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Tower angles

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Adding '7-point' tower angle correction calibration
2.0.x
LVD-AC 8 years ago committed by teemuatlut
parent 76ec7a0f80
commit 004928148c
2 changed files with 47 additions and 12 deletions
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57
Marlin/Marlin_main.cpp
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@ -5021,7 +5021,9 @@ inline void gcode_G28() {
float e_old[XYZ], float e_old[XYZ],
dr_old = delta_radius, dr_old = delta_radius,
zh_old = home_offset[Z_AXIS]; zh_old = home_offset[Z_AXIS],
alpha_old = delta_tower_angle_trim[A_AXIS],
beta_old = delta_tower_angle_trim[B_AXIS];
COPY(e_old,endstop_adj); COPY(e_old,endstop_adj);
// print settings // print settings
@ -5032,7 +5034,7 @@ inline void gcode_G28() {
SERIAL_EOL; SERIAL_EOL;
LCD_MESSAGEPGM("Checking... AC"); LCD_MESSAGEPGM("Checking... AC");
SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (abs(probe_points) > 1) { if (abs(probe_points) > 1) {
SERIAL_PROTOCOLPGM(" Ex:"); SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+'); if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
@ -5046,6 +5048,16 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
} }
SERIAL_EOL; SERIAL_EOL;
if (probe_points > 2) {
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ty:");
if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL;
}
#if ENABLED(Z_PROBE_SLED) #if ENABLED(Z_PROBE_SLED)
DEPLOY_PROBE(); DEPLOY_PROBE();
@ -5121,11 +5133,15 @@ inline void gcode_G28() {
COPY(e_old, endstop_adj); COPY(e_old, endstop_adj);
dr_old = delta_radius; dr_old = delta_radius;
zh_old = home_offset[Z_AXIS]; zh_old = home_offset[Z_AXIS];
alpha_old = delta_tower_angle_trim[A_AXIS];
beta_old = delta_tower_angle_trim[B_AXIS];
float e_delta[XYZ] = { 0.0 }, r_delta = 0.0; float e_delta[XYZ] = { 0.0 }, r_delta = 0.0,
t_alpha = 0.0, t_beta = 0.0;
const float r_diff = delta_radius - delta_calibration_radius, const float r_diff = delta_radius - delta_calibration_radius,
h_factor = 1.00 + r_diff * 0.001, h_factor = 1.00 + r_diff * 0.001,
r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)); //2.25 for r_diff = 20mm r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
a_factor = 100.0 / delta_calibration_radius;
#define ZP(N,I) ((N) * z_at_pt[I]) #define ZP(N,I) ((N) * z_at_pt[I])
#define Z1000(I) ZP(1.00, I) #define Z1000(I) ZP(1.00, I)
@ -5136,6 +5152,8 @@ inline void gcode_G28() {
#define Z2250(I) ZP(r_factor, I) #define Z2250(I) ZP(r_factor, I)
#define Z0750(I) ZP(r_factor / 3.00, I) #define Z0750(I) ZP(r_factor / 3.00, I)
#define Z0375(I) ZP(r_factor / 6.00, I) #define Z0375(I) ZP(r_factor / 6.00, I)
#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
switch (probe_points) { switch (probe_points) {
case 1: case 1:
@ -5151,10 +5169,10 @@ inline void gcode_G28() {
break; break;
case -2: case -2:
e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3); e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3);
e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3); e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3);
e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3); e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3);
r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3); r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3);
break; break;
default: default:
@ -5162,6 +5180,8 @@ inline void gcode_G28() {
e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3); e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3); e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3); r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
t_beta = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3);
break; break;
} }
@ -5173,6 +5193,9 @@ inline void gcode_G28() {
home_offset[Z_AXIS] -= z_temp; home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp; LOOP_XYZ(i) endstop_adj[i] -= z_temp;
delta_tower_angle_trim[A_AXIS] += t_alpha;
delta_tower_angle_trim[B_AXIS] -= t_beta;
recalc_delta_settings(delta_radius, delta_diagonal_rod); recalc_delta_settings(delta_radius, delta_diagonal_rod);
} }
else { // !iterate else { // !iterate
@ -5180,6 +5203,8 @@ inline void gcode_G28() {
COPY(endstop_adj, e_old); COPY(endstop_adj, e_old);
delta_radius = dr_old; delta_radius = dr_old;
home_offset[Z_AXIS] = zh_old; home_offset[Z_AXIS] = zh_old;
delta_tower_angle_trim[A_AXIS] = alpha_old;
delta_tower_angle_trim[B_AXIS] = beta_old;
recalc_delta_settings(delta_radius, delta_diagonal_rod); recalc_delta_settings(delta_radius, delta_diagonal_rod);
} }
@ -5219,7 +5244,7 @@ inline void gcode_G28() {
if (test_precision != 0.0) { // !forced end if (test_precision != 0.0) { // !forced end
if (zero_std_dev >= test_precision) { // end iterations if (zero_std_dev >= test_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK"); SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOLLNPGM(" rolling back 1"); SERIAL_PROTOCOLLNPGM(" rolling back.");
LCD_MESSAGEPGM("Calibration OK"); LCD_MESSAGEPGM("Calibration OK");
SERIAL_EOL; SERIAL_EOL;
} }
@ -5228,12 +5253,12 @@ inline void gcode_G28() {
if (iterations < 31) if (iterations < 31)
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations); sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
SERIAL_PROTOCOL(mess); SERIAL_PROTOCOL(mess);
SERIAL_PROTOCOLPGM(" std dev:"); SERIAL_PROTOCOLPGM(" std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3); SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL; SERIAL_EOL;
lcd_setstatus(mess); lcd_setstatus(mess);
} }
SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (abs(probe_points) > 1) { if (abs(probe_points) > 1) {
SERIAL_PROTOCOLPGM(" Ex:"); SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+'); if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
@ -5247,6 +5272,16 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
} }
SERIAL_EOL; SERIAL_EOL;
if (probe_points > 2) {
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ty:");
if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL;
}
if (zero_std_dev >= test_precision) if (zero_std_dev >= test_precision)
SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h"); SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h");
} }

2
Marlin/configuration_store.cpp
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@ -1477,7 +1477,7 @@ void MarlinSettings::reset() {
SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius)); SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius));
SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS])); SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS]));
SERIAL_ECHOPAIR(" S", delta_segments_per_second); SERIAL_ECHOPAIR(" S", delta_segments_per_second);
SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius); SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius));
SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS])); SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS])); SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]));
SERIAL_ECHOPAIR(" Z", 0.00); SERIAL_ECHOPAIR(" Z", 0.00);

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