Tower angles
Adding '7-point' tower angle correction calibration
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@ -5021,7 +5021,9 @@ inline void gcode_G28() {
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float e_old[XYZ],
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float e_old[XYZ],
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dr_old = delta_radius,
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dr_old = delta_radius,
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zh_old = home_offset[Z_AXIS];
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zh_old = home_offset[Z_AXIS],
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alpha_old = delta_tower_angle_trim[A_AXIS],
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beta_old = delta_tower_angle_trim[B_AXIS];
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COPY(e_old,endstop_adj);
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COPY(e_old,endstop_adj);
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// print settings
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// print settings
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@ -5032,7 +5034,7 @@ inline void gcode_G28() {
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SERIAL_EOL;
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SERIAL_EOL;
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LCD_MESSAGEPGM("Checking... AC");
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LCD_MESSAGEPGM("Checking... AC");
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SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
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SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
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if (abs(probe_points) > 1) {
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if (abs(probe_points) > 1) {
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SERIAL_PROTOCOLPGM(" Ex:");
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SERIAL_PROTOCOLPGM(" Ex:");
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if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
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if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
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@ -5046,6 +5048,16 @@ inline void gcode_G28() {
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SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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}
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}
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SERIAL_EOL;
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SERIAL_EOL;
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if (probe_points > 2) {
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SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
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if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
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SERIAL_PROTOCOLPGM(" Ty:");
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if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
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SERIAL_PROTOCOLPGM(" Tz:+0.00");
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SERIAL_EOL;
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}
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#if ENABLED(Z_PROBE_SLED)
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#if ENABLED(Z_PROBE_SLED)
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DEPLOY_PROBE();
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DEPLOY_PROBE();
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@ -5121,11 +5133,15 @@ inline void gcode_G28() {
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COPY(e_old, endstop_adj);
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COPY(e_old, endstop_adj);
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dr_old = delta_radius;
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dr_old = delta_radius;
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zh_old = home_offset[Z_AXIS];
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zh_old = home_offset[Z_AXIS];
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alpha_old = delta_tower_angle_trim[A_AXIS];
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beta_old = delta_tower_angle_trim[B_AXIS];
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float e_delta[XYZ] = { 0.0 }, r_delta = 0.0;
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float e_delta[XYZ] = { 0.0 }, r_delta = 0.0,
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t_alpha = 0.0, t_beta = 0.0;
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const float r_diff = delta_radius - delta_calibration_radius,
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const float r_diff = delta_radius - delta_calibration_radius,
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h_factor = 1.00 + r_diff * 0.001,
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h_factor = 1.00 + r_diff * 0.001,
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r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)); //2.25 for r_diff = 20mm
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r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
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a_factor = 100.0 / delta_calibration_radius;
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#define ZP(N,I) ((N) * z_at_pt[I])
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#define ZP(N,I) ((N) * z_at_pt[I])
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#define Z1000(I) ZP(1.00, I)
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#define Z1000(I) ZP(1.00, I)
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@ -5136,6 +5152,8 @@ inline void gcode_G28() {
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#define Z2250(I) ZP(r_factor, I)
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#define Z2250(I) ZP(r_factor, I)
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#define Z0750(I) ZP(r_factor / 3.00, I)
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#define Z0750(I) ZP(r_factor / 3.00, I)
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#define Z0375(I) ZP(r_factor / 6.00, I)
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#define Z0375(I) ZP(r_factor / 6.00, I)
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#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
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#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
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switch (probe_points) {
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switch (probe_points) {
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case 1:
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case 1:
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@ -5162,6 +5180,8 @@ inline void gcode_G28() {
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e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
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e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
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e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
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e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
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r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
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r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
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t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
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t_beta = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3);
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break;
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break;
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}
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}
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@ -5173,6 +5193,9 @@ inline void gcode_G28() {
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home_offset[Z_AXIS] -= z_temp;
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home_offset[Z_AXIS] -= z_temp;
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LOOP_XYZ(i) endstop_adj[i] -= z_temp;
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LOOP_XYZ(i) endstop_adj[i] -= z_temp;
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delta_tower_angle_trim[A_AXIS] += t_alpha;
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delta_tower_angle_trim[B_AXIS] -= t_beta;
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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}
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}
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else { // !iterate
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else { // !iterate
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@ -5180,6 +5203,8 @@ inline void gcode_G28() {
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COPY(endstop_adj, e_old);
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COPY(endstop_adj, e_old);
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delta_radius = dr_old;
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delta_radius = dr_old;
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home_offset[Z_AXIS] = zh_old;
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home_offset[Z_AXIS] = zh_old;
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delta_tower_angle_trim[A_AXIS] = alpha_old;
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delta_tower_angle_trim[B_AXIS] = beta_old;
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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}
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}
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@ -5219,7 +5244,7 @@ inline void gcode_G28() {
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if (test_precision != 0.0) { // !forced end
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if (test_precision != 0.0) { // !forced end
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if (zero_std_dev >= test_precision) { // end iterations
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if (zero_std_dev >= test_precision) { // end iterations
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SERIAL_PROTOCOLPGM("Calibration OK");
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SERIAL_PROTOCOLPGM("Calibration OK");
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SERIAL_PROTOCOLLNPGM(" rolling back 1");
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SERIAL_PROTOCOLLNPGM(" rolling back.");
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LCD_MESSAGEPGM("Calibration OK");
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LCD_MESSAGEPGM("Calibration OK");
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SERIAL_EOL;
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SERIAL_EOL;
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}
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}
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@ -5233,7 +5258,7 @@ inline void gcode_G28() {
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SERIAL_EOL;
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SERIAL_EOL;
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lcd_setstatus(mess);
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lcd_setstatus(mess);
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}
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}
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SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
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SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
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if (abs(probe_points) > 1) {
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if (abs(probe_points) > 1) {
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SERIAL_PROTOCOLPGM(" Ex:");
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SERIAL_PROTOCOLPGM(" Ex:");
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if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
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if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
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@ -5247,6 +5272,16 @@ inline void gcode_G28() {
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SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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}
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}
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SERIAL_EOL;
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SERIAL_EOL;
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if (probe_points > 2) {
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SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
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if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
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SERIAL_PROTOCOLPGM(" Ty:");
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if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
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SERIAL_PROTOCOLPGM(" Tz:+0.00");
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SERIAL_EOL;
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}
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if (zero_std_dev >= test_precision)
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if (zero_std_dev >= test_precision)
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SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h");
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SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h");
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}
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}
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@ -1477,7 +1477,7 @@ void MarlinSettings::reset() {
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SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius));
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SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius));
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SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS]));
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SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS]));
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SERIAL_ECHOPAIR(" S", delta_segments_per_second);
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SERIAL_ECHOPAIR(" S", delta_segments_per_second);
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SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius);
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SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius));
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SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
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SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
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SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]));
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SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]));
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SERIAL_ECHOPAIR(" Z", 0.00);
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SERIAL_ECHOPAIR(" Z", 0.00);
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