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Merge pull request #4370 from thinkyhead/rc_delta_fwd_kinematics

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Delta Forward Kinematics (and LOGICAL_POSITION)
2.0.x
Scott Lahteine 9 years ago committed by GitHub
parent 179e091473 6b8b458106
commit 6da3729531
5 changed files with 189 additions and 102 deletions
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5
.travis.yml
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@ -99,9 +99,9 @@ script:
- opt_enable FIX_MOUNTED_PROBE Z_SAFE_HOMING
- build_marlin
#
# ...with AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE
# ...with AUTO_BED_LEVELING_FEATURE, Z_MIN_PROBE_REPEATABILITY_TEST, & DEBUG_LEVELING_FEATURE
#
- opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE
- opt_enable AUTO_BED_LEVELING_FEATURE Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
- build_marlin
#
# Test a Sled Z Probe
@ -365,6 +365,7 @@ script:
# SCARA Config
#
- use_example_configs SCARA
- opt_enable AUTO_BED_LEVELING_FEATURE FIX_MOUNTED_PROBE USE_ZMIN_PLUG
- build_marlin
#
# tvrrug Config need to check board type for sanguino atmega644p

7
Marlin/Marlin.h
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@ -315,17 +315,16 @@ float code_value_temp_diff();
extern float delta_diagonal_rod_trim_tower_1;
extern float delta_diagonal_rod_trim_tower_2;
extern float delta_diagonal_rod_trim_tower_3;
void calculate_delta(float cartesian[3]);
void inverse_kinematics(const float cartesian[3]);
void recalc_delta_settings(float radius, float diagonal_rod);
float delta_safe_distance_from_top();
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
extern int delta_grid_spacing[2];
void adjust_delta(float cartesian[3]);
#endif
#elif ENABLED(SCARA)
extern float axis_scaling[3]; // Build size scaling
void calculate_delta(float cartesian[3]);
void calculate_SCARA_forward_Transform(float f_scara[3]);
void inverse_kinematics(const float cartesian[3]);
void forward_kinematics_SCARA(float f_scara[3]);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)

271
Marlin/Marlin_main.cpp
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@ -331,15 +331,13 @@ float position_shift[3] = { 0 };
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[3] = { 0 };
#define LOGICAL_POSITION(POS, AXIS) (POS + home_offset[AXIS] + position_shift[AXIS])
#define RAW_POSITION(POS, AXIS) (POS - home_offset[AXIS] - position_shift[AXIS])
#define RAW_CURRENT_POSITION(AXIS) (RAW_POSITION(current_position[AXIS], AXIS))
// Software Endstops. Default to configured limits.
float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
#if ENABLED(DELTA)
float delta_clip_start_height = Z_MAX_POS;
#endif
#if FAN_COUNT > 0
int fanSpeeds[FAN_COUNT] = { 0 };
@ -463,6 +461,7 @@ static uint8_t target_extruder;
#define TOWER_3 Z_AXIS
float delta[3] = { 0 };
float cartesian_position[3] = { 0 };
#define SIN_60 0.8660254037844386
#define COS_60 0.5
float endstop_adj[3] = { 0 };
@ -481,12 +480,13 @@ static uint8_t target_extruder;
float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
//float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
float delta_clip_start_height = Z_MAX_POS;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
int delta_grid_spacing[2] = { 0, 0 };
float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
#endif
float delta_safe_distance_from_top();
#else
static bool home_all_axis = true;
#endif
@ -564,6 +564,7 @@ void stop();
void get_available_commands();
void process_next_command();
void prepare_move_to_destination();
void set_current_from_steppers();
#if ENABLED(ARC_SUPPORT)
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
@ -614,7 +615,7 @@ static void report_current_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
#endif
calculate_delta(current_position);
inverse_kinematics(current_position);
planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_delta()
@ -1403,7 +1404,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
static float x_home_pos(int extruder) {
if (extruder == 0)
return base_home_pos(X_AXIS) + home_offset[X_AXIS];
return LOGICAL_POSITION(base_home_pos(X_AXIS), X_AXIS);
else
/**
* In dual carriage mode the extruder offset provides an override of the
@ -1438,7 +1439,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
* at the same positions relative to the machine.
*/
static void update_software_endstops(AxisEnum axis) {
float offs = home_offset[axis] + position_shift[axis];
float offs = LOGICAL_POSITION(0, axis);
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
@ -1509,7 +1510,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
if (active_extruder != 0)
current_position[X_AXIS] = x_home_pos(active_extruder);
else
current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
current_position[X_AXIS] = LOGICAL_POSITION(base_home_pos(X_AXIS), X_AXIS);
update_software_endstops(X_AXIS);
return;
}
@ -1520,7 +1521,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[3];
for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
for (uint8_t i = X_AXIS; i <= Z_AXIS; i++)
homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
@ -1529,24 +1531,13 @@ static void set_axis_is_at_home(AxisEnum axis) {
* Works out real Homeposition angles using inverse kinematics,
* and calculates homing offset using forward kinematics
*/
calculate_delta(homeposition);
// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
for (int i = 0; i < 2; i++) delta[i] -= home_offset[i];
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta);
calculate_SCARA_forward_Transform(delta);
// SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPAIR("Delta X=", delta[X_AXIS]);
// SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
current_position[axis] = delta[axis];
current_position[axis] = LOGICAL_POSITION(delta[axis], axis);
/**
* SCARA home positions are based on configuration since the actual
@ -1558,7 +1549,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
else
#endif
{
current_position[axis] = base_home_pos(axis) + home_offset[axis];
current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
update_software_endstops(axis);
#if HAS_BED_PROBE && Z_HOME_DIR < 0 && DISABLED(Z_MIN_PROBE_ENDSTOP)
@ -1659,7 +1650,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_move_to_destination_raw", destination);
#endif
refresh_cmd_timeout();
calculate_delta(destination);
inverse_kinematics(destination);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
set_current_to_destination();
}
@ -1787,7 +1778,7 @@ static void clean_up_after_endstop_or_probe_move() {
SERIAL_ECHOLNPGM(")");
}
#endif
float z_dest = home_offset[Z_AXIS] + z_raise;
float z_dest = LOGICAL_POSITION(z_raise, Z_AXIS);
if (zprobe_zoffset < 0)
z_dest -= zprobe_zoffset;
@ -2088,9 +2079,9 @@ static void clean_up_after_endstop_or_probe_move() {
}
#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
#define Z_FROM_STEPPERS() stepper.get_axis_position_mm(Z_AXIS)
#define SET_Z_FROM_STEPPERS() current_position[Z_AXIS] = LOGICAL_POSITION(stepper.get_axis_position_mm(Z_AXIS), Z_AXIS)
#endif
// Do a single Z probe and return with current_position[Z_AXIS]
@ -2111,7 +2102,7 @@ static void clean_up_after_endstop_or_probe_move() {
do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST);
endstops.hit_on_purpose();
current_position[Z_AXIS] = Z_FROM_STEPPERS();
SET_Z_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC();
// move up the retract distance
@ -2125,7 +2116,7 @@ static void clean_up_after_endstop_or_probe_move() {
// 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);
endstops.hit_on_purpose();
current_position[Z_AXIS] = Z_FROM_STEPPERS();
SET_Z_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2959,7 +2950,7 @@ inline void gcode_G28() {
if (home_all_axis || homeX || homeY) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
destination[Z_AXIS] = home_offset[Z_AXIS] + MIN_Z_HEIGHT_FOR_HOMING;
destination[Z_AXIS] = LOGICAL_POSITION(MIN_Z_HEIGHT_FOR_HOMING, Z_AXIS);
if (destination[Z_AXIS] > current_position[Z_AXIS]) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -3214,12 +3205,12 @@ inline void gcode_G28() {
;
line_to_current_position();
current_position[X_AXIS] = x + home_offset[X_AXIS];
current_position[Y_AXIS] = y + home_offset[Y_AXIS];
current_position[X_AXIS] = LOGICAL_POSITION(x, X_AXIS);
current_position[Y_AXIS] = LOGICAL_POSITION(y, Y_AXIS);
line_to_current_position();
#if Z_RAISE_BETWEEN_PROBINGS > 0 || MIN_Z_HEIGHT_FOR_HOMING > 0
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
current_position[Z_AXIS] = LOGICAL_POSITION(MESH_HOME_SEARCH_Z, Z_AXIS);
line_to_current_position();
#endif
@ -3637,14 +3628,14 @@ inline void gcode_G28() {
#endif
// Probe at 3 arbitrary points
float z_at_pt_1 = probe_pt( ABL_PROBE_PT_1_X + home_offset[X_AXIS],
ABL_PROBE_PT_1_Y + home_offset[Y_AXIS],
float z_at_pt_1 = probe_pt( LOGICAL_POSITION(ABL_PROBE_PT_1_X, X_AXIS),
LOGICAL_POSITION(ABL_PROBE_PT_1_Y, Y_AXIS),
stow_probe_after_each, verbose_level),
z_at_pt_2 = probe_pt( ABL_PROBE_PT_2_X + home_offset[X_AXIS],
ABL_PROBE_PT_2_Y + home_offset[Y_AXIS],
z_at_pt_2 = probe_pt( LOGICAL_POSITION(ABL_PROBE_PT_2_X, X_AXIS),
LOGICAL_POSITION(ABL_PROBE_PT_2_Y, Y_AXIS),
stow_probe_after_each, verbose_level),
z_at_pt_3 = probe_pt( ABL_PROBE_PT_3_X + home_offset[X_AXIS],
ABL_PROBE_PT_3_Y + home_offset[Y_AXIS],
z_at_pt_3 = probe_pt( LOGICAL_POSITION(ABL_PROBE_PT_3_X, X_AXIS),
LOGICAL_POSITION(ABL_PROBE_PT_3_Y, Y_AXIS),
stow_probe_after_each, verbose_level);
if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
@ -5168,9 +5159,9 @@ static void report_current_position() {
SERIAL_EOL;
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS] + home_offset[X_AXIS]);
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90);
SERIAL_EOL;
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
@ -5880,7 +5871,7 @@ inline void gcode_M303() {
//gcode_get_destination(); // For X Y Z E F
delta[X_AXIS] = delta_x;
delta[Y_AXIS] = delta_y;
calculate_SCARA_forward_Transform(delta);
forward_kinematics_SCARA(delta);
destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
prepare_move_to_destination();
@ -6068,18 +6059,9 @@ inline void gcode_M400() { stepper.synchronize(); }
void quickstop_stepper() {
stepper.quick_stop();
#if DISABLED(DELTA) && DISABLED(SCARA)
#if DISABLED(SCARA)
stepper.synchronize();
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
vector_3 pos = planner.adjusted_position(); // values directly from steppers...
current_position[X_AXIS] = pos.x;
current_position[Y_AXIS] = pos.y;
current_position[Z_AXIS] = pos.z;
#else
current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif
set_current_from_steppers();
sync_plan_position(); // ...re-apply to planner position
#endif
}
@ -6146,7 +6128,7 @@ inline void gcode_M428() {
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (axis_homed[i]) {
float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) / 2) ? base_home_pos(i) : 0,
diff = current_position[i] - base;
diff = current_position[i] - LOGICAL_POSITION(base, i);
if (diff > -20 && diff < 20) {
set_home_offset((AxisEnum)i, home_offset[i] - diff);
}
@ -6278,7 +6260,7 @@ inline void gcode_M503() {
// Define runplan for move axes
#if ENABLED(DELTA)
#define RUNPLAN(RATE_MM_S) calculate_delta(destination); \
#define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
#else
#define RUNPLAN(RATE_MM_S) line_to_destination(MMS_TO_MMM(RATE_MM_S));
@ -6400,7 +6382,7 @@ inline void gcode_M503() {
#if ENABLED(DELTA)
// Move XYZ to starting position, then E
calculate_delta(lastpos);
inverse_kinematics(lastpos);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
#else
@ -7740,7 +7722,13 @@ void clamp_to_software_endstops(float target[3]) {
delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
}
void calculate_delta(float cartesian[3]) {
void inverse_kinematics(const float in_cartesian[3]) {
const float cartesian[3] = {
RAW_POSITION(in_cartesian[X_AXIS], X_AXIS),
RAW_POSITION(in_cartesian[Y_AXIS], Y_AXIS),
RAW_POSITION(in_cartesian[Z_AXIS], Z_AXIS)
};
delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1
- sq(delta_tower1_x - cartesian[X_AXIS])
@ -7766,14 +7754,97 @@ void clamp_to_software_endstops(float target[3]) {
}
float delta_safe_distance_from_top() {
float cartesian[3] = { 0 };
calculate_delta(cartesian);
float cartesian[3] = {
LOGICAL_POSITION(0, X_AXIS),
LOGICAL_POSITION(0, Y_AXIS),
LOGICAL_POSITION(0, Z_AXIS)
};
inverse_kinematics(cartesian);
float distance = delta[TOWER_3];
cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
calculate_delta(cartesian);
cartesian[Y_AXIS] = LOGICAL_POSITION(DELTA_PRINTABLE_RADIUS, Y_AXIS);
inverse_kinematics(cartesian);
return abs(distance - delta[TOWER_3]);
}
void forward_kinematics_DELTA(float z1, float z2, float z3) {
//As discussed in Wikipedia "Trilateration"
//we are establishing a new coordinate
//system in the plane of the three carriage points.
//This system will have the origin at tower1 and
//tower2 is on the x axis. tower3 is in the X-Y
//plane with a Z component of zero. We will define unit
//vectors in this coordinate system in our original
//coordinate system. Then when we calculate the
//Xnew, Ynew and Znew values, we can translate back into
//the original system by moving along those unit vectors
//by the corresponding values.
// https://en.wikipedia.org/wiki/Trilateration
// Variable names matched to Marlin, c-version
// and avoiding a vector library
// by Andreas Hardtung 2016-06-7
// based on a Java function from
// "Delta Robot Kinematics by Steve Graves" V3
// Result is in cartesian_position[].
//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 };
//Get the Magnitude of vector.
float d = sqrt( p12[0]*p12[0] + p12[1]*p12[1] + p12[2]*p12[2] );
//Create unit vector by dividing by magnitude.
float ex[3] = { p12[0]/d, p12[1]/d, p12[2]/d };
//Now find vector from the origin of the new system to the third point.
float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
//Now use dot product to find the component of this vector on the X axis.
float i = ex[0]*p13[0] + ex[1]*p13[1] + ex[2]*p13[2];
//Now create a vector along the x axis that represents the x component of p13.
float iex[3] = { ex[0]*i, ex[1]*i, ex[2]*i };
//Now subtract the X component away from the original vector leaving only the Y component. We use the
//variable that will be the unit vector after we scale it.
float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2]};
//The magnitude of Y component
float j = sqrt(sq(ey[0]) + sq(ey[1]) + sq(ey[2]));
//Now make vector a unit vector
ey[0] /= j; ey[1] /= j; ey[2] /= j;
//The cross product of the unit x and y is the unit z
//float[] ez = vectorCrossProd(ex, ey);
float ez[3] = { ex[1]*ey[2] - ex[2]*ey[1], ex[2]*ey[0] - ex[0]*ey[2], ex[0]*ey[1] - ex[1]*ey[0] };
//Now we have the d, i and j values defined in Wikipedia.
//We can plug them into the equations defined in
//Wikipedia for Xnew, Ynew and Znew
float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + d*d)/(d*2);
float Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + i*i + j*j)/2 - i*Xnew) /j;
float Znew = sqrt(delta_diagonal_rod_2_tower_1 - Xnew*Xnew - Ynew*Ynew);
//Now we can start from the origin in the old coords and
//add vectors in the old coords that represent the
//Xnew, Ynew and Znew to find the point in the old system
cartesian_position[X_AXIS] = delta_tower1_x + ex[0]*Xnew + ey[0]*Ynew - ez[0]*Znew;
cartesian_position[Y_AXIS] = delta_tower1_y + ex[1]*Xnew + ey[1]*Ynew - ez[1]*Znew;
cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
};
void forward_kinematics_DELTA(float point[3]) {
forward_kinematics_DELTA(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]);
}
void set_cartesian_from_steppers() {
forward_kinematics_DELTA(stepper.get_axis_position_mm(X_AXIS),
stepper.get_axis_position_mm(Y_AXIS),
stepper.get_axis_position_mm(Z_AXIS));
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Adjust print surface height by linear interpolation over the bed_level array.
@ -7782,8 +7853,8 @@ void clamp_to_software_endstops(float target[3]) {
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
float h1 = 0.001 - half, h2 = half - 0.001,
grid_x = max(h1, min(h2, cartesian[X_AXIS] / delta_grid_spacing[0])),
grid_y = max(h1, min(h2, cartesian[Y_AXIS] / delta_grid_spacing[1]));
grid_x = max(h1, min(h2, RAW_POSITION(cartesian[X_AXIS], X_AXIS) / delta_grid_spacing[0])),
grid_y = max(h1, min(h2, RAW_POSITION(cartesian[Y_AXIS], Y_AXIS) / delta_grid_spacing[1]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
z1 = bed_level[floor_x + half][floor_y + half],
@ -7818,6 +7889,27 @@ void clamp_to_software_endstops(float target[3]) {
#endif // DELTA
void set_current_from_steppers() {
#if ENABLED(DELTA)
set_cartesian_from_steppers();
current_position[X_AXIS] = cartesian_position[X_AXIS];
current_position[Y_AXIS] = cartesian_position[Y_AXIS];
current_position[Z_AXIS] = cartesian_position[Z_AXIS];
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
vector_3 pos = planner.adjusted_position(); // values directly from steppers...
current_position[X_AXIS] = pos.x;
current_position[Y_AXIS] = pos.y;
current_position[Z_AXIS] = pos.z;
#else
current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS); // CORE handled transparently
current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif
for (uint8_t i = X_AXIS; i <= Z_AXIS; i++)
current_position[i] += LOGICAL_POSITION(0, i);
}
#if ENABLED(MESH_BED_LEVELING)
// This function is used to split lines on mesh borders so each segment is only part of one mesh area
@ -7846,14 +7938,14 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_
int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) {
memcpy(end, destination, sizeof(end));
destination[X_AXIS] = mbl.get_probe_x(gcx) + home_offset[X_AXIS] + position_shift[X_AXIS];
destination[X_AXIS] = LOGICAL_POSITION(mbl.get_probe_x(gcx), X_AXIS);
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = MBL_SEGMENT_END(Y);
CBI(x_splits, gcx);
}
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
memcpy(end, destination, sizeof(end));
destination[Y_AXIS] = mbl.get_probe_y(gcy) + home_offset[Y_AXIS] + position_shift[Y_AXIS];
destination[Y_AXIS] = LOGICAL_POSITION(mbl.get_probe_y(gcy), Y_AXIS);
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = MBL_SEGMENT_END(X);
CBI(y_splits, gcy);
@ -7879,7 +7971,7 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_
#if ENABLED(DELTA) || ENABLED(SCARA)
inline bool prepare_delta_move_to(float target[NUM_AXIS]) {
inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
float difference[NUM_AXIS];
for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
@ -7902,14 +7994,14 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_
for (int8_t i = 0; i < NUM_AXIS; i++)
target[i] = current_position[i] + difference[i] * fraction;
calculate_delta(target);
inverse_kinematics(target);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
if (!bed_leveling_in_progress) adjust_delta(target);
#endif
//DEBUG_POS("prepare_delta_move_to", target);
//DEBUG_POS("prepare_delta_move_to", delta);
//DEBUG_POS("prepare_kinematic_move_to", target);
//DEBUG_POS("prepare_kinematic_move_to", delta);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate_mm_s, active_extruder);
}
@ -7918,10 +8010,6 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_
#endif // DELTA || SCARA
#if ENABLED(SCARA)
inline bool prepare_scara_move_to(float target[NUM_AXIS]) { return prepare_delta_move_to(target); }
#endif
#if ENABLED(DUAL_X_CARRIAGE)
inline bool prepare_move_to_destination_dualx() {
@ -8020,10 +8108,8 @@ void prepare_move_to_destination() {
prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
#endif
#if ENABLED(SCARA)
if (!prepare_scara_move_to(destination)) return;
#elif ENABLED(DELTA)
if (!prepare_delta_move_to(destination)) return;
#if ENABLED(DELTA) || ENABLED(SCARA)
if (!prepare_kinematic_move_to(destination)) return;
#else
#if ENABLED(DUAL_X_CARRIAGE)
if (!prepare_move_to_destination_dualx()) return;
@ -8159,8 +8245,8 @@ void prepare_move_to_destination() {
clamp_to_software_endstops(arc_target);
#if ENABLED(DELTA) || ENABLED(SCARA)
calculate_delta(arc_target);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
inverse_kinematics(arc_target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(arc_target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
@ -8171,8 +8257,8 @@ void prepare_move_to_destination() {
// Ensure last segment arrives at target location.
#if ENABLED(DELTA) || ENABLED(SCARA)
calculate_delta(target);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
inverse_kinematics(target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
@ -8239,7 +8325,7 @@ void prepare_move_to_destination() {
#if ENABLED(SCARA)
void calculate_SCARA_forward_Transform(float f_scara[3]) {
void forward_kinematics_SCARA(float f_scara[3]) {
// Perform forward kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
@ -8265,16 +8351,17 @@ void prepare_move_to_destination() {
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}
void calculate_delta(float cartesian[3]) {
//reverse kinematics.
// Perform reversed kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
void inverse_kinematics(const float cartesian[3]) {
// Inverse kinematics.
// Perform SCARA IK and place results in delta[3].
// The maths and first version were done by QHARLEY.
// Integrated, tweaked by Joachim Cerny in June 2014.
float SCARA_pos[2];
static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
SCARA_pos[X_AXIS] = RAW_POSITION(cartesian[X_AXIS], X_AXIS) * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
SCARA_pos[Y_AXIS] = RAW_POSITION(cartesian[Y_AXIS], Y_AXIS) * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
#if (Linkage_1 == Linkage_2)
SCARA_C2 = ((sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS])) / (2 * (float)L1_2)) - 1;
@ -8292,7 +8379,7 @@ void prepare_move_to_destination() {
delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
delta[Z_AXIS] = cartesian[Z_AXIS];
delta[Z_AXIS] = RAW_POSITION(cartesian[Z_AXIS], Z_AXIS);
/**
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);

4
Marlin/planner_bezier.cpp
Unescape Escape View File

@ -189,8 +189,8 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
clamp_to_software_endstops(bez_target);
#if ENABLED(DELTA) || ENABLED(SCARA)
calculate_delta(bez_target);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
inverse_kinematics(bez_target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(bez_target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], bez_target[E_AXIS], fr_mm_s, extruder);

4
Marlin/ultralcd.cpp
Unescape Escape View File

@ -564,7 +564,7 @@ void kill_screen(const char* lcd_msg) {
inline void line_to_current(AxisEnum axis) {
#if ENABLED(DELTA)
calculate_delta(current_position);
inverse_kinematics(current_position);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
#else // !DELTA
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
@ -1301,7 +1301,7 @@ void kill_screen(const char* lcd_msg) {
inline void manage_manual_move() {
if (manual_move_axis != (int8_t)NO_AXIS && ELAPSED(millis(), manual_move_start_time) && !planner.is_full()) {
#if ENABLED(DELTA)
calculate_delta(current_position);
inverse_kinematics(current_position);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
#else
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);

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