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Merge pull request #7221 from thinkyhead/bf_fix_reachable

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Fix for issues #6997 and #7152
2.0.x
Scott Lahteine 7 years ago committed by GitHub
parent 57fff2e95e 567941e341
commit 760bf49a00
8 changed files with 210 additions and 215 deletions
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72
Marlin/Marlin_main.cpp
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@ -2299,18 +2299,23 @@ static void clean_up_after_endstop_or_probe_move() {
* - Raise to the BETWEEN height * - Raise to the BETWEEN height
* - Return the probed Z position * - Return the probed Z position
*/ */
float probe_pt(const float &x, const float &y, const bool stow, const uint8_t verbose_level) { float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable=true) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", x); SERIAL_ECHOPAIR(">>> probe_pt(", lx);
SERIAL_ECHOPAIR(", ", y); SERIAL_ECHOPAIR(", ", ly);
SERIAL_ECHOPAIR(", ", stow ? "" : "no "); SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
SERIAL_ECHOLNPGM("stow)"); SERIAL_ECHOLNPGM("stow)");
DEBUG_POS("", current_position); DEBUG_POS("", current_position);
} }
#endif #endif
if (!position_is_reachable_by_probe_xy(x, y)) return NAN; const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
if (printable)
if (!position_is_reachable_by_probe_xy(lx, ly)) return NAN;
else
if (!position_is_reachable_xy(nx, ny)) return NAN;
const float old_feedrate_mm_s = feedrate_mm_s; const float old_feedrate_mm_s = feedrate_mm_s;
@ -2325,7 +2330,7 @@ static void clean_up_after_endstop_or_probe_move() {
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S; feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the given XY // Move the probe to the given XY
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); do_blocking_move_to_xy(nx, ny);
if (DEPLOY_PROBE()) return NAN; if (DEPLOY_PROBE()) return NAN;
@ -2338,9 +2343,9 @@ static void clean_up_after_endstop_or_probe_move() {
if (verbose_level > 2) { if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Bed X: "); SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOL_F(x, 3); SERIAL_PROTOCOL_F(lx, 3);
SERIAL_PROTOCOLPGM(" Y: "); SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL_F(y, 3); SERIAL_PROTOCOL_F(ly, 3);
SERIAL_PROTOCOLPGM(" Z: "); SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL_F(measured_z, 3); SERIAL_PROTOCOL_F(measured_z, 3);
SERIAL_EOL(); SERIAL_EOL();
@ -5136,7 +5141,7 @@ void home_all_axes() { gcode_G28(true); }
* P3 Probe all positions: center, towers and opposite towers. Set all. * P3 Probe all positions: center, towers and opposite towers. Set all.
* P4-P7 Probe all positions at different locations and average them. * P4-P7 Probe all positions at different locations and average them.
* *
* T Don't calibrate tower angle corrections * T0 Don't calibrate tower angle corrections
* *
* Cn.nn Calibration precision; when omitted calibrates to maximum precision * Cn.nn Calibration precision; when omitted calibrates to maximum precision
* *
@ -5185,7 +5190,7 @@ void home_all_axes() { gcode_G28(true); }
return; return;
} }
const bool towers_set = !parser.boolval('T'), const bool towers_set = parser.boolval('T', true),
stow_after_each = parser.boolval('E'), stow_after_each = parser.boolval('E'),
_1p_calibration = probe_points == 1, _1p_calibration = probe_points == 1,
_4p_calibration = probe_points == 2, _4p_calibration = probe_points == 2,
@ -5198,20 +5203,6 @@ void home_all_axes() { gcode_G28(true); }
_7p_quadruple_circle = probe_points == 7, _7p_quadruple_circle = probe_points == 7,
_7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle, _7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
_7p_intermed_points = _7p_calibration && !_7p_half_circle; _7p_intermed_points = _7p_calibration && !_7p_half_circle;
if (!_1p_calibration) { // test if the outer radius is reachable
const float circles = (_7p_quadruple_circle ? 1.5 :
_7p_triple_circle ? 1.0 :
_7p_double_circle ? 0.5 : 0),
radius = (1 + circles * 0.1) * delta_calibration_radius;
for (uint8_t axis = 1; axis < 13; ++axis) {
if (!position_is_reachable_xy(cos(RADIANS(180 + 30 * axis)) * radius, sin(RADIANS(180 + 30 * axis)) * radius)) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return;
}
}
}
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h"; const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER), const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
dy = (Y_PROBE_OFFSET_FROM_EXTRUDER); dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
@ -5230,6 +5221,19 @@ void home_all_axes() { gcode_G28(true); }
alpha_old = delta_tower_angle_trim[A_AXIS], alpha_old = delta_tower_angle_trim[A_AXIS],
beta_old = delta_tower_angle_trim[B_AXIS]; beta_old = delta_tower_angle_trim[B_AXIS];
if (!_1p_calibration) { // test if the outer radius is reachable
const float circles = (_7p_quadruple_circle ? 1.5 :
_7p_triple_circle ? 1.0 :
_7p_double_circle ? 0.5 : 0),
r = (1 + circles * 0.1) * delta_calibration_radius;
for (uint8_t axis = 1; axis < 13; ++axis) {
const float a = RADIANS(180 + 30 * axis);
if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return;
}
}
}
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
stepper.synchronize(); stepper.synchronize();
@ -5269,13 +5273,11 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_EOL(); SERIAL_EOL();
} }
home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1); // 1st probe to set height home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
do { do {
float z_at_pt[13] = { 0.0 }, S1 = 0.0, S2 = 0.0; float z_at_pt[13] = { 0.0 };
int16_t N = 0;
test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev; test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
@ -5284,12 +5286,12 @@ void home_all_axes() { gcode_G28(true); }
// Probe the points // Probe the points
if (!_7p_half_circle && !_7p_triple_circle) { // probe the center if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1); z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
} }
if (_7p_calibration) { // probe extra center points if (_7p_calibration) { // probe extra center points
for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) { for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1; const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1); z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
} }
z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points); z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
} }
@ -5305,19 +5307,19 @@ void home_all_axes() { gcode_G28(true); }
for (float circles = -offset_circles ; circles <= offset_circles; circles++) { for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
const float a = RADIANS(180 + 30 * axis), const float a = RADIANS(180 + 30 * axis),
r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1)); r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1); z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
} }
zig_zag = !zig_zag; zig_zag = !zig_zag;
z_at_pt[axis] /= (2 * offset_circles + 1); z_at_pt[axis] /= (2 * offset_circles + 1);
} }
} }
if (_7p_intermed_points) // average intermediates to tower and opposites if (_7p_intermed_points) // average intermediates to tower and opposites
for (uint8_t axis = 1; axis <= 11; axis += 2) for (uint8_t axis = 1; axis < 13; axis += 2)
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0; z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
S1 += z_at_pt[0]; float S1 = z_at_pt[0],
S2 += sq(z_at_pt[0]); S2 = sq(z_at_pt[0]);
N++; int16_t N = 1;
if (!_1p_calibration) // std dev from zero plane if (!_1p_calibration) // std dev from zero plane
for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) { for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
S1 += z_at_pt[axis]; S1 += z_at_pt[axis];

52
Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
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@ -461,47 +461,51 @@
// and processor overload (too many expensive sqrt calls). // and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160 #define DELTA_SEGMENTS_PER_SECOND 160
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them // After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 218.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 100.00 //mm Get this value from auto calibrate
// height from z=0 to home position
#define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0
// Delta calibration menu // Delta calibration menu
// uncomment to add three points calibration menu option. // uncomment to add three points calibration menu option.
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
#define DELTA_CALIBRATION_MENU #define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_AUTO_CALIBRATION #define DELTA_AUTO_CALIBRATION
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 // set the default number of probe points : n*n (-7 -> +7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
#endif #endif
// After homing move down to a height where XY movement is unconstrained #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
#define DELTA_HOME_TO_SAFE_ZONE // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 73.5 // mm
#endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0 // mm
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate // Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 218.0 // mm
// height from z=0 to home position
#define DELTA_HEIGHT 295.00 // get this value from auto calibrate
#define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 101.0 //mm Get this value from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer // measured in degrees anticlockwise looking from above the printer
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
// delta radius and diaginal rod adjustments measured in mm // delta radius and diaginal rod adjustments measured in mm
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0} //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0} //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
#endif #endif

59
Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
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@ -461,54 +461,51 @@
// and processor overload (too many expensive sqrt calls). // and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160 #define DELTA_SEGMENTS_PER_SECOND 160
// Center-to-center distance of the holes in the diagonal push rods. // After homing move down to a height where XY movement is unconstrained
#define DELTA_DIAGONAL_ROD 218.0 // mm //#define DELTA_HOME_TO_SAFE_ZONE
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 150.0 // mm
// Horizontal offset of the universal joints on the end effector.
#define DELTA_EFFECTOR_OFFSET 24.0 // mm
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 22.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
#define DELTA_HEIGHT 280 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0
// Delta calibration menu // Delta calibration menu
// uncomment to add three points calibration menu option. // uncomment to add three points calibration menu option.
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
#endif #endif
// After homing move down to a height where XY movement is unconstrained #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
//#define DELTA_HOME_TO_SAFE_ZONE // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 73.5 // mm
#endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0 // mm
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 218.0 // mm
// height from z=0 to home position
#define DELTA_HEIGHT 280.00 // get this value from auto calibrate
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 101.0 //mm Get this value from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer // measured in degrees anticlockwise looking from above the printer
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
// delta radius and diaginal rod adjustments measured in mm // delta radius and diaginal rod adjustments measured in mm
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0} //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0} //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
#endif #endif

60
Marlin/example_configurations/delta/generic/Configuration.h
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@ -451,53 +451,51 @@
// and processor overload (too many expensive sqrt calls). // and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 200 #define DELTA_SEGMENTS_PER_SECOND 200
// Center-to-center distance of the holes in the diagonal push rods. // After homing move down to a height where XY movement is unconstrained
#define DELTA_DIAGONAL_ROD 250.0 // mm //#define DELTA_HOME_TO_SAFE_ZONE
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 175.0 // mm
// Horizontal offset of the universal joints on the end effector.
#define DELTA_EFFECTOR_OFFSET 33.0 // mm
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 18.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
#define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0
// Delta calibration menu // Delta calibration menu
// uncomment to add three points calibration menu option.
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
#endif #endif
// After homing move down to a height where XY movement is unconstrained #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
//#define DELTA_HOME_TO_SAFE_ZONE // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // mm
#endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0 // mm
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 250.0 // mm
// height from z=0 to home position
#define DELTA_HEIGHT 250.00 // get this value from auto calibrate
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 124.0 //mm Get this value from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer // measured in degrees anticlockwise looking from above the printer
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
// delta radius and diaginal rod adjustments measured in mm // delta radius and diaginal rod adjustments measured in mm
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0} //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0} //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
#endif #endif

60
Marlin/example_configurations/delta/kossel_mini/Configuration.h
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@ -451,53 +451,51 @@
// and processor overload (too many expensive sqrt calls). // and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 200 #define DELTA_SEGMENTS_PER_SECOND 200
// Center-to-center distance of the holes in the diagonal push rods. // After homing move down to a height where XY movement is unconstrained
#define DELTA_DIAGONAL_ROD 215.0 // mm //#define DELTA_HOME_TO_SAFE_ZONE
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 145.0 // mm
// Horizontal offset of the universal joints on the end effector.
#define DELTA_EFFECTOR_OFFSET 19.9 // mm
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 19.5 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
#define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 90.0
// Delta calibration menu // Delta calibration menu
// uncomment to add three points calibration menu option.
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
#endif #endif
// After homing move down to a height where XY movement is unconstrained #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
//#define DELTA_HOME_TO_SAFE_ZONE // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 78.0 // mm
#endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 90.0 // mm
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 215.0 // mm
// height from z=0 to home position
#define DELTA_HEIGHT 250.00 // get this value from auto calibrate
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 105.2 //mm Get this value from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer // measured in degrees anticlockwise looking from above the printer
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
// delta radius and diaginal rod adjustments measured in mm // delta radius and diaginal rod adjustments measured in mm
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0} //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0} //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
#endif #endif

60
Marlin/example_configurations/delta/kossel_pro/Configuration.h
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// and processor overload (too many expensive sqrt calls). // and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160 #define DELTA_SEGMENTS_PER_SECOND 160
// Center-to-center distance of the holes in the diagonal push rods. // After homing move down to a height where XY movement is unconstrained
#define DELTA_DIAGONAL_ROD 301.0 // mm //#define DELTA_HOME_TO_SAFE_ZONE
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 212.357 // mm
// Horizontal offset of the universal joints on the end effector.
#define DELTA_EFFECTOR_OFFSET 30.0 // mm
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 30.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
#define DELTA_HEIGHT 277 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 127.0
// Delta calibration menu // Delta calibration menu
// uncomment to add three points calibration menu option.
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
#endif #endif
// After homing move down to a height where XY movement is unconstrained #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
//#define DELTA_HOME_TO_SAFE_ZONE // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 110.0 // mm
#endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 127.0 // mm
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 301.0 // mm
// height from z=0 to home position
#define DELTA_HEIGHT 277.00 // get this value from auto calibrate
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 152.357 //mm Get this value from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer // measured in degrees anticlockwise looking from above the printer
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
// delta radius and diaginal rod adjustments measured in mm // delta radius and diaginal rod adjustments measured in mm
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0} //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0} //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
#endif #endif

60
Marlin/example_configurations/delta/kossel_xl/Configuration.h
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// and processor overload (too many expensive sqrt calls). // and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160 #define DELTA_SEGMENTS_PER_SECOND 160
// Center-to-center distance of the holes in the diagonal push rods. // After homing move down to a height where XY movement is unconstrained
#define DELTA_DIAGONAL_ROD 317.3 + 2.5 // mm //#define DELTA_HOME_TO_SAFE_ZONE
// Horizontal offset from middle of printer to smooth rod center.
#define DELTA_SMOOTH_ROD_OFFSET 220.1 // mm
// Horizontal offset of the universal joints on the end effector.
#define DELTA_EFFECTOR_OFFSET 24.0 // mm
// Horizontal offset of the universal joints on the carriages.
#define DELTA_CARRIAGE_OFFSET 22.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
#define DELTA_HEIGHT 380 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0
// Delta calibration menu // Delta calibration menu
// uncomment to add three points calibration menu option.
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
#endif #endif
// After homing move down to a height where XY movement is unconstrained #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
//#define DELTA_HOME_TO_SAFE_ZONE // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // mm
#endif
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0 // mm
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 319.5 // mm
// height from z=0 to home position
#define DELTA_HEIGHT 380.00 // get this value from auto calibrate
#define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 174.1 //mm Get this value from auto calibrate
// Trim adjustments for individual towers // Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer // measured in degrees anticlockwise looking from above the printer
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
// delta radius and diaginal rod adjustments measured in mm // delta radius and diaginal rod adjustments measured in mm
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0} //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0} //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
#endif #endif

2
Marlin/ubl_G29.cpp
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extern float meshedit_done; extern float meshedit_done;
extern long babysteps_done; extern long babysteps_done;
extern float probe_pt(const float &x, const float &y, const bool, const uint8_t); extern float probe_pt(const float &lx, const float &ly, const bool, const uint8_t, const bool=true);
extern bool set_probe_deployed(bool); extern bool set_probe_deployed(bool);
extern void set_bed_leveling_enabled(bool); extern void set_bed_leveling_enabled(bool);
typedef void (*screenFunc_t)(); typedef void (*screenFunc_t)();

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