b) { return a + t * (b - a); }
|
||||||
|
|
||||||
|
float XATC::compensation(const xy_pos_t &raw) {
|
||||||
|
float t = (raw.x - start) / spacing;
|
||||||
|
int i = FLOOR(t);
|
||||||
|
LIMIT(i, 0, XATC_MAX_POINTS - 2);
|
||||||
|
t -= i;
|
||||||
|
return lerp(t, z_values[i], z_values[i + 1]);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // X_AXIS_TWIST_COMPENSATION
|
||||||
@ -0,0 +1,37 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "../../../inc/MarlinConfigPre.h"
|
||||||
|
|
||||||
|
typedef float xatc_points_t[XATC_MAX_POINTS];
|
||||||
|
|
||||||
|
class XATC {
|
||||||
|
public:
|
||||||
|
static float spacing, start;
|
||||||
|
static xatc_points_t z_values;
|
||||||
|
|
||||||
|
static float compensation(const xy_pos_t &raw);
|
||||||
|
static void print_points();
|
||||||
|
};
|
||||||
|
|
||||||
|
extern XATC xatc;
|
||||||
@ -0,0 +1,224 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#include "../../inc/MarlinConfigPre.h"
|
||||||
|
|
||||||
|
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
|
||||||
|
|
||||||
|
#include "menu_item.h"
|
||||||
|
#include "menu_addon.h"
|
||||||
|
#include "../../module/planner.h"
|
||||||
|
#include "../../feature/bedlevel/bedlevel.h"
|
||||||
|
#include "../../module/motion.h"
|
||||||
|
#include "../../gcode/queue.h"
|
||||||
|
#include "../../module/probe.h"
|
||||||
|
|
||||||
|
#ifndef XATC_Y_POSITION
|
||||||
|
#define XATC_Y_POSITION ((probe.max_y() - probe.min_y())/2)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
void _goto_manual_move_z(const_float_t);
|
||||||
|
|
||||||
|
float measured_z, z_offset;
|
||||||
|
|
||||||
|
//
|
||||||
|
// Step 9: X Axis Twist Compensation Wizard is finished.
|
||||||
|
//
|
||||||
|
void xatc_wizard_done() {
|
||||||
|
if (!ui.wait_for_move) {
|
||||||
|
xatc.print_points();
|
||||||
|
set_bed_leveling_enabled(leveling_was_active);
|
||||||
|
SET_SOFT_ENDSTOP_LOOSE(false);
|
||||||
|
ui.goto_screen(menu_advanced_settings);
|
||||||
|
}
|
||||||
|
if (ui.should_draw())
|
||||||
|
MenuItem_static::draw(LCD_HEIGHT >= 4, GET_TEXT(MSG_XATC_DONE));
|
||||||
|
ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
|
||||||
|
}
|
||||||
|
|
||||||
|
void xatc_wizard_goto_next_point();
|
||||||
|
|
||||||
|
//
|
||||||
|
// Step 8: Ask the user if he wants to update the z-offset of the probe
|
||||||
|
//
|
||||||
|
void xatc_wizard_update_z_offset() {
|
||||||
|
MenuItem_confirm::select_screen(
|
||||||
|
GET_TEXT(MSG_YES), GET_TEXT(MSG_NO)
|
||||||
|
, []{
|
||||||
|
probe.offset.z = z_offset;
|
||||||
|
ui.goto_screen(xatc_wizard_done);
|
||||||
|
}
|
||||||
|
, xatc_wizard_done
|
||||||
|
, GET_TEXT(MSG_XATC_UPDATE_Z_OFFSET)
|
||||||
|
, ftostr42_52(z_offset), PSTR("?")
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
// Step 7: Set the Z-offset for this point and go to the next one.
|
||||||
|
//
|
||||||
|
void xatc_wizard_set_offset_and_go_to_next_point() {
|
||||||
|
// Set Z-offset at probed point
|
||||||
|
xatc.z_values[manual_probe_index++] = probe.offset.z + current_position.z - measured_z;
|
||||||
|
// Go to next point
|
||||||
|
ui.goto_screen(xatc_wizard_goto_next_point);
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
// Step 6: Wizard Menu. Move the nozzle down until it touches the bed.
|
||||||
|
//
|
||||||
|
void xatc_wizard_menu() {
|
||||||
|
START_MENU();
|
||||||
|
float calculated_z_offset = probe.offset.z + current_position.z - measured_z;
|
||||||
|
|
||||||
|
if (LCD_HEIGHT >= 4)
|
||||||
|
STATIC_ITEM(MSG_MOVE_NOZZLE_TO_BED, SS_CENTER|SS_INVERT);
|
||||||
|
|
||||||
|
STATIC_ITEM_P(PSTR("Z="), SS_CENTER, ftostr42_52(current_position.z));
|
||||||
|
STATIC_ITEM(MSG_ZPROBE_ZOFFSET, SS_LEFT, ftostr42_52(calculated_z_offset));
|
||||||
|
|
||||||
|
SUBMENU(MSG_MOVE_1MM, []{ _goto_manual_move_z( 1); });
|
||||||
|
SUBMENU(MSG_MOVE_01MM, []{ _goto_manual_move_z( 0.1f); });
|
||||||
|
|
||||||
|
if ((FINE_MANUAL_MOVE) > 0.0f && (FINE_MANUAL_MOVE) < 0.1f) {
|
||||||
|
char tmp[20], numstr[10];
|
||||||
|
// Determine digits needed right of decimal
|
||||||
|
const uint8_t digs = !UNEAR_ZERO((FINE_MANUAL_MOVE) * 1000 - int((FINE_MANUAL_MOVE) * 1000)) ? 4 :
|
||||||
|
!UNEAR_ZERO((FINE_MANUAL_MOVE) * 100 - int((FINE_MANUAL_MOVE) * 100)) ? 3 : 2;
|
||||||
|
sprintf_P(tmp, GET_TEXT(MSG_MOVE_N_MM), dtostrf(FINE_MANUAL_MOVE, 1, digs, numstr));
|
||||||
|
#if DISABLED(HAS_GRAPHICAL_TFT)
|
||||||
|
SUBMENU_P(NUL_STR, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
|
||||||
|
MENU_ITEM_ADDON_START(0 + ENABLED(HAS_MARLINUI_HD44780));
|
||||||
|
lcd_put_u8str(tmp);
|
||||||
|
MENU_ITEM_ADDON_END();
|
||||||
|
#else
|
||||||
|
SUBMENU_P(tmp, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
ACTION_ITEM(MSG_BUTTON_DONE, xatc_wizard_set_offset_and_go_to_next_point);
|
||||||
|
|
||||||
|
END_MENU();
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
// Step 5: Display "Next point: 1 / 9" while waiting for move to finish
|
||||||
|
//
|
||||||
|
void xatc_wizard_moving() {
|
||||||
|
if (ui.should_draw()) {
|
||||||
|
char msg[10];
|
||||||
|
sprintf_P(msg, PSTR("%i / %u"), manual_probe_index + 1, XATC_MAX_POINTS);
|
||||||
|
MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_LEVEL_BED_NEXT_POINT), msg);
|
||||||
|
}
|
||||||
|
ui.refresh(LCDVIEW_CALL_NO_REDRAW);
|
||||||
|
if (!ui.wait_for_move) ui.goto_screen(xatc_wizard_menu);
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
// Step 4: Initiate a move to the next point
|
||||||
|
//
|
||||||
|
void xatc_wizard_goto_next_point() {
|
||||||
|
if (manual_probe_index < XATC_MAX_POINTS) {
|
||||||
|
|
||||||
|
const float x = xatc.start + manual_probe_index * xatc.spacing;
|
||||||
|
|
||||||
|
// Avoid probing outside the round or hexagonal area
|
||||||
|
if (!TERN0(IS_KINEMATIC, !probe.can_reach(x, XATC_Y_POSITION))) {
|
||||||
|
ui.wait_for_move = true;
|
||||||
|
ui.goto_screen(xatc_wizard_moving);
|
||||||
|
|
||||||
|
// Deploy certain probes before starting probing
|
||||||
|
TERN_(BLTOUCH, do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE));
|
||||||
|
|
||||||
|
measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW);
|
||||||
|
current_position += probe.offset_xy;
|
||||||
|
current_position.z = XATC_START_Z - probe.offset.z + measured_z;
|
||||||
|
line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE));
|
||||||
|
ui.wait_for_move = false;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
manual_probe_index++; // Go to next point
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
// Compute the z-offset by averaging the values found with this wizard
|
||||||
|
z_offset = 0;
|
||||||
|
LOOP_L_N(i, XATC_MAX_POINTS) z_offset += xatc.z_values[i];
|
||||||
|
z_offset /= XATC_MAX_POINTS;
|
||||||
|
|
||||||
|
// Subtract the average from the values found with this wizard.
|
||||||
|
// This way they are indipendent from the z-offset
|
||||||
|
LOOP_L_N(i, XATC_MAX_POINTS) xatc.z_values[i] -= z_offset;
|
||||||
|
|
||||||
|
ui.goto_screen(xatc_wizard_update_z_offset);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
// Step 3: Display "Click to Begin", wait for click
|
||||||
|
// Move to the first probe position
|
||||||
|
//
|
||||||
|
void xatc_wizard_homing_done() {
|
||||||
|
if (ui.should_draw()) {
|
||||||
|
MenuItem_static::draw(1, GET_TEXT(MSG_LEVEL_BED_WAITING));
|
||||||
|
|
||||||
|
// Color UI needs a control to detect a touch
|
||||||
|
#if BOTH(TOUCH_SCREEN, HAS_GRAPHICAL_TFT)
|
||||||
|
touch.add_control(CLICK, 0, 0, TFT_WIDTH, TFT_HEIGHT);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
if (ui.use_click()) {
|
||||||
|
xatc.spacing = (probe.max_x() - probe.min_x()) / (XATC_MAX_POINTS - 1);
|
||||||
|
xatc.start = probe.min_x();
|
||||||
|
|
||||||
|
SET_SOFT_ENDSTOP_LOOSE(true); // Disable soft endstops for free Z movement
|
||||||
|
|
||||||
|
ui.goto_screen(xatc_wizard_goto_next_point);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
// Step 2: Display "Homing XYZ" - Wait for homing to finish
|
||||||
|
//
|
||||||
|
void xatc_wizard_homing() {
|
||||||
|
_lcd_draw_homing();
|
||||||
|
if (all_axes_homed())
|
||||||
|
ui.goto_screen(xatc_wizard_homing_done);
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
// Step 1: Prepare for the wizard...
|
||||||
|
//
|
||||||
|
void xatc_wizard_continue() {
|
||||||
|
// Store Bed-Leveling-State and disable
|
||||||
|
#if HAS_LEVELING
|
||||||
|
leveling_was_active = planner.leveling_active;
|
||||||
|
set_bed_leveling_enabled(false);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Home all axes
|
||||||
|
ui.defer_status_screen();
|
||||||
|
set_all_unhomed();
|
||||||
|
ui.goto_screen(xatc_wizard_homing);
|
||||||
|
queue.inject_P(G28_STR);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // X_AXIS_TWIST_COMPENSATION
|
||||||
Loading…
Reference in New Issue