Scott Lahteine
8 years ago
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#include "nozzle.h"
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#include "Marlin.h"
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#include "point_t.h"
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/**
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* @brief Stroke clean pattern
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* @details Wipes the nozzle back and forth in a linear movement
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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*/
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void Nozzle::stroke(
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__attribute__((unused)) point_t const &start,
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__attribute__((unused)) point_t const &end,
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__attribute__((unused)) uint8_t const &strokes
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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// Move to the starting point
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_z(start.z);
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// Start the stroke pattern
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for (uint8_t i = 0; i < (strokes >>1); i++) {
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do_blocking_move_to_xy(end.x, end.y);
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do_blocking_move_to_xy(start.x, start.y);
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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do_blocking_move_to(initial.x, initial.y, initial.z);
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Zig-zag clean pattern
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* @details Apply a zig-zag cleanning pattern
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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* @param objects number of objects to create
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*/
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void Nozzle::zigzag(
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__attribute__((unused)) point_t const &start,
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__attribute__((unused)) point_t const &end,
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__attribute__((unused)) uint8_t const &strokes,
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__attribute__((unused)) uint8_t const &objects
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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const float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length, // [twice the] Amplitude
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P = (nozzle_clean_horizontal ? nozzle_clean_length : nozzle_clean_height) / (objects << 1); // Period
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// Don't allow impossible triangles
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if (A <= 0.0f || P <= 0.0f ) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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for (uint8_t j = 0; j < strokes; j++) {
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for (uint8_t i = 0; i < (objects << 1); i++) {
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
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do_blocking_move_to_xy(x, y);
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if (i == 0) do_blocking_move_to_z(start.z);
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}
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for (int i = (objects << 1); i > -1; i--) {
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
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do_blocking_move_to_xy(x, y);
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}
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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do_blocking_move_to_z(initial.z);
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do_blocking_move_to_xy(initial.x, initial.y);
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Circular clean pattern
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* @details Apply a circular cleaning pattern
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*
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* @param start point_t defining the middle of circle
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* @param strokes number of strokes to execute
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* @param radius radius of circle
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*/
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void Nozzle::circle(
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__attribute__((unused)) point_t const &start,
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__attribute__((unused)) point_t const &middle,
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__attribute__((unused)) uint8_t const &strokes,
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__attribute__((unused)) float const &radius
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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if (strokes == 0) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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if (start.z <= current_position[Z_AXIS]) {
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// Order of movement is pretty darn important here
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_z(start.z);
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} else {
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do_blocking_move_to_z(start.z);
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do_blocking_move_to_xy(start.x, start.y);
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}
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float x, y;
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for (uint8_t s = 0; s < strokes; s++) {
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for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++) {
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x = middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
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y = middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
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do_blocking_move_to_xy(x, y);
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}
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}
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// Let's be safe
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do_blocking_move_to_xy(start.x, start.y);
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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if (start.z <= initial.z) {
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// As above order is important
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do_blocking_move_to_z(initial.z);
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do_blocking_move_to_xy(initial.x, initial.y);
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} else {
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do_blocking_move_to_xy(initial.x, initial.y);
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do_blocking_move_to_z(initial.z);
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}
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Clean the nozzle
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* @details Starts the selected clean procedure pattern
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*
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* @param pattern one of the available patterns
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* @param argument depends on the cleaning pattern
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*/
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void Nozzle::clean(
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__attribute__((unused)) uint8_t const &pattern,
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__attribute__((unused)) uint8_t const &strokes,
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__attribute__((unused)) float const &radius,
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__attribute__((unused)) uint8_t const &objects
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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#if ENABLED(DELTA)
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if (current_position[Z_AXIS] > delta_clip_start_height)
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do_blocking_move_to_z(delta_clip_start_height);
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#endif
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switch (pattern) {
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case 1:
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Nozzle::zigzag(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes, objects);
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break;
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case 2:
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Nozzle::circle(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
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break;
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default:
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Nozzle::stroke(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes);
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}
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#endif // NOZZLE_CLEAN_FEATURE
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}
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void Nozzle::park(
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__attribute__((unused)) uint8_t const &z_action
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) {
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#if ENABLED(NOZZLE_PARK_FEATURE)
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float const z = current_position[Z_AXIS];
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point_t const park = NOZZLE_PARK_POINT;
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switch(z_action) {
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case 1: // force Z-park height
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do_blocking_move_to_z(park.z);
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break;
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case 2: // Raise by Z-park height
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do_blocking_move_to_z(
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(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
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break;
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default: // Raise to Z-park height if lower
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if (current_position[Z_AXIS] < park.z)
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do_blocking_move_to_z(park.z);
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}
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do_blocking_move_to_xy(park.x, park.y);
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#endif // NOZZLE_PARK_FEATURE
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}
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