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@ -19,52 +19,48 @@
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "Marlin.h"
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "Marlin.h"
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#include "UBL.h"
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#include "planner.h"
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#include <avr/io.h>
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#include <math.h>
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extern void set_current_to_destination();
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extern bool G26_Debug_flag;
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void debug_current_and_destination(char *title);
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void wait_for_button_press();
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extern void debug_current_and_destination(char *title);
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void UBL_line_to_destination(const float &x_end, const float &y_end, const float &z_end, const float &e_end, const float &feed_rate, uint8_t extruder) {
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void ubl_line_to_destination(const float &x_end, const float &y_end, const float &z_end, const float &e_end, const float &feed_rate, uint8_t extruder) {
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int cell_start_xi, cell_start_yi, cell_dest_xi, cell_dest_yi;
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int left_flag, down_flag;
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int current_xi, current_yi;
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int dxi, dyi, xi_cnt, yi_cnt;
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bool use_X_dist, inf_normalized_flag, inf_m_flag;
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float x_start, y_start;
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float x, y, z1, z2, z0 /*, z_optimized */;
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float next_mesh_line_x, next_mesh_line_y, a0ma1diva2ma1;
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float on_axis_distance, e_normalized_dist, e_position, e_start, z_normalized_dist, z_position, z_start;
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float dx, dy, adx, ady, m, c;
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int cell_start_xi, cell_start_yi, cell_dest_xi, cell_dest_yi,
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current_xi, current_yi,
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dxi, dyi, xi_cnt, yi_cnt;
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float x_start, y_start,
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x, y, z1, z2, z0 /*, z_optimized */,
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next_mesh_line_x, next_mesh_line_y, a0ma1diva2ma1,
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on_axis_distance, e_normalized_dist, e_position, e_start, z_normalized_dist, z_position, z_start,
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dx, dy, adx, ady, m, c;
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//
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// Much of the nozzle movement will be within the same cell. So we will do as little computation
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// as possible to determine if this is the case. If this move is within the same cell, we will
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// just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
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//
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/**
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* Much of the nozzle movement will be within the same cell. So we will do as little computation
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* as possible to determine if this is the case. If this move is within the same cell, we will
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* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
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*/
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x_start = current_position[X_AXIS];
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y_start = current_position[Y_AXIS];
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z_start = current_position[Z_AXIS];
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e_start = current_position[E_AXIS];
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cell_start_xi = blm.get_cell_index_x(x_start);
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cell_start_yi = blm.get_cell_index_y(y_start);
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cell_dest_xi = blm.get_cell_index_x(x_end);
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cell_dest_yi = blm.get_cell_index_y(y_end);
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cell_start_xi = ubl.get_cell_index_x(x_start);
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cell_start_yi = ubl.get_cell_index_y(y_start);
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cell_dest_xi = ubl.get_cell_index_x(x_end);
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cell_dest_yi = ubl.get_cell_index_y(y_end);
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if (G26_Debug_flag!=0) {
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SERIAL_ECHOPGM(" UBL_line_to_destination(xe=");
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if (g26_debug_flag) {
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SERIAL_ECHOPGM(" ubl_line_to_destination(xe=");
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SERIAL_ECHO(x_end);
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SERIAL_ECHOPGM(", ye=");
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SERIAL_ECHO(y_end);
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@ -73,58 +69,64 @@
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SERIAL_ECHOPGM(", ee=");
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SERIAL_ECHO(e_end);
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SERIAL_ECHOPGM(")\n");
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debug_current_and_destination( (char *) "Start of UBL_line_to_destination()");
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debug_current_and_destination((char*)"Start of ubl_line_to_destination()");
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}
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if ((cell_start_xi == cell_dest_xi) && (cell_start_yi == cell_dest_yi)) { // if the whole move is within the same cell,
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// we don't need to break up the move
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//
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// If we are moving off the print bed, we are going to allow the move at this level.
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// But we detect it and isolate it. For now, we just pass along the request.
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//
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if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
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/**
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* we don't need to break up the move
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*
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* If we are moving off the print bed, we are going to allow the move at this level.
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* But we detect it and isolate it. For now, we just pass along the request.
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*/
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if (cell_dest_xi < 0 || cell_dest_yi < 0 || cell_dest_xi >= UBL_MESH_NUM_X_POINTS || cell_dest_yi >= UBL_MESH_NUM_Y_POINTS) {
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// Note: There is no Z Correction in this case. We are off the grid and don't know what
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// a reasonable correction would be.
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planner.buffer_line(x_end, y_end, z_end + blm.state.z_offset, e_end, feed_rate, extruder);
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planner.buffer_line(x_end, y_end, z_end + ubl.state.z_offset, e_end, feed_rate, extruder);
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set_current_to_destination();
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if (G26_Debug_flag!=0) {
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debug_current_and_destination( (char *) "out of bounds in UBL_line_to_destination()");
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}
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if (g26_debug_flag)
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debug_current_and_destination((char*)"out of bounds in ubl_line_to_destination()");
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return;
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}
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// we can optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to
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// generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function.
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// We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
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// We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And,
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// instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
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// to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
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FINAL_MOVE:
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a0ma1diva2ma1 = (x_end - mesh_index_to_X_location[cell_dest_xi]) * (float) (1.0 / MESH_X_DIST);
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z1 = z_values[cell_dest_xi][cell_dest_yi] +
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(z_values[cell_dest_xi + 1][cell_dest_yi] - z_values[cell_dest_xi][cell_dest_yi]) * a0ma1diva2ma1;
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/**
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* Optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to
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* generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function.
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* We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
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* We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And,
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* instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
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* to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
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*/
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a0ma1diva2ma1 = (x_end - mesh_index_to_x_location[cell_dest_xi]) * 0.1 * (MESH_X_DIST);
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z2 = z_values[cell_dest_xi][cell_dest_yi+1] +
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(z_values[cell_dest_xi+1][cell_dest_yi+1] - z_values[cell_dest_xi][cell_dest_yi+1]) * a0ma1diva2ma1;
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z1 = z_values[cell_dest_xi ][cell_dest_yi ] + a0ma1diva2ma1 *
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(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]);
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z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + a0ma1diva2ma1 *
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(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
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// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
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// are going to apply the Y-Distance into the cell to interpolate the final Z correction.
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a0ma1diva2ma1 = (y_end - mesh_index_to_Y_location[cell_dest_yi]) * (float) (1.0 / MESH_Y_DIST);
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a0ma1diva2ma1 = (y_end - mesh_index_to_y_location[cell_dest_yi]) * 0.1 * (MESH_Y_DIST);
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z0 = z1 + (z2 - z1) * a0ma1diva2ma1;
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// debug code to use non-optimized get_z_correction() and to do a sanity check
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// that the correct value is being passed to planner.buffer_line()
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//
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/**
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* Debug code to use non-optimized get_z_correction() and to do a sanity check
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* that the correct value is being passed to planner.buffer_line()
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*/
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/*
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z_optimized = z0;
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z0 = blm.get_z_correction( x_end, y_end);
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z0 = ubl.get_z_correction( x_end, y_end);
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if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
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debug_current_and_destination((char*)"FINAL_MOVE: z_correction()");
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if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
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SERIAL_ECHOPAIR(" err=",fabs(z_optimized - z0));
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SERIAL_EOL;
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}
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//*/
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z0 = z0 * ubl.fade_scaling_factor_for_z(z_end);
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/**
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* If part of the Mesh is undefined, it will show up as NAN
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* in z_values[][] and propagate through the
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* calculations. If our correction is NAN, we throw it out
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* because part of the Mesh is undefined and we don't have the
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* information we need to complete the height correction.
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*/
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z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
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if (isnan(z0)) z0 = 0.0;
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if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
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z0 = 0.0; // in z_values[][] and propagate through the
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// calculations. If our correction is NAN, we throw it out
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// because part of the Mesh is undefined and we don't have the
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// information we need to complete the height correction.
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}
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planner.buffer_line(x_end, y_end, z_end + z0 + ubl.state.z_offset, e_end, feed_rate, extruder);
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if (g26_debug_flag)
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debug_current_and_destination((char*)"FINAL_MOVE in ubl_line_to_destination()");
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planner.buffer_line(x_end, y_end, z_end + z0 + blm.state.z_offset, e_end, feed_rate, extruder);
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if (G26_Debug_flag!=0) {
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debug_current_and_destination( (char *) "FINAL_MOVE in UBL_line_to_destination()");
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}
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set_current_to_destination();
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return;
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}
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//
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// If we get here, we are processing a move that crosses at least one Mesh Line. We will check
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// for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
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// of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less
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// computation and in fact most lines are of this nature. We will check for that in the following
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// blocks of code:
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left_flag = 0;
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down_flag = 0;
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inf_m_flag = false;
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inf_normalized_flag = false;
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/**
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* If we get here, we are processing a move that crosses at least one Mesh Line. We will check
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* for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
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* of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less
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* computation and in fact most lines are of this nature. We will check for that in the following
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* blocks of code:
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*/
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dx = x_end - x_start;
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dy = y_end - y_start;
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if (dx<0.0) { // figure out which way we need to move to get to the next cell
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const int left_flag = dx < 0.0 ? 1 : 0,
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down_flag = dy < 0.0 ? 1 : 0;
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if (left_flag) { // figure out which way we need to move to get to the next cell
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dxi = -1;
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adx = -dx; // absolute value of dx. We already need to check if dx and dy are negative.
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}
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@ -186,71 +190,64 @@
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ady = dy;
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}
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if (dx<0.0) left_flag = 1;
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if (dy<0.0) down_flag = 1;
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if (cell_start_xi == cell_dest_xi) dxi = 0;
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if (cell_start_yi == cell_dest_yi) dyi = 0;
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//
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// Compute the scaling factor for the extruder for each partial move.
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// We need to watch out for zero length moves because it will cause us to
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// have an infinate scaling factor. We are stuck doing a floating point
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// divide to get our scaling factor, but after that, we just multiply by this
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// number. We also pick our scaling factor based on whether the X or Y
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// component is larger. We use the biggest of the two to preserve precision.
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//
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if ( adx > ady ) {
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use_X_dist = true;
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on_axis_distance = x_end-x_start;
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}
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else {
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use_X_dist = false;
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on_axis_distance = y_end-y_start;
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}
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/**
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* Compute the scaling factor for the extruder for each partial move.
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* We need to watch out for zero length moves because it will cause us to
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* have an infinate scaling factor. We are stuck doing a floating point
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* divide to get our scaling factor, but after that, we just multiply by this
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* number. We also pick our scaling factor based on whether the X or Y
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|
|
|
|
* component is larger. We use the biggest of the two to preserve precision.
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
const bool use_x_dist = adx > ady;
|
|
|
|
|
|
|
|
|
|
on_axis_distance = use_x_dist ? x_end - x_start : y_end - y_start;
|
|
|
|
|
|
|
|
|
|
e_position = e_end - e_start;
|
|
|
|
|
e_normalized_dist = e_position / on_axis_distance;
|
|
|
|
|
|
|
|
|
|
z_position = z_end - z_start;
|
|
|
|
|
z_normalized_dist = z_position / on_axis_distance;
|
|
|
|
|
|
|
|
|
|
if (e_normalized_dist==INFINITY || e_normalized_dist==-INFINITY) {
|
|
|
|
|
inf_normalized_flag = true;
|
|
|
|
|
}
|
|
|
|
|
const bool inf_normalized_flag = e_normalized_dist == INFINITY || e_normalized_dist == -INFINITY;
|
|
|
|
|
|
|
|
|
|
current_xi = cell_start_xi;
|
|
|
|
|
current_yi = cell_start_yi;
|
|
|
|
|
|
|
|
|
|
m = dy / dx;
|
|
|
|
|
c = y_start - m * x_start;
|
|
|
|
|
if (m == INFINITY || m == -INFINITY) {
|
|
|
|
|
inf_m_flag = true;
|
|
|
|
|
}
|
|
|
|
|
//
|
|
|
|
|
// This block handles vertical lines. These are lines that stay within the same
|
|
|
|
|
// X Cell column. They do not need to be perfectly vertical. They just can
|
|
|
|
|
// not cross into another X Cell column.
|
|
|
|
|
//
|
|
|
|
|
const bool inf_m_flag = (m == INFINITY || m == -INFINITY);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* This block handles vertical lines. These are lines that stay within the same
|
|
|
|
|
* X Cell column. They do not need to be perfectly vertical. They just can
|
|
|
|
|
* not cross into another X Cell column.
|
|
|
|
|
*/
|
|
|
|
|
if (dxi == 0) { // Check for a vertical line
|
|
|
|
|
current_yi += down_flag; // Line is heading down, we just want to go to the bottom
|
|
|
|
|
while (current_yi != cell_dest_yi + down_flag) {
|
|
|
|
|
current_yi += dyi;
|
|
|
|
|
next_mesh_line_y = mesh_index_to_Y_location[current_yi];
|
|
|
|
|
if (inf_m_flag) {
|
|
|
|
|
x = x_start; // if the slope of the line is infinite, we won't do the calculations
|
|
|
|
|
}
|
|
|
|
|
// we know the next X is the same so we can recover and continue!
|
|
|
|
|
else {
|
|
|
|
|
x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
|
|
|
|
|
}
|
|
|
|
|
next_mesh_line_y = mesh_index_to_y_location[current_yi];
|
|
|
|
|
|
|
|
|
|
z0 = blm.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi, current_yi);
|
|
|
|
|
/**
|
|
|
|
|
* inf_m_flag? the slope of the line is infinite, we won't do the calculations
|
|
|
|
|
* else, we know the next X is the same so we can recover and continue!
|
|
|
|
|
* Calculate X at the next Y mesh line
|
|
|
|
|
*/
|
|
|
|
|
x = inf_m_flag ? x_start : (next_mesh_line_y - c) / m;
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
|
|
|
// that the correct value is being passed to planner.buffer_line()
|
|
|
|
|
//
|
|
|
|
|
z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi, current_yi);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
|
|
|
* that the correct value is being passed to planner.buffer_line()
|
|
|
|
|
*/
|
|
|
|
|
/*
|
|
|
|
|
z_optimized = z0;
|
|
|
|
|
z0 = blm.get_z_correction( x, next_mesh_line_y);
|
|
|
|
|
z0 = ubl.get_z_correction( x, next_mesh_line_y);
|
|
|
|
|
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
|
|
|
|
|
debug_current_and_destination((char*)"VERTICAL z_correction()");
|
|
|
|
|
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
|
|
|
|
|
@ -262,24 +259,29 @@
|
|
|
|
|
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
|
|
|
|
|
SERIAL_ECHO("\n");
|
|
|
|
|
}
|
|
|
|
|
*/
|
|
|
|
|
//*/
|
|
|
|
|
|
|
|
|
|
z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
|
|
|
|
|
z0 = z0 * ubl.fade_scaling_factor_for_z(z_end);
|
|
|
|
|
|
|
|
|
|
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
|
|
|
|
|
z0 = 0.0; // in z_values[][] and propagate through the
|
|
|
|
|
// calculations. If our correction is NAN, we throw it out
|
|
|
|
|
// because part of the Mesh is undefined and we don't have the
|
|
|
|
|
// information we need to complete the height correction.
|
|
|
|
|
}
|
|
|
|
|
y = mesh_index_to_Y_location[current_yi];
|
|
|
|
|
/**
|
|
|
|
|
* If part of the Mesh is undefined, it will show up as NAN
|
|
|
|
|
* in z_values[][] and propagate through the
|
|
|
|
|
* calculations. If our correction is NAN, we throw it out
|
|
|
|
|
* because part of the Mesh is undefined and we don't have the
|
|
|
|
|
* information we need to complete the height correction.
|
|
|
|
|
*/
|
|
|
|
|
if (isnan(z0)) z0 = 0.0;
|
|
|
|
|
|
|
|
|
|
// Without this check, it is possible for the algorythm to generate a zero length move in the case
|
|
|
|
|
// where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
|
|
|
|
|
// happens, it might be best to remove the check and always 'schedule' the move because
|
|
|
|
|
// the planner.buffer_line() routine will filter it if that happens.
|
|
|
|
|
y = mesh_index_to_y_location[current_yi];
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Without this check, it is possible for the algorithm to generate a zero length move in the case
|
|
|
|
|
* where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
|
|
|
|
|
* happens, it might be best to remove the check and always 'schedule' the move because
|
|
|
|
|
* the planner.buffer_line() routine will filter it if that happens.
|
|
|
|
|
*/
|
|
|
|
|
if (y != y_start) {
|
|
|
|
|
if ( inf_normalized_flag == false ) {
|
|
|
|
|
if (!inf_normalized_flag) {
|
|
|
|
|
on_axis_distance = y - y_start; // we don't need to check if the extruder position
|
|
|
|
|
e_position = e_start + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a vertical move
|
|
|
|
|
z_position = z_start + on_axis_distance * z_normalized_dist;
|
|
|
|
|
@ -289,45 +291,48 @@
|
|
|
|
|
z_position = z_start;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
planner.buffer_line(x, y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
|
|
|
|
|
planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
|
|
|
|
} //else printf("FIRST MOVE PRUNED ");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (g26_debug_flag)
|
|
|
|
|
debug_current_and_destination((char*)"vertical move done in ubl_line_to_destination()");
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
|
|
|
|
|
//
|
|
|
|
|
if (G26_Debug_flag!=0) {
|
|
|
|
|
debug_current_and_destination( (char *) "vertical move done in UBL_line_to_destination()");
|
|
|
|
|
}
|
|
|
|
|
if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end) {
|
|
|
|
|
if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end)
|
|
|
|
|
goto FINAL_MOVE;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
set_current_to_destination();
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// This block handles horizontal lines. These are lines that stay within the same
|
|
|
|
|
// Y Cell row. They do not need to be perfectly horizontal. They just can
|
|
|
|
|
// not cross into another Y Cell row.
|
|
|
|
|
//
|
|
|
|
|
/**
|
|
|
|
|
*
|
|
|
|
|
* This block handles horizontal lines. These are lines that stay within the same
|
|
|
|
|
* Y Cell row. They do not need to be perfectly horizontal. They just can
|
|
|
|
|
* not cross into another Y Cell row.
|
|
|
|
|
*
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
if (dyi == 0) { // Check for a horiziontal line
|
|
|
|
|
if (dyi == 0) { // Check for a horizontal line
|
|
|
|
|
current_xi += left_flag; // Line is heading left, we just want to go to the left
|
|
|
|
|
// edge of this cell for the first move.
|
|
|
|
|
while (current_xi != cell_dest_xi + left_flag) {
|
|
|
|
|
current_xi += dxi;
|
|
|
|
|
next_mesh_line_x = mesh_index_to_X_location[current_xi];
|
|
|
|
|
next_mesh_line_x = mesh_index_to_x_location[current_xi];
|
|
|
|
|
y = m * next_mesh_line_x + c; // Calculate X at the next Y mesh line
|
|
|
|
|
|
|
|
|
|
z0 = blm.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi, current_yi);
|
|
|
|
|
z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi, current_yi);
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
|
|
|
// that the correct value is being passed to planner.buffer_line()
|
|
|
|
|
//
|
|
|
|
|
/**
|
|
|
|
|
* Debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
|
|
|
* that the correct value is being passed to planner.buffer_line()
|
|
|
|
|
*/
|
|
|
|
|
/*
|
|
|
|
|
z_optimized = z0;
|
|
|
|
|
z0 = blm.get_z_correction( next_mesh_line_x, y);
|
|
|
|
|
z0 = ubl.get_z_correction( next_mesh_line_x, y);
|
|
|
|
|
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
|
|
|
|
|
debug_current_and_destination((char*)"HORIZONTAL z_correction()");
|
|
|
|
|
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
|
|
|
|
|
@ -339,24 +344,29 @@
|
|
|
|
|
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
|
|
|
|
|
SERIAL_ECHO("\n");
|
|
|
|
|
}
|
|
|
|
|
*/
|
|
|
|
|
//*/
|
|
|
|
|
|
|
|
|
|
z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
|
|
|
|
|
z0 = z0 * ubl.fade_scaling_factor_for_z(z_end);
|
|
|
|
|
|
|
|
|
|
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
|
|
|
|
|
z0 = 0.0; // in z_values[][] and propagate through the
|
|
|
|
|
// calculations. If our correction is NAN, we throw it out
|
|
|
|
|
// because part of the Mesh is undefined and we don't have the
|
|
|
|
|
// information we need to complete the height correction.
|
|
|
|
|
}
|
|
|
|
|
x = mesh_index_to_X_location[current_xi];
|
|
|
|
|
/**
|
|
|
|
|
* If part of the Mesh is undefined, it will show up as NAN
|
|
|
|
|
* in z_values[][] and propagate through the
|
|
|
|
|
* calculations. If our correction is NAN, we throw it out
|
|
|
|
|
* because part of the Mesh is undefined and we don't have the
|
|
|
|
|
* information we need to complete the height correction.
|
|
|
|
|
*/
|
|
|
|
|
if (isnan(z0)) z0 = 0.0;
|
|
|
|
|
|
|
|
|
|
// Without this check, it is possible for the algorythm to generate a zero length move in the case
|
|
|
|
|
// where the line is heading left and it is starting right on a Mesh Line boundary. For how often
|
|
|
|
|
// that happens, it might be best to remove the check and always 'schedule' the move because
|
|
|
|
|
// the planner.buffer_line() routine will filter it if that happens.
|
|
|
|
|
x = mesh_index_to_x_location[current_xi];
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Without this check, it is possible for the algorithm to generate a zero length move in the case
|
|
|
|
|
* where the line is heading left and it is starting right on a Mesh Line boundary. For how often
|
|
|
|
|
* that happens, it might be best to remove the check and always 'schedule' the move because
|
|
|
|
|
* the planner.buffer_line() routine will filter it if that happens.
|
|
|
|
|
*/
|
|
|
|
|
if (x != x_start) {
|
|
|
|
|
if ( inf_normalized_flag == false ) {
|
|
|
|
|
if (!inf_normalized_flag) {
|
|
|
|
|
on_axis_distance = x - x_start; // we don't need to check if the extruder position
|
|
|
|
|
e_position = e_start + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
|
|
|
|
|
z_position = z_start + on_axis_distance * z_normalized_dist;
|
|
|
|
|
@ -366,47 +376,39 @@
|
|
|
|
|
z_position = z_start;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
planner.buffer_line(x, y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
|
|
|
|
|
planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
|
|
|
|
} //else printf("FIRST MOVE PRUNED ");
|
|
|
|
|
}
|
|
|
|
|
if (G26_Debug_flag!=0) {
|
|
|
|
|
debug_current_and_destination( (char *) "horizontal move done in UBL_line_to_destination()");
|
|
|
|
|
}
|
|
|
|
|
if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end) {
|
|
|
|
|
|
|
|
|
|
if (g26_debug_flag)
|
|
|
|
|
debug_current_and_destination((char*)"horizontal move done in ubl_line_to_destination()");
|
|
|
|
|
|
|
|
|
|
if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end)
|
|
|
|
|
goto FINAL_MOVE;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
set_current_to_destination();
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
//
|
|
|
|
|
//
|
|
|
|
|
//
|
|
|
|
|
// This block handles the generic case of a line crossing both X and Y
|
|
|
|
|
// Mesh lines.
|
|
|
|
|
//
|
|
|
|
|
//
|
|
|
|
|
//
|
|
|
|
|
//
|
|
|
|
|
/**
|
|
|
|
|
*
|
|
|
|
|
* This block handles the generic case of a line crossing both X and Y Mesh lines.
|
|
|
|
|
*
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
xi_cnt = cell_start_xi - cell_dest_xi;
|
|
|
|
|
if ( xi_cnt < 0 ) {
|
|
|
|
|
xi_cnt = -xi_cnt;
|
|
|
|
|
}
|
|
|
|
|
if (xi_cnt < 0) xi_cnt = -xi_cnt;
|
|
|
|
|
|
|
|
|
|
yi_cnt = cell_start_yi - cell_dest_yi;
|
|
|
|
|
if ( yi_cnt < 0 ) {
|
|
|
|
|
yi_cnt = -yi_cnt;
|
|
|
|
|
}
|
|
|
|
|
if (yi_cnt < 0) yi_cnt = -yi_cnt;
|
|
|
|
|
|
|
|
|
|
current_xi += left_flag;
|
|
|
|
|
current_yi += down_flag;
|
|
|
|
|
|
|
|
|
|
while (xi_cnt > 0 || yi_cnt > 0) {
|
|
|
|
|
|
|
|
|
|
next_mesh_line_x = mesh_index_to_X_location[current_xi + dxi];
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next_mesh_line_y = mesh_index_to_Y_location[current_yi + dyi];
|
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next_mesh_line_x = mesh_index_to_x_location[current_xi + dxi];
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|
next_mesh_line_y = mesh_index_to_y_location[current_yi + dyi];
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y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
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x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line (we don't have to worry
|
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@ -414,22 +416,19 @@
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// detected this as a vertical line move up above and we wouldn't
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// be down here doing a generic type of move.
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if ((left_flag && (x>next_mesh_line_x)) || (!left_flag && (x<next_mesh_line_x))) { // Check if we hit the Y line first
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if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
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//
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// Yes! Crossing a Y Mesh Line next
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//
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z0 = blm.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi-left_flag, current_yi+dyi);
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//
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// debug code to use non-optimized get_z_correction() and to do a sanity check
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// that the correct value is being passed to planner.buffer_line()
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//
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z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi - left_flag, current_yi + dyi);
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/**
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* Debug code to use non-optimized get_z_correction() and to do a sanity check
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* that the correct value is being passed to planner.buffer_line()
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*/
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/*
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z_optimized = z0;
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z0 = blm.get_z_correction( x, next_mesh_line_y);
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z0 = ubl.get_z_correction( x, next_mesh_line_y);
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if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
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debug_current_and_destination((char*)"General_1: z_correction()");
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if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
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@ -442,23 +441,21 @@
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SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
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SERIAL_ECHO("\n");
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}
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*/
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//*/
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z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
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if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
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z0 = 0.0; // in z_values[][] and propagate through the
|
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// calculations. If our correction is NAN, we throw it out
|
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|
// because part of the Mesh is undefined and we don't have the
|
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|
|
// information we need to complete the height correction.
|
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|
}
|
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|
|
z0 *= ubl.fade_scaling_factor_for_z(z_end);
|
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|
|
if ( inf_normalized_flag == false ) {
|
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|
if ( use_X_dist ) {
|
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|
on_axis_distance = x - x_start;
|
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|
|
}
|
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else {
|
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|
|
on_axis_distance = next_mesh_line_y - y_start;
|
|
|
|
|
}
|
|
|
|
|
/**
|
|
|
|
|
* If part of the Mesh is undefined, it will show up as NAN
|
|
|
|
|
* in z_values[][] and propagate through the
|
|
|
|
|
* calculations. If our correction is NAN, we throw it out
|
|
|
|
|
* because part of the Mesh is undefined and we don't have the
|
|
|
|
|
* information we need to complete the height correction.
|
|
|
|
|
*/
|
|
|
|
|
if (isnan(z0)) z0 = 0.0;
|
|
|
|
|
|
|
|
|
|
if (!inf_normalized_flag) {
|
|
|
|
|
on_axis_distance = use_x_dist ? x - x_start : next_mesh_line_y - y_start;
|
|
|
|
|
e_position = e_start + on_axis_distance * e_normalized_dist;
|
|
|
|
|
z_position = z_start + on_axis_distance * z_normalized_dist;
|
|
|
|
|
}
|
|
|
|
|
@ -466,7 +463,7 @@
|
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|
|
e_position = e_start;
|
|
|
|
|
z_position = z_start;
|
|
|
|
|
}
|
|
|
|
|
planner.buffer_line(x, next_mesh_line_y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
|
|
|
|
|
planner.buffer_line(x, next_mesh_line_y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
|
|
|
|
current_yi += dyi;
|
|
|
|
|
yi_cnt--;
|
|
|
|
|
}
|
|
|
|
|
@ -474,16 +471,15 @@
|
|
|
|
|
//
|
|
|
|
|
// Yes! Crossing a X Mesh Line next
|
|
|
|
|
//
|
|
|
|
|
z0 = blm.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi+dxi, current_yi-down_flag);
|
|
|
|
|
|
|
|
|
|
z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi + dxi, current_yi - down_flag);
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
|
|
|
// that the correct value is being passed to planner.buffer_line()
|
|
|
|
|
//
|
|
|
|
|
/**
|
|
|
|
|
* Debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
|
|
|
* that the correct value is being passed to planner.buffer_line()
|
|
|
|
|
*/
|
|
|
|
|
/*
|
|
|
|
|
z_optimized = z0;
|
|
|
|
|
z0 = blm.get_z_correction( next_mesh_line_x, y);
|
|
|
|
|
z0 = ubl.get_z_correction( next_mesh_line_x, y);
|
|
|
|
|
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
|
|
|
|
|
debug_current_and_destination((char*)"General_2: z_correction()");
|
|
|
|
|
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
|
|
|
|
|
@ -495,23 +491,21 @@
|
|
|
|
|
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
|
|
|
|
|
SERIAL_ECHO("\n");
|
|
|
|
|
}
|
|
|
|
|
*/
|
|
|
|
|
//*/
|
|
|
|
|
|
|
|
|
|
z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
|
|
|
|
|
z0 = z0 * ubl.fade_scaling_factor_for_z(z_end);
|
|
|
|
|
|
|
|
|
|
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
|
|
|
|
|
z0 = 0.0; // in z_values[][] and propagate through the
|
|
|
|
|
// calculations. If our correction is NAN, we throw it out
|
|
|
|
|
// because part of the Mesh is undefined and we don't have the
|
|
|
|
|
// information we need to complete the height correction.
|
|
|
|
|
}
|
|
|
|
|
if ( inf_normalized_flag == false ) {
|
|
|
|
|
if ( use_X_dist ) {
|
|
|
|
|
on_axis_distance = next_mesh_line_x - x_start;
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
on_axis_distance = y - y_start;
|
|
|
|
|
}
|
|
|
|
|
/**
|
|
|
|
|
* If part of the Mesh is undefined, it will show up as NAN
|
|
|
|
|
* in z_values[][] and propagate through the
|
|
|
|
|
* calculations. If our correction is NAN, we throw it out
|
|
|
|
|
* because part of the Mesh is undefined and we don't have the
|
|
|
|
|
* information we need to complete the height correction.
|
|
|
|
|
*/
|
|
|
|
|
if (isnan(z0)) z0 = 0.0;
|
|
|
|
|
|
|
|
|
|
if (!inf_normalized_flag) {
|
|
|
|
|
on_axis_distance = use_x_dist ? next_mesh_line_x - x_start : y - y_start;
|
|
|
|
|
e_position = e_start + on_axis_distance * e_normalized_dist;
|
|
|
|
|
z_position = z_start + on_axis_distance * z_normalized_dist;
|
|
|
|
|
}
|
|
|
|
|
@ -520,34 +514,19 @@
|
|
|
|
|
z_position = z_start;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
planner.buffer_line(next_mesh_line_x, y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
|
|
|
|
|
planner.buffer_line(next_mesh_line_x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
|
|
|
|
current_xi += dxi;
|
|
|
|
|
xi_cnt--;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
if (G26_Debug_flag) {
|
|
|
|
|
debug_current_and_destination( (char *) "generic move done in UBL_line_to_destination()");
|
|
|
|
|
}
|
|
|
|
|
if (current_position[0] != x_end || current_position[1] != y_end) {
|
|
|
|
|
goto FINAL_MOVE;
|
|
|
|
|
}
|
|
|
|
|
set_current_to_destination();
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void wait_for_button_press() {
|
|
|
|
|
// if ( !been_to_2_6 )
|
|
|
|
|
//return; // bob - I think this should be commented out
|
|
|
|
|
if (g26_debug_flag)
|
|
|
|
|
debug_current_and_destination((char*)"generic move done in ubl_line_to_destination()");
|
|
|
|
|
|
|
|
|
|
SET_INPUT_PULLUP(66); // Roxy's Left Switch is on pin 66. Right Switch is on pin 65
|
|
|
|
|
SET_OUTPUT(64);
|
|
|
|
|
while (READ(66) & 0x01) idle();
|
|
|
|
|
if (current_position[0] != x_end || current_position[1] != y_end)
|
|
|
|
|
goto FINAL_MOVE;
|
|
|
|
|
|
|
|
|
|
delay(50);
|
|
|
|
|
while (!(READ(66) & 0x01)) idle();
|
|
|
|
|
delay(50);
|
|
|
|
|
set_current_to_destination();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Scott Lahteine
8 years ago