diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index bebabc38a..eb2141a89 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -12,6 +12,13 @@ // example_configurations/delta directory. // +//=========================================================================== +//============================= SCARA Printer =============================== +//=========================================================================== +// For a Delta printer replace the configuration files with the files in the +// example_configurations/SCARA directory. +// + // User-specified version info of this build to display in [Pronterface, etc] terminal window during // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this // build by the user have been successfully uploaded into firmware. @@ -133,7 +140,6 @@ // 1010 is Pt1000 with 1k pullup (non standard) // 147 is Pt100 with 4k7 pullup // 110 is Pt100 with 1k pullup (non standard) -// 70 is 500C thermistor for Pico hot end #define TEMP_SENSOR_0 -1 #define TEMP_SENSOR_1 -1 diff --git a/Marlin/ConfigurationStore.cpp b/Marlin/ConfigurationStore.cpp index 074ef6ae3..7bbfede75 100644 --- a/Marlin/ConfigurationStore.cpp +++ b/Marlin/ConfigurationStore.cpp @@ -37,10 +37,15 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) // the default values are used whenever there is a change to the data, to prevent // wrong data being written to the variables. // ALSO: always make sure the variables in the Store and retrieve sections are in the same order. -#ifdef DELTA -#define EEPROM_VERSION "V11" -#else + #define EEPROM_VERSION "V10" +#ifdef DELTA + #undef EEPROM_VERSION + #define EEPROM_VERSION "V11" +#endif +#ifdef SCARA + #undef EEPROM_VERSION + #define EEPROM_VERSION "V12" #endif #ifdef EEPROM_SETTINGS @@ -49,7 +54,7 @@ void Config_StoreSettings() char ver[4]= "000"; int i=EEPROM_OFFSET; EEPROM_WRITE_VAR(i,ver); // invalidate data first - EEPROM_WRITE_VAR(i,axis_steps_per_unit); + EEPROM_WRITE_VAR(i,axis_steps_per_unit); EEPROM_WRITE_VAR(i,max_feedrate); EEPROM_WRITE_VAR(i,max_acceleration_units_per_sq_second); EEPROM_WRITE_VAR(i,acceleration); @@ -93,6 +98,9 @@ void Config_StoreSettings() int lcd_contrast = 32; #endif EEPROM_WRITE_VAR(i,lcd_contrast); + #ifdef SCARA + EEPROM_WRITE_VAR(i,axis_scaling); // Add scaling for SCARA + #endif char ver2[4]=EEPROM_VERSION; i=EEPROM_OFFSET; EEPROM_WRITE_VAR(i,ver2); // validate data @@ -115,6 +123,16 @@ void Config_PrintSettings() SERIAL_ECHOLN(""); SERIAL_ECHO_START; +#ifdef SCARA +SERIAL_ECHOLNPGM("Scaling factors:"); + SERIAL_ECHO_START; + SERIAL_ECHOPAIR(" M365 X",axis_scaling[0]); + SERIAL_ECHOPAIR(" Y",axis_scaling[1]); + SERIAL_ECHOPAIR(" Z",axis_scaling[2]); + SERIAL_ECHOLN(""); + + SERIAL_ECHO_START; +#endif SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):"); SERIAL_ECHO_START; SERIAL_ECHOPAIR(" M203 X",max_feedrate[0]); @@ -196,7 +214,7 @@ void Config_RetrieveSettings() if (strncmp(ver,stored_ver,3) == 0) { // version number match - EEPROM_READ_VAR(i,axis_steps_per_unit); + EEPROM_READ_VAR(i,axis_steps_per_unit); EEPROM_READ_VAR(i,max_feedrate); EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second); @@ -240,6 +258,9 @@ void Config_RetrieveSettings() int lcd_contrast; #endif EEPROM_READ_VAR(i,lcd_contrast); + #ifdef SCARA + EEPROM_READ_VAR(i,axis_scaling); + #endif // Call updatePID (similar to when we have processed M301) updatePID(); @@ -266,6 +287,9 @@ void Config_ResetDefault() axis_steps_per_unit[i]=tmp1[i]; max_feedrate[i]=tmp2[i]; max_acceleration_units_per_sq_second[i]=tmp3[i]; + #ifdef SCARA + axis_scaling[i]=1; + #endif } // steps per sq second need to be updated to agree with the units per sq second diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 062b6d43c..9e6ba2636 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -178,6 +178,10 @@ void get_coordinates(); void calculate_delta(float cartesian[3]); extern float delta[3]; #endif +#ifdef SCARA +void calculate_delta(float cartesian[3]); +void calculate_SCARA_forward_Transform(float f_scara[3]); +#endif void prepare_move(); void kill(); void Stop(); @@ -215,6 +219,9 @@ extern float delta_diagonal_rod; extern float delta_segments_per_second; void recalc_delta_settings(float radius, float diagonal_rod); #endif +#ifdef SCARA +extern float axis_scaling[3]; // Build size scaling +#endif extern float min_pos[3]; extern float max_pos[3]; extern bool axis_known_position[3]; diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 24f201105..493d64985 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -172,6 +172,16 @@ // M908 - Control digital trimpot directly. // M350 - Set microstepping mode. // M351 - Toggle MS1 MS2 pins directly. + +// ************ SCARA Specific - This can change to suit future G-code regulations +// M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration) +// M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) +// M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration) +// M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) +// M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position) +// M365 - SCARA calibration: Scaling factor, X, Y, Z axis +//************* SCARA End *************** + // M928 - Start SD logging (M928 filename.g) - ended by M29 // M999 - Restart after being stopped by error @@ -214,6 +224,7 @@ float add_homeing[3]={0,0,0}; #ifdef DELTA float endstop_adj[3]={0,0,0}; #endif + float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; bool axis_known_position[3] = {false, false, false}; @@ -294,7 +305,11 @@ int EtoPPressure=0; float delta_diagonal_rod= DELTA_DIAGONAL_ROD; float delta_diagonal_rod_2= sq(delta_diagonal_rod); float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND; -#endif +#endif + +#ifdef SCARA // Build size scaling +float axis_scaling[3]={1,1,1}; // Build size scaling, default to 1 +#endif bool cancel_heatup = false ; @@ -303,6 +318,7 @@ bool cancel_heatup = false ; //=========================================================================== const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0}; +static float delta[3] = {0.0, 0.0, 0.0}; static float offset[3] = {0.0, 0.0, 0.0}; static bool home_all_axis = true; static float feedrate = 1500.0, next_feedrate, saved_feedrate; @@ -876,9 +892,59 @@ static void axis_is_at_home(int axis) { } } #endif +#ifdef SCARA + float homeposition[3]; + char i; + + if (axis < 2) + { + + for (i=0; i<3; i++) + { + homeposition[i] = base_home_pos(i); + } + // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]); + // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]); + // Works out real Homeposition angles using inverse kinematics, + // and calculates homing offset using forward kinematics + calculate_delta(homeposition); + + // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]); + // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]); + + for (i=0; i<2; i++) + { + delta[i] -= add_homeing[i]; + } + + // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homeing[X_AXIS]); + // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homeing[Y_AXIS]); + // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]); + // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]); + + calculate_SCARA_forward_Transform(delta); + + // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]); + // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]); + + current_position[axis] = delta[axis]; + + // SCARA home positions are based on configuration since the actual limits are determined by the + // inverse kinematic transform. + min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis)); + max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis)); + } + else + { + current_position[axis] = base_home_pos(axis) + add_homeing[axis]; + min_pos[axis] = base_min_pos(axis) + add_homeing[axis]; + max_pos[axis] = base_max_pos(axis) + add_homeing[axis]; + } +#else current_position[axis] = base_home_pos(axis) + add_homeing[axis]; min_pos[axis] = base_min_pos(axis) + add_homeing[axis]; max_pos[axis] = base_max_pos(axis) + add_homeing[axis]; +#endif } #ifdef ENABLE_AUTO_BED_LEVELING @@ -1142,6 +1208,7 @@ static void homeaxis(int axis) { } } #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) + void refresh_cmd_timeout(void) { previous_millis_cmd = millis(); @@ -1269,6 +1336,7 @@ void process_commands() return; } break; +#ifndef SCARA //disable arc support case 2: // G2 - CW ARC if(Stopped == false) { get_arc_coordinates(); @@ -1283,6 +1351,7 @@ void process_commands() return; } break; +#endif case 4: // G4 dwell LCD_MESSAGEPGM(MSG_DWELL); codenum = 0; @@ -1361,12 +1430,12 @@ void process_commands() HOMEAXIS(Z); calculate_delta(current_position); - plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); - + plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); + #else // NOT DELTA home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))); - + #if Z_HOME_DIR > 0 // If homing away from BED do Z first if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) { HOMEAXIS(Z); @@ -1410,7 +1479,9 @@ void process_commands() current_position[X_AXIS] = destination[X_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS]; + #ifndef SCARA current_position[Z_AXIS] = destination[Z_AXIS]; + #endif } #endif @@ -1440,13 +1511,21 @@ void process_commands() if(code_seen(axis_codes[X_AXIS])) { if(code_value_long() != 0) { - current_position[X_AXIS]=code_value()+add_homeing[0]; + #ifdef SCARA + current_position[X_AXIS]=code_value(); + #else + current_position[X_AXIS]=code_value()+add_homeing[0]; + #endif } } if(code_seen(axis_codes[Y_AXIS])) { if(code_value_long() != 0) { - current_position[Y_AXIS]=code_value()+add_homeing[1]; + #ifdef SCARA + current_position[Y_AXIS]=code_value(); + #else + current_position[Y_AXIS]=code_value()+add_homeing[1]; + #endif } } @@ -1521,6 +1600,11 @@ void process_commands() plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); #endif // else DELTA +#ifdef SCARA + calculate_delta(current_position); + plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); +#endif SCARA + #ifdef ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false); #endif @@ -1729,8 +1813,17 @@ void process_commands() plan_set_e_position(current_position[E_AXIS]); } else { - current_position[i] = code_value()+add_homeing[i]; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); +#ifdef SCARA + if (i == X_AXIS || i == Y_AXIS) { + current_position[i] = code_value(); + } + else { + current_position[i] = code_value()+add_homeing[i]; + } +#else + current_position[i] = code_value()+add_homeing[i]; +#endif + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); } } } @@ -2597,6 +2690,26 @@ Sigma_Exit: SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]); SERIAL_PROTOCOLLN(""); +#ifdef SCARA + SERIAL_PROTOCOLPGM("SCARA Theta:"); + SERIAL_PROTOCOL(delta[X_AXIS]); + SERIAL_PROTOCOLPGM(" Psi+Theta:"); + SERIAL_PROTOCOL(delta[Y_AXIS]); + SERIAL_PROTOCOLLN(""); + + SERIAL_PROTOCOLPGM("SCARA Cal - Theta:"); + SERIAL_PROTOCOL(delta[X_AXIS]+add_homeing[0]); + SERIAL_PROTOCOLPGM(" Psi+Theta (90):"); + SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homeing[1]); + SERIAL_PROTOCOLLN(""); + + SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:"); + SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]); + SERIAL_PROTOCOLPGM(" Psi+Theta:"); + SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]); + SERIAL_PROTOCOLLN(""); + SERIAL_PROTOCOLLN(""); +#endif break; case 120: // M120 enable_endstops(false) ; @@ -2718,6 +2831,16 @@ Sigma_Exit: { if(code_seen(axis_codes[i])) add_homeing[i] = code_value(); } + #ifdef SCARA + if(code_seen('T')) // Theta + { + add_homeing[0] = code_value() ; + } + if(code_seen('P')) // Psi + { + add_homeing[1] = code_value() ; + } + #endif break; #ifdef DELTA case 665: // M665 set delta configurations L R S @@ -3096,6 +3219,105 @@ Sigma_Exit: PID_autotune(temp, e, c); } break; + #ifdef SCARA + case 360: // M360 SCARA Theta pos1 + SERIAL_ECHOLN(" Cal: Theta 0 "); + //SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if(Stopped == false) { + //get_coordinates(); // For X Y Z E F + delta[0] = 0; + delta[1] = 120; + calculate_SCARA_forward_Transform(delta); + destination[0] = delta[0]/axis_scaling[X_AXIS]; + destination[1] = delta[1]/axis_scaling[Y_AXIS]; + + prepare_move(); + //ClearToSend(); + return; + } + break; + + case 361: // SCARA Theta pos2 + SERIAL_ECHOLN(" Cal: Theta 90 "); + //SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if(Stopped == false) { + //get_coordinates(); // For X Y Z E F + delta[0] = 90; + delta[1] = 130; + calculate_SCARA_forward_Transform(delta); + destination[0] = delta[0]/axis_scaling[X_AXIS]; + destination[1] = delta[1]/axis_scaling[Y_AXIS]; + + prepare_move(); + //ClearToSend(); + return; + } + break; + case 362: // SCARA Psi pos1 + SERIAL_ECHOLN(" Cal: Psi 0 "); + //SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if(Stopped == false) { + //get_coordinates(); // For X Y Z E F + delta[0] = 60; + delta[1] = 180; + calculate_SCARA_forward_Transform(delta); + destination[0] = delta[0]/axis_scaling[X_AXIS]; + destination[1] = delta[1]/axis_scaling[Y_AXIS]; + + prepare_move(); + //ClearToSend(); + return; + } + break; + case 363: // SCARA Psi pos2 + SERIAL_ECHOLN(" Cal: Psi 90 "); + //SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if(Stopped == false) { + //get_coordinates(); // For X Y Z E F + delta[0] = 50; + delta[1] = 90; + calculate_SCARA_forward_Transform(delta); + destination[0] = delta[0]/axis_scaling[X_AXIS]; + destination[1] = delta[1]/axis_scaling[Y_AXIS]; + + prepare_move(); + //ClearToSend(); + return; + } + break; + case 364: // SCARA Psi pos3 (90 deg to Theta) + SERIAL_ECHOLN(" Cal: Theta-Psi 90 "); + // SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if(Stopped == false) { + //get_coordinates(); // For X Y Z E F + delta[0] = 45; + delta[1] = 135; + calculate_SCARA_forward_Transform(delta); + destination[0] = delta[0]/axis_scaling[X_AXIS]; + destination[1] = delta[1]/axis_scaling[Y_AXIS]; + + prepare_move(); + //ClearToSend(); + return; + } + break; + case 365: // M364 Set SCARA scaling for X Y Z + for(int8_t i=0; i < 3; i++) + { + if(code_seen(axis_codes[i])) + { + + axis_scaling[i] = code_value(); + + } + } + break; + #endif case 400: // M400 finish all moves { st_synchronize(); @@ -3658,8 +3880,46 @@ void calculate_delta(float cartesian[3]) void prepare_move() { clamp_to_software_endstops(destination); - previous_millis_cmd = millis(); + + #ifdef SCARA //for now same as delta-code + +float difference[NUM_AXIS]; +for (int8_t i=0; i < NUM_AXIS; i++) { + difference[i] = destination[i] - current_position[i]; +} + +float cartesian_mm = sqrt( sq(difference[X_AXIS]) + + sq(difference[Y_AXIS]) + + sq(difference[Z_AXIS])); +if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); } +if (cartesian_mm < 0.000001) { return; } +float seconds = 6000 * cartesian_mm / feedrate / feedmultiply; +int steps = max(1, int(scara_segments_per_second * seconds)); + //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); + //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); + //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); +for (int s = 1; s <= steps; s++) { + float fraction = float(s) / float(steps); + for(int8_t i=0; i < NUM_AXIS; i++) { + destination[i] = current_position[i] + difference[i] * fraction; + } + + + calculate_delta(destination); + //SERIAL_ECHOPGM("destination[0]="); SERIAL_ECHOLN(destination[0]); + //SERIAL_ECHOPGM("destination[1]="); SERIAL_ECHOLN(destination[1]); + //SERIAL_ECHOPGM("destination[2]="); SERIAL_ECHOLN(destination[2]); + //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]); + //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); + //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]); + + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], + destination[E_AXIS], feedrate*feedmultiply/60/100.0, + active_extruder); +} +#endif // SCARA + #ifdef DELTA float difference[NUM_AXIS]; for (int8_t i=0; i < NUM_AXIS; i++) { @@ -3685,7 +3945,8 @@ void prepare_move() destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); } -#else + +#endif // DELTA #ifdef DUAL_X_CARRIAGE if (active_extruder_parked) @@ -3728,6 +3989,7 @@ void prepare_move() } #endif //DUAL_X_CARRIAGE +#if ! (defined DELTA || defined SCARA) // Do not use feedmultiply for E or Z only moves if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) { plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); @@ -3735,7 +3997,8 @@ void prepare_move() else { plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); } -#endif //else DELTA +#endif // !(DELTA || SCARA) + for(int8_t i=0; i < NUM_AXIS; i++) { current_position[i] = destination[i]; } @@ -3803,6 +4066,84 @@ void controllerFan() } #endif +#ifdef SCARA +void calculate_SCARA_forward_Transform(float f_scara[3]) +{ + // Perform forward kinematics, and place results in delta[3] + // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 + + float x_sin, x_cos, y_sin, y_cos; + + //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]); + //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]); + + x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1; + x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1; + y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2; + y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2; + + // SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin); + // SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos); + // SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin); + // SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos); + + delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta + delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi + + //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]); + //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); +} + +void calculate_delta(float cartesian[3]){ + //reverse kinematics. + // Perform reversed kinematics, and place results in delta[3] + // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 + + float SCARA_pos[2]; + static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; + + SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y + SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor. + + #if (Linkage_1 == Linkage_2) + SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1; + #else + SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000; + #endif + + SCARA_S2 = sqrt( 1 - sq(SCARA_C2) ); + + SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2; + SCARA_K2 = Linkage_2 * SCARA_S2; + + SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1; + SCARA_psi = atan2(SCARA_S2,SCARA_C2); + + delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle + delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor) + delta[Z_AXIS] = cartesian[Z_AXIS]; + + /* + SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]); + SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]); + SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]); + + SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]); + SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]); + + SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]); + SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]); + SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]); + + SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2); + SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2); + SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta); + SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi); + SERIAL_ECHOLN(" ");*/ +} + +#endif + #ifdef TEMP_STAT_LEDS static bool blue_led = false; static bool red_led = false; diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h new file mode 100644 index 000000000..6b74b0c20 --- /dev/null +++ b/Marlin/example_configurations/SCARA/Configuration.h @@ -0,0 +1,802 @@ +#ifndef CONFIGURATION_H +#define CONFIGURATION_H + +// This configuration file contains the basic settings. +// Advanced settings can be found in Configuration_adv.h +// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration + +//=========================================================================== +//========================= SCARA Settings ================================== +//=========================================================================== +// SCARA-mode for Marlin has been developed by QHARLEY in ZA in 2012/2013. Implemented +// and slightly reworked by JCERNY in 06/2014 with the goal to bring it into Master-Branch +// QHARLEYS Autobedlevelling has not been ported, because Marlin has now Bed-levelling +// You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested! +// Uncomment to use Morgan scara mode +#define SCARA +#define scara_segments_per_second 200 //careful, two much will decrease performance... +// Length of inner support arm +#define Linkage_1 150 //mm Preprocessor cannot handle decimal point... +// Length of outer support arm Measure arm lengths precisely and enter +#define Linkage_2 150 //mm + +// SCARA tower offset (position of Tower relative to bed zero position) +// This needs to be reasonably accurate as it defines the printbed position in the SCARA space. +#define SCARA_offset_x 100 //mm +#define SCARA_offset_y -56 //mm +#define SCARA_RAD2DEG 57.2957795 // to convert RAD to degrees + +#define THETA_HOMING_OFFSET 0 //calculatated from Calibration Guide and command M360 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073 +#define PSI_HOMING_OFFSET 0 // calculatated from Calibration Guide and command M364 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073 + +//some helper variables to make kinematics faster +#define L1_2 sq(Linkage_1) // do not change +#define L2_2 sq(Linkage_2) // do not change + +//=========================================================================== +//========================= SCARA Settings end ================================== +//=========================================================================== + +// User-specified version info of this build to display in [Pronterface, etc] terminal window during +// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this +// build by the user have been successfully uploaded into firmware. +#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time +#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes. + +// SERIAL_PORT selects which serial port should be used for communication with the host. +// This allows the connection of wireless adapters (for instance) to non-default port pins. +// Serial port 0 is still used by the Arduino bootloader regardless of this setting. +#define SERIAL_PORT 0 + +// This determines the communication speed of the printer +// This determines the communication speed of the printer +#define BAUDRATE 250000 + +// This enables the serial port associated to the Bluetooth interface +//#define BTENABLED // Enable BT interface on AT90USB devices + + +//// The following define selects which electronics board you have. Please choose the one that matches your setup +// 10 = Gen7 custom (Alfons3 Version) "https://github.com/Alfons3/Generation_7_Electronics" +// 11 = Gen7 v1.1, v1.2 = 11 +// 12 = Gen7 v1.3 +// 13 = Gen7 v1.4 +// 131 = OpenHardware.co.za custom Gen7 electronics +// 2 = Cheaptronic v1.0 +// 20 = Sethi 3D_1 +// 3 = MEGA/RAMPS up to 1.2 = 3 +// 33 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Bed) +// 34 = RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Bed) +// 35 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Fan) +// 4 = Duemilanove w/ ATMega328P pin assignment +// 5 = Gen6 +// 51 = Gen6 deluxe +// 6 = Sanguinololu < 1.2 +// 62 = Sanguinololu 1.2 and above +// 63 = Melzi +// 64 = STB V1.1 +// 65 = Azteeg X1 +// 66 = Melzi with ATmega1284 (MaKr3d version) +// 67 = Azteeg X3 +// 68 = Azteeg X3 Pro +// 7 = Ultimaker +// 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare) +// 72 = Ultimainboard 2.x (Uses TEMP_SENSOR 20) +// 77 = 3Drag Controller +// 8 = Teensylu +// 80 = Rumba +// 81 = Printrboard (AT90USB1286) +// 82 = Brainwave (AT90USB646) +// 83 = SAV Mk-I (AT90USB1286) +// 84 = Teensy++2.0 (AT90USB1286) // CLI compile: DEFINES=AT90USBxx_TEENSYPP_ASSIGNMENTS HARDWARE_MOTHERBOARD=84 make +// 9 = Gen3+ +// 70 = Megatronics +// 701= Megatronics v2.0 +// 702= Minitronics v1.0 +// 90 = Alpha OMCA board +// 91 = Final OMCA board +// 301= Rambo +// 21 = Elefu Ra Board (v3) +// 88 = 5DPrint D8 Driver Board + +#ifndef MOTHERBOARD +#define MOTHERBOARD 33 +#endif + +// Define this to set a custom name for your generic Mendel, +// #define CUSTOM_MENDEL_NAME "This Mendel" + +// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines) +// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4) +// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000" + +// This defines the number of extruders +#define EXTRUDERS 1 + +//// The following define selects which power supply you have. Please choose the one that matches your setup +// 1 = ATX +// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC) + +#define POWER_SUPPLY 1 + +// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it. +// #define PS_DEFAULT_OFF + +//=========================================================================== +//=============================Thermal Settings ============================ +//=========================================================================== +// +//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table +// +//// Temperature sensor settings: +// -2 is thermocouple with MAX6675 (only for sensor 0) +// -1 is thermocouple with AD595 +// 0 is not used +// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup) +// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup) +// 3 is Mendel-parts thermistor (4.7k pullup) +// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !! +// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup) +// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup) +// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup) +// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup) +// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) +// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup) +// 10 is 100k RS thermistor 198-961 (4.7k pullup) +// 11 is 100k beta 3950 1% thermistor (4.7k pullup) +// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed) +// 20 is the PT100 circuit found in the Ultimainboard V2.x +// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950 +// +// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k +// (but gives greater accuracy and more stable PID) +// 51 is 100k thermistor - EPCOS (1k pullup) +// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup) +// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup) +// +// 1047 is Pt1000 with 4k7 pullup +// 1010 is Pt1000 with 1k pullup (non standard) +// 147 is Pt100 with 4k7 pullup +// 110 is Pt100 with 1k pullup (non standard) + +#define TEMP_SENSOR_0 1 +#define TEMP_SENSOR_1 0 +#define TEMP_SENSOR_2 0 +#define TEMP_SENSOR_BED 1 + +// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted. +//#define TEMP_SENSOR_1_AS_REDUNDANT +#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10 + +// Actual temperature must be close to target for this long before M109 returns success +#define TEMP_RESIDENCY_TIME 3 // (seconds) +#define TEMP_HYSTERESIS 2 // (degC) range of +/- temperatures considered "close" to the target one +#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early. + +// The minimal temperature defines the temperature below which the heater will not be enabled It is used +// to check that the wiring to the thermistor is not broken. +// Otherwise this would lead to the heater being powered on all the time. +#define HEATER_0_MINTEMP 5 +#define HEATER_1_MINTEMP 5 +#define HEATER_2_MINTEMP 5 +#define BED_MINTEMP 5 + +// When temperature exceeds max temp, your heater will be switched off. +// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure! +// You should use MINTEMP for thermistor short/failure protection. +#define HEATER_0_MAXTEMP 275 +#define HEATER_1_MAXTEMP 275 +#define HEATER_2_MAXTEMP 275 +#define BED_MAXTEMP 150 + +// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the +// average current. The value should be an integer and the heat bed will be turned on for 1 interval of +// HEATER_BED_DUTY_CYCLE_DIVIDER intervals. +//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4 + +// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS +#define EXTRUDER_WATTS (2*2/5.9) // P=I^2/R +#define BED_WATTS (5.45*5.45/2.2) // P=I^2/R + +// PID settings: +// Comment the following line to disable PID and enable bang-bang. +#define PIDTEMP +#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current +#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current +#ifdef PIDTEMP + //#define PID_DEBUG // Sends debug data to the serial port. + //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX + #define PID_FUNCTIONAL_RANGE 20 // If the temperature difference between the target temperature and the actual temperature + // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. + #define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term + #define K1 0.95 //smoothing factor within the PID + #define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine + +// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it +// Ultimaker + // #define DEFAULT_Kp 22.2 + // #define DEFAULT_Ki 1.08 + // #define DEFAULT_Kd 114 + + // Jhead MK5: From Autotune + // #define DEFAULT_Kp 20.92 + // #define DEFAULT_Ki 1.51 + // #define DEFAULT_Kd 72.34 + + //Merlin Hotend: From Autotune + #define DEFAULT_Kp 24.5 + #define DEFAULT_Ki 1.72 + #define DEFAULT_Kd 87.73 + +// MakerGear +// #define DEFAULT_Kp 7.0 +// #define DEFAULT_Ki 0.1 +// #define DEFAULT_Kd 12 + +// Mendel Parts V9 on 12V + // #define DEFAULT_Kp 63.0 + // #define DEFAULT_Ki 2.25 + // #define DEFAULT_Kd 440 +#endif // PIDTEMP + +// Bed Temperature Control +// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis +// +// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder. +// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz, +// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating. +// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater. +// If your configuration is significantly different than this and you don't understand the issues involved, you probably +// shouldn't use bed PID until someone else verifies your hardware works. +// If this is enabled, find your own PID constants below. +#define PIDTEMPBED +// +#define BED_LIMIT_SWITCHING + +// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option. +// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis) +// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did, +// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED) +#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current + +#ifdef PIDTEMPBED +//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) +//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10) + // #define DEFAULT_bedKp 10.00 + // #define DEFAULT_bedKi .023 + // #define DEFAULT_bedKd 305.4 + +//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) +//from pidautotune +// #define DEFAULT_bedKp 97.1 +// #define DEFAULT_bedKi 1.41 +// #define DEFAULT_bedKd 1675.16 + +//12v Heatbed Mk3 12V in parallel +//from pidautotune + #define DEFAULT_bedKp 630.14 + #define DEFAULT_bedKi 121.71 + #define DEFAULT_bedKd 815.64 + +// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles. +#endif // PIDTEMPBED + + + +//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit +//can be software-disabled for whatever purposes by +//#define PREVENT_DANGEROUS_EXTRUDE +//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately. +#define PREVENT_LENGTHY_EXTRUDE + +#define EXTRUDE_MINTEMP 150 +#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. + +/*================== Thermal Runaway Protection ============================== +This is a feature to protect your printer from burn up in flames if it has +a thermistor coming off place (this happened to a friend of mine recently and +motivated me writing this feature). + +The issue: If a thermistor come off, it will read a lower temperature than actual. +The system will turn the heater on forever, burning up the filament and anything +else around. + +After the temperature reaches the target for the first time, this feature will +start measuring for how long the current temperature stays below the target +minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS). + +If it stays longer than _PERIOD, it means the thermistor temperature +cannot catch up with the target, so something *may be* wrong. Then, to be on the +safe side, the system will he halt. + +Bear in mind the count down will just start AFTER the first time the +thermistor temperature is over the target, so you will have no problem if +your extruder heater takes 2 minutes to hit the target on heating. + +*/ +// If you want to enable this feature for all your extruder heaters, +// uncomment the 2 defines below: + +// Parameters for all extruder heaters +//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds +//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius + +// If you want to enable this feature for your bed heater, +// uncomment the 2 defines below: + +// Parameters for the bed heater +//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds +//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius +//=========================================================================== + +//=========================================================================== +//=============================Mechanical Settings=========================== +//=========================================================================== + +// Uncomment the following line to enable CoreXY kinematics +// #define COREXY + +// coarse Endstop Settings +//#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors + +#ifndef ENDSTOPPULLUPS + // fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined + // #define ENDSTOPPULLUP_XMAX + // #define ENDSTOPPULLUP_YMAX + #define ENDSTOPPULLUP_ZMAX // open pin, inverted + #define ENDSTOPPULLUP_XMIN // open pin, inverted + #define ENDSTOPPULLUP_YMIN // open pin, inverted + // #define ENDSTOPPULLUP_ZMIN +#endif + +#ifdef ENDSTOPPULLUPS + #define ENDSTOPPULLUP_XMAX + #define ENDSTOPPULLUP_YMAX + #define ENDSTOPPULLUP_ZMAX + #define ENDSTOPPULLUP_XMIN + #define ENDSTOPPULLUP_YMIN + #define ENDSTOPPULLUP_ZMIN +#endif + +// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. +const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop. +const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop. +const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop. +const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop. +const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop. +const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop. +//#define DISABLE_MAX_ENDSTOPS +//#define DISABLE_MIN_ENDSTOPS + +// Disable max endstops for compatibility with endstop checking routine +#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS) + #define DISABLE_MAX_ENDSTOPS +#endif + +// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 +#define X_ENABLE_ON 0 +#define Y_ENABLE_ON 0 +#define Z_ENABLE_ON 0 +#define E_ENABLE_ON 0 // For all extruders + +// Disables axis when it's not being used. +#define DISABLE_X false +#define DISABLE_Y false +#define DISABLE_Z false +#define DISABLE_E false // For all extruders +#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled + +#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true +#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false +#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true +#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false + +// ENDSTOP SETTINGS: +// Sets direction of endstop s when homing; 1=MAX, -1=MIN +#define X_HOME_DIR 1 +#define Y_HOME_DIR 1 +#define Z_HOME_DIR -1 + +#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS. +#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below. + +// Travel limits after homing +#define X_MAX_POS 200 +#define X_MIN_POS 0 +#define Y_MAX_POS 200 +#define Y_MIN_POS 0 +#define Z_MAX_POS 225 +#define Z_MIN_POS MANUAL_Z_HOME_POS + +#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS) +#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS) +#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS) +//============================= Bed Auto Leveling =========================== + +//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line) + +#ifdef ENABLE_AUTO_BED_LEVELING + +// There are 2 different ways to pick the X and Y locations to probe: + +// - "grid" mode +// Probe every point in a rectangular grid +// You must specify the rectangle, and the density of sample points +// This mode is preferred because there are more measurements. +// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive + +// - "3-point" mode +// Probe 3 arbitrary points on the bed (that aren't colinear) +// You must specify the X & Y coordinates of all 3 points + + #define AUTO_BED_LEVELING_GRID + // with AUTO_BED_LEVELING_GRID, the bed is sampled in a + // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid + // and least squares solution is calculated + // Note: this feature occupies 10'206 byte + #ifdef AUTO_BED_LEVELING_GRID + + // set the rectangle in which to probe + #define LEFT_PROBE_BED_POSITION 15 + #define RIGHT_PROBE_BED_POSITION 170 + #define BACK_PROBE_BED_POSITION 180 + #define FRONT_PROBE_BED_POSITION 20 + + // set the number of grid points per dimension + // I wouldn't see a reason to go above 3 (=9 probing points on the bed) + #define AUTO_BED_LEVELING_GRID_POINTS 2 + + + #else // not AUTO_BED_LEVELING_GRID + // with no grid, just probe 3 arbitrary points. A simple cross-product + // is used to esimate the plane of the print bed + + #define ABL_PROBE_PT_1_X 15 + #define ABL_PROBE_PT_1_Y 180 + #define ABL_PROBE_PT_2_X 15 + #define ABL_PROBE_PT_2_Y 20 + #define ABL_PROBE_PT_3_X 170 + #define ABL_PROBE_PT_3_Y 20 + + #endif // AUTO_BED_LEVELING_GRID + + + // these are the offsets to the probe relative to the extruder tip (Hotend - Probe) + #define X_PROBE_OFFSET_FROM_EXTRUDER -25 + #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 + #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 + + //#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. + // Be sure you have this distance over your Z_MAX_POS in case + + #define XY_TRAVEL_SPEED 8000 // X and Y axis travel speed between probes, in mm/min + + #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. + #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + + + //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk + //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it. + // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile. + +// #define PROBE_SERVO_DEACTIVATION_DELAY 300 + + +//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing, +//it is highly recommended you let this Z_SAFE_HOMING enabled!!! + + // #define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area. + // When defined, it will: + // - Allow Z homing only after X and Y homing AND stepper drivers still enabled + // - If stepper drivers timeout, it will need X and Y homing again before Z homing + // - Position the probe in a defined XY point before Z Homing when homing all axis (G28) + // - Block Z homing only when the probe is outside bed area. + + #ifdef Z_SAFE_HOMING + + #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28) + #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28) + + #endif + +#endif // ENABLE_AUTO_BED_LEVELING + + +// The position of the homing switches +#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used +//#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0) + +//Manual homing switch locations: +// For deltabots this means top and center of the Cartesian print volume. +// For SCARA: Offset between HomingPosition and Bed X=0 / Y=0 +#define MANUAL_X_HOME_POS -22. +#define MANUAL_Y_HOME_POS -52. +#define MANUAL_Z_HOME_POS 0.1 // Distance between nozzle and print surface after homing. + + +//// MOVEMENT SETTINGS +#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E +#define HOMING_FEEDRATE {40*60, 40*60, 10*60, 0} // set the homing speeds (mm/min) + +// default settings + +#define DEFAULT_AXIS_STEPS_PER_UNIT {103.69,106.65,200/1.25,1000} // default steps per unit for SCARA +#define DEFAULT_MAX_FEEDRATE {300, 300, 30, 25} // (mm/sec) +#define DEFAULT_MAX_ACCELERATION {300,300,20,1000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot. + +#define DEFAULT_ACCELERATION 400 // X, Y, Z and E max acceleration in mm/s^2 for printing moves +#define DEFAULT_RETRACT_ACCELERATION 2000 // X, Y, Z and E max acceleration in mm/s^2 for retracts + +// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). +// The offset has to be X=0, Y=0 for extruder 0 hotend (default extruder). +// For the other hotends it is their distance from the extruder 0 hotend. +// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis +// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis + +// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously) +#define DEFAULT_XYJERK 5 // (mm/sec) +#define DEFAULT_ZJERK 0.4 // (mm/sec) +#define DEFAULT_EJERK 3 // (mm/sec) + +//=========================================================================== +//=============================Additional Features=========================== +//=========================================================================== + +// Custom M code points +//#define CUSTOM_M_CODES +#ifdef CUSTOM_M_CODES + #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851 + #define Z_PROBE_OFFSET_RANGE_MIN -15 + #define Z_PROBE_OFFSET_RANGE_MAX -5 +#endif + + +// EEPROM +// The microcontroller can store settings in the EEPROM, e.g. max velocity... +// M500 - stores parameters in EEPROM +// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. +//define this to enable EEPROM support +//#define EEPROM_SETTINGS +//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out: +// please keep turned on if you can. +#define EEPROM_CHITCHAT + +// Preheat Constants +#define PLA_PREHEAT_HOTEND_TEMP 180 +#define PLA_PREHEAT_HPB_TEMP 70 +#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + +#define ABS_PREHEAT_HOTEND_TEMP 240 +#define ABS_PREHEAT_HPB_TEMP 100 +#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + +//LCD and SD support +//#define ULTRA_LCD //general LCD support, also 16x2 +//#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family) +//#define SDSUPPORT // Enable SD Card Support in Hardware Console +//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error) +//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication +//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder +//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking +//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store. +//#define ULTIPANEL //the UltiPanel as on Thingiverse +//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click +//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click + +// The MaKr3d Makr-Panel with graphic controller and SD support +// http://reprap.org/wiki/MaKr3d_MaKrPanel +//#define MAKRPANEL + +// The RepRapDiscount Smart Controller (white PCB) +// http://reprap.org/wiki/RepRapDiscount_Smart_Controller +//#define REPRAP_DISCOUNT_SMART_CONTROLLER + +// The GADGETS3D G3D LCD/SD Controller (blue PCB) +// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel +//#define G3D_PANEL + +// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB) +// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller +// +// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib +//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER + +// The RepRapWorld REPRAPWORLD_KEYPAD v1.1 +// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626 +//#define REPRAPWORLD_KEYPAD +//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click + +// The Elefu RA Board Control Panel +// http://www.elefu.com/index.php?route=product/product&product_id=53 +// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARUDINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C +//#define RA_CONTROL_PANEL + +//automatic expansion +#if defined (MAKRPANEL) + #define DOGLCD + #define SDSUPPORT + #define ULTIPANEL + #define NEWPANEL + #define DEFAULT_LCD_CONTRAST 17 +#endif + +#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER) + #define DOGLCD + #define U8GLIB_ST7920 + #define REPRAP_DISCOUNT_SMART_CONTROLLER +#endif + +#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL) + #define ULTIPANEL + #define NEWPANEL +#endif + +#if defined(REPRAPWORLD_KEYPAD) + #define NEWPANEL + #define ULTIPANEL +#endif +#if defined(RA_CONTROL_PANEL) + #define ULTIPANEL + #define NEWPANEL + #define LCD_I2C_TYPE_PCA8574 + #define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander +#endif + +//I2C PANELS + +//#define LCD_I2C_SAINSMART_YWROBOT +#ifdef LCD_I2C_SAINSMART_YWROBOT + // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home ) + // Make sure it is placed in the Arduino libraries directory. + #define LCD_I2C_TYPE_PCF8575 + #define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander + #define NEWPANEL + #define ULTIPANEL +#endif + +// PANELOLU2 LCD with status LEDs, separate encoder and click inputs +//#define LCD_I2C_PANELOLU2 +#ifdef LCD_I2C_PANELOLU2 + // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 ) + // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory. + // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file) + // Note: The PANELOLU2 encoder click input can either be directly connected to a pin + // (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1). + #define LCD_I2C_TYPE_MCP23017 + #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander + #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD + #define NEWPANEL + #define ULTIPANEL + + #ifndef ENCODER_PULSES_PER_STEP + #define ENCODER_PULSES_PER_STEP 4 + #endif + + #ifndef ENCODER_STEPS_PER_MENU_ITEM + #define ENCODER_STEPS_PER_MENU_ITEM 1 + #endif + + + #ifdef LCD_USE_I2C_BUZZER + #define LCD_FEEDBACK_FREQUENCY_HZ 1000 + #define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 + #endif + +#endif + +// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs +//#define LCD_I2C_VIKI +#ifdef LCD_I2C_VIKI + // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 ) + // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory. + // Note: The pause/stop/resume LCD button pin should be connected to the Arduino + // BTN_ENC pin (or set BTN_ENC to -1 if not used) + #define LCD_I2C_TYPE_MCP23017 + #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander + #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later) + #define NEWPANEL + #define ULTIPANEL +#endif + +// Shift register panels +// --------------------- +// 2 wire Non-latching LCD SR from: +// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection +//#define SR_LCD +#ifdef SR_LCD + #define SR_LCD_2W_NL // Non latching 2 wire shift register + //#define NEWPANEL +#endif + + +#ifdef ULTIPANEL +// #define NEWPANEL //enable this if you have a click-encoder panel + #define SDSUPPORT + #define ULTRA_LCD + #ifdef DOGLCD // Change number of lines to match the DOG graphic display + #define LCD_WIDTH 20 + #define LCD_HEIGHT 5 + #else + #define LCD_WIDTH 20 + #define LCD_HEIGHT 4 + #endif +#else //no panel but just LCD + #ifdef ULTRA_LCD + #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display + #define LCD_WIDTH 20 + #define LCD_HEIGHT 5 + #else + #define LCD_WIDTH 16 + #define LCD_HEIGHT 2 + #endif + #endif +#endif + +// default LCD contrast for dogm-like LCD displays +#ifdef DOGLCD +# ifndef DEFAULT_LCD_CONTRAST +# define DEFAULT_LCD_CONTRAST 32 +# endif +#endif + +// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino +//#define FAST_PWM_FAN + +// Temperature status LEDs that display the hotend and bet temperature. +// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on. +// Otherwise the RED led is on. There is 1C hysteresis. +//#define TEMP_STAT_LEDS + +// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency +// which is not ass annoying as with the hardware PWM. On the other hand, if this frequency +// is too low, you should also increment SOFT_PWM_SCALE. +//#define FAN_SOFT_PWM + +// Incrementing this by 1 will double the software PWM frequency, +// affecting heaters, and the fan if FAN_SOFT_PWM is enabled. +// However, control resolution will be halved for each increment; +// at zero value, there are 128 effective control positions. +#define SOFT_PWM_SCALE 0 + +// M240 Triggers a camera by emulating a Canon RC-1 Remote +// Data from: http://www.doc-diy.net/photo/rc-1_hacked/ +// #define PHOTOGRAPH_PIN 23 + +// SF send wrong arc g-codes when using Arc Point as fillet procedure +//#define SF_ARC_FIX + +// Support for the BariCUDA Paste Extruder. +//#define BARICUDA + +//define BlinkM/CyzRgb Support +//#define BLINKM + +/*********************************************************************\ +* R/C SERVO support +* Sponsored by TrinityLabs, Reworked by codexmas +**********************************************************************/ + +// Number of servos +// +// If you select a configuration below, this will receive a default value and does not need to be set manually +// set it manually if you have more servos than extruders and wish to manually control some +// leaving it undefined or defining as 0 will disable the servo subsystem +// If unsure, leave commented / disabled +// +//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command + +// Servo Endstops +// +// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes. +// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500. +// +//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1 +//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles + +#include "Configuration_adv.h" +#include "thermistortables.h" + +#endif //__CONFIGURATION_H diff --git a/Marlin/example_configurations/SCARA/Configuration_adv.h b/Marlin/example_configurations/SCARA/Configuration_adv.h new file mode 100644 index 000000000..7a01bccb6 --- /dev/null +++ b/Marlin/example_configurations/SCARA/Configuration_adv.h @@ -0,0 +1,507 @@ +#ifndef CONFIGURATION_ADV_H +#define CONFIGURATION_ADV_H + +//=========================================================================== +//=============================Thermal Settings ============================ +//=========================================================================== + +#ifdef BED_LIMIT_SWITCHING + #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS +#endif +#define BED_CHECK_INTERVAL 3000 //ms between checks in bang-bang control + +//// Heating sanity check: +// This waits for the watch period in milliseconds whenever an M104 or M109 increases the target temperature +// If the temperature has not increased at the end of that period, the target temperature is set to zero. +// It can be reset with another M104/M109. This check is also only triggered if the target temperature and the current temperature +// differ by at least 2x WATCH_TEMP_INCREASE +//#define WATCH_TEMP_PERIOD 40000 //40 seconds +//#define WATCH_TEMP_INCREASE 10 //Heat up at least 10 degree in 20 seconds + +#ifdef PIDTEMP + // this adds an experimental additional term to the heating power, proportional to the extrusion speed. + // if Kc is chosen well, the additional required power due to increased melting should be compensated. + #define PID_ADD_EXTRUSION_RATE + #ifdef PID_ADD_EXTRUSION_RATE + #define DEFAULT_Kc (1) //heating power=Kc*(e_speed) + #endif +#endif + + +//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode. +//The maximum buffered steps/sec of the extruder motor are called "se". +//You enter the autotemp mode by a M109 S B F +// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp +// you exit the value by any M109 without F* +// Also, if the temperature is set to a value +// Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results +// as long as it supports dual x-carriages. (M605 S0) +// Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so +// that additional slicer support is not required. (M605 S1) +// Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all +// actions of the first x-carriage. This allows the printer to print 2 arbitrary items at +// once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm]) + +// This is the default power-up mode which can be later using M605. +#define DEFAULT_DUAL_X_CARRIAGE_MODE 0 + +// As the x-carriages are independent we can now account for any relative Z offset +#define EXTRUDER1_Z_OFFSET 0.0 // z offset relative to extruder 0 + +// Default settings in "Auto-park Mode" +#define TOOLCHANGE_PARK_ZLIFT 0.2 // the distance to raise Z axis when parking an extruder +#define TOOLCHANGE_UNPARK_ZLIFT 1 // the distance to raise Z axis when unparking an extruder + +// Default x offset in duplication mode (typically set to half print bed width) +#define DEFAULT_DUPLICATION_X_OFFSET 100 + +#endif //DUAL_X_CARRIAGE + +//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again: +#define X_HOME_RETRACT_MM 3 +#define Y_HOME_RETRACT_MM 3 +#define Z_HOME_RETRACT_MM 3 +//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially. +#ifdef SCARA + #define QUICK_HOME //SCARA needs Quickhome +#endif + +#define AXIS_RELATIVE_MODES {false, false, false, false} + +#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step) + +//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step. +#define INVERT_X_STEP_PIN false +#define INVERT_Y_STEP_PIN false +#define INVERT_Z_STEP_PIN false +#define INVERT_E_STEP_PIN false + +//default stepper release if idle +#define DEFAULT_STEPPER_DEACTIVE_TIME 240 + +#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate +#define DEFAULT_MINTRAVELFEEDRATE 0.0 + +// Feedrates for manual moves along X, Y, Z, E from panel +#ifdef ULTIPANEL +#define MANUAL_FEEDRATE {50*60, 50*60, 10*60, 60} // set the speeds for manual moves (mm/min) +#endif + +//Comment to disable setting feedrate multiplier via encoder +#ifdef ULTIPANEL + #define ULTIPANEL_FEEDMULTIPLY +#endif + +// minimum time in microseconds that a movement needs to take if the buffer is emptied. +#define DEFAULT_MINSEGMENTTIME 20000 + +// If defined the movements slow down when the look ahead buffer is only half full +//#define SLOWDOWN +#ifdef SCARA + #undef SLOWDOWN +#endif +// Frequency limit +// See nophead's blog for more info +// Not working O +//#define XY_FREQUENCY_LIMIT 15 + +// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end +// of the buffer and all stops. This should not be much greater than zero and should only be changed +// if unwanted behavior is observed on a user's machine when running at very slow speeds. +#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec) + +// MS1 MS2 Stepper Driver Microstepping mode table +#define MICROSTEP1 LOW,LOW +#define MICROSTEP2 HIGH,LOW +#define MICROSTEP4 LOW,HIGH +#define MICROSTEP8 HIGH,HIGH +#define MICROSTEP16 HIGH,HIGH + +// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU. +#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16] + +// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards) +#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A) + +// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro +//#define DIGIPOT_I2C +// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8 +#define DIGIPOT_I2C_NUM_CHANNELS 8 +// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS +#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} + +//=========================================================================== +//=============================Additional Features=========================== +//=========================================================================== + +//#define CHDK 4 //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/ +#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again + +#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers? +#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place. + +#define SDCARD_RATHERRECENTFIRST //reverse file order of sd card menu display. Its sorted practically after the file system block order. +// if a file is deleted, it frees a block. hence, the order is not purely chronological. To still have auto0.g accessible, there is again the option to do that. +// using: +//#define MENU_ADDAUTOSTART + +// The hardware watchdog should reset the microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation. +//#define USE_WATCHDOG + +#ifdef USE_WATCHDOG +// If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on. +// The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset. +// However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled. +//#define WATCHDOG_RESET_MANUAL +#endif + +// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled. +//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED + +// Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process +// it can e.g. be used to change z-positions in the print startup phase in real-time +// does not respect endstops! +//#define BABYSTEPPING +#ifdef BABYSTEPPING + #define BABYSTEP_XY //not only z, but also XY in the menu. more clutter, more functions + #define BABYSTEP_INVERT_Z false //true for inverse movements in Z + #define BABYSTEP_Z_MULTIPLICATOR 2 //faster z movements + + #ifdef COREXY + #error BABYSTEPPING not implemented for COREXY yet. + #endif + + #ifdef DELTA + #ifdef BABYSTEP_XY + #error BABYSTEPPING only implemented for Z axis on deltabots. + #endif + #endif + + #ifdef SCARA + #error BABYSTEPPING not implemented for SCARA yet. + #endif + +#endif + +// extruder advance constant (s2/mm3) +// +// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2 +// +// Hooke's law says: force = k * distance +// Bernoulli's principle says: v ^ 2 / 2 + g . h + pressure / density = constant +// so: v ^ 2 is proportional to number of steps we advance the extruder +#define ADVANCE + +#ifdef ADVANCE + #define EXTRUDER_ADVANCE_K .0 + + #define D_FILAMENT 1.75 + #define STEPS_MM_E 1000 + #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159) + #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA) + +#endif // ADVANCE + +// Arc interpretation settings: +#define MM_PER_ARC_SEGMENT 1 +#define N_ARC_CORRECTION 25 + +const unsigned int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement + +// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted +// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT +// in the pins.h file. When using a push button pulling the pin to ground this will need inverted. This setting should +// be commented out otherwise +#define SDCARDDETECTINVERTED + +#ifdef ULTIPANEL + #undef SDCARDDETECTINVERTED +#endif + +// Power Signal Control Definitions +// By default use ATX definition +#ifndef POWER_SUPPLY + #define POWER_SUPPLY 1 +#endif +// 1 = ATX +#if (POWER_SUPPLY == 1) + #define PS_ON_AWAKE LOW + #define PS_ON_ASLEEP HIGH +#endif +// 2 = X-Box 360 203W +#if (POWER_SUPPLY == 2) + #define PS_ON_AWAKE HIGH + #define PS_ON_ASLEEP LOW +#endif + +// Control heater 0 and heater 1 in parallel. +//#define HEATERS_PARALLEL + +//=========================================================================== +//=============================Buffers ============================ +//=========================================================================== + +// The number of linear motions that can be in the plan at any give time. +// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ring-buffering. +#if defined SDSUPPORT + #define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller +#else + #define BLOCK_BUFFER_SIZE 16 // maximize block buffer +#endif + + +//The ASCII buffer for receiving from the serial: +#define MAX_CMD_SIZE 96 +#define BUFSIZE 4 + + +// Firmware based and LCD controlled retract +// M207 and M208 can be used to define parameters for the retraction. +// The retraction can be called by the slicer using G10 and G11 +// until then, intended retractions can be detected by moves that only extrude and the direction. +// the moves are than replaced by the firmware controlled ones. + +// #define FWRETRACT //ONLY PARTIALLY TESTED +#ifdef FWRETRACT + #define MIN_RETRACT 0.1 //minimum extruded mm to accept a automatic gcode retraction attempt + #define RETRACT_LENGTH 3 //default retract length (positive mm) + #define RETRACT_FEEDRATE 35 //default feedrate for retracting (mm/s) + #define RETRACT_ZLIFT 0 //default retract Z-lift + #define RETRACT_RECOVER_LENGTH 0 //default additional recover length (mm, added to retract length when recovering) + #define RETRACT_RECOVER_FEEDRATE 8 //default feedrate for recovering from retraction (mm/s) +#endif + +//adds support for experimental filament exchange support M600; requires display +#ifdef ULTIPANEL + #define FILAMENTCHANGEENABLE + #ifdef FILAMENTCHANGEENABLE + #define FILAMENTCHANGE_XPOS 3 + #define FILAMENTCHANGE_YPOS 3 + #define FILAMENTCHANGE_ZADD 10 + #define FILAMENTCHANGE_FIRSTRETRACT -2 + #define FILAMENTCHANGE_FINALRETRACT -100 + #endif +#endif + +#ifdef FILAMENTCHANGEENABLE + #ifdef EXTRUDER_RUNOUT_PREVENT + #error EXTRUDER_RUNOUT_PREVENT currently incompatible with FILAMENTCHANGE + #endif +#endif + +//=========================================================================== +//============================= Define Defines ============================ +//=========================================================================== +#if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT + #error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1" +#endif + +#if EXTRUDERS > 1 && defined HEATERS_PARALLEL + #error "You cannot use HEATERS_PARALLEL if EXTRUDERS > 1" +#endif + +#if TEMP_SENSOR_0 > 0 + #define THERMISTORHEATER_0 TEMP_SENSOR_0 + #define HEATER_0_USES_THERMISTOR +#endif +#if TEMP_SENSOR_1 > 0 + #define THERMISTORHEATER_1 TEMP_SENSOR_1 + #define HEATER_1_USES_THERMISTOR +#endif +#if TEMP_SENSOR_2 > 0 + #define THERMISTORHEATER_2 TEMP_SENSOR_2 + #define HEATER_2_USES_THERMISTOR +#endif +#if TEMP_SENSOR_BED > 0 + #define THERMISTORBED TEMP_SENSOR_BED + #define BED_USES_THERMISTOR +#endif +#if TEMP_SENSOR_0 == -1 + #define HEATER_0_USES_AD595 +#endif +#if TEMP_SENSOR_1 == -1 + #define HEATER_1_USES_AD595 +#endif +#if TEMP_SENSOR_2 == -1 + #define HEATER_2_USES_AD595 +#endif +#if TEMP_SENSOR_BED == -1 + #define BED_USES_AD595 +#endif +#if TEMP_SENSOR_0 == -2 + #define HEATER_0_USES_MAX6675 +#endif +#if TEMP_SENSOR_0 == 0 + #undef HEATER_0_MINTEMP + #undef HEATER_0_MAXTEMP +#endif +#if TEMP_SENSOR_1 == 0 + #undef HEATER_1_MINTEMP + #undef HEATER_1_MAXTEMP +#endif +#if TEMP_SENSOR_2 == 0 + #undef HEATER_2_MINTEMP + #undef HEATER_2_MAXTEMP +#endif +#if TEMP_SENSOR_BED == 0 + #undef BED_MINTEMP + #undef BED_MAXTEMP +#endif + + +#endif //__CONFIGURATION_ADV_H diff --git a/Marlin/thermistortables.h b/Marlin/thermistortables.h index 86bf5c2d4..07b385e11 100644 --- a/Marlin/thermistortables.h +++ b/Marlin/thermistortables.h @@ -1021,81 +1021,6 @@ const short temptable_1047[][2] PROGMEM = { PtLine(300,1000,4700) }; #endif -#if (THERMISTORHEATER_0 == 70) || (THERMISTORHEATER_1 == 70) || (THERMISTORHEATER_2 == 70) || (THERMISTORBED == 70) // 500C thermistor for Pico hot end -const short temptable_70[][2] PROGMEM = { - { 110.774119598719*OVERSAMPLENR , 350 }, - { 118.214386957249*OVERSAMPLENR , 345 }, - { 126.211418543166*OVERSAMPLENR , 340 }, - { 134.789559066223*OVERSAMPLENR , 335 }, - { 144.004513869701*OVERSAMPLENR , 330 }, - { 153.884483790827*OVERSAMPLENR , 325 }, - { 164.484880793637*OVERSAMPLENR , 320 }, - { 175.848885102724*OVERSAMPLENR , 315 }, - { 188.006799079015*OVERSAMPLENR , 310 }, - { 201.008072969044*OVERSAMPLENR , 305 }, - { 214.83716032276*OVERSAMPLENR , 300 }, - { 229.784739779664*OVERSAMPLENR , 295 }, - { 245.499466045473*OVERSAMPLENR , 290 }, - { 262.2766342096*OVERSAMPLENR , 285 }, - { 280.073883176433*OVERSAMPLENR , 280 }, - { 298.952693467726*OVERSAMPLENR , 275 }, - { 318.808251051674*OVERSAMPLENR , 270 }, - { 337.490932563222*OVERSAMPLENR , 265 }, - { 361.683649122745*OVERSAMPLENR , 260 }, - { 384.717024083981*OVERSAMPLENR , 255 }, - { 408.659301759076*OVERSAMPLENR , 250 }, - { 433.471659455884*OVERSAMPLENR , 245 }, - { 459.199039926034*OVERSAMPLENR , 240 }, - { 485.566500982316*OVERSAMPLENR , 235 }, - { 512.538918631075*OVERSAMPLENR , 230 }, - { 539.980999544838*OVERSAMPLENR , 225 }, - { 567.783095549935*OVERSAMPLENR , 220 }, - { 595.698041673552*OVERSAMPLENR , 215 }, - { 623.633922319597*OVERSAMPLENR , 210 }, - { 651.356162750829*OVERSAMPLENR , 205 }, - { 678.700901620956*OVERSAMPLENR , 200 }, - { 705.528145361264*OVERSAMPLENR , 195 }, - { 731.61267976339*OVERSAMPLENR , 190 }, - { 756.786212184365*OVERSAMPLENR , 185 }, - { 780.950223357761*OVERSAMPLENR , 180 }, - { 804.012961595082*OVERSAMPLENR , 175 }, - { 825.904975939166*OVERSAMPLENR , 170 }, - { 846.403941639008*OVERSAMPLENR , 165 }, - { 865.52326974895*OVERSAMPLENR , 160 }, - { 883.246145367727*OVERSAMPLENR , 155 }, - { 899.5821946515*OVERSAMPLENR , 150 }, - { 914.544289228582*OVERSAMPLENR , 145 }, - { 928.145628221761*OVERSAMPLENR , 140 }, - { 940.422208546562*OVERSAMPLENR , 135 }, - { 951.456922916497*OVERSAMPLENR , 130 }, - { 961.303500633788*OVERSAMPLENR , 125 }, - { 970.044756889055*OVERSAMPLENR , 120 }, - { 977.761456230051*OVERSAMPLENR , 115 }, - { 984.540978083453*OVERSAMPLENR , 110 }, - { 990.440780765757*OVERSAMPLENR , 105 }, - { 995.589621465301*OVERSAMPLENR , 100 }, - { 1000.02514280144*OVERSAMPLENR , 95 }, - { 1003.84429789876*OVERSAMPLENR , 90 }, - { 1007.10199009318*OVERSAMPLENR , 85 }, - { 1009.87151698323*OVERSAMPLENR , 80 }, - { 1012.21633594237*OVERSAMPLENR , 75 }, - { 1014.18959892949*OVERSAMPLENR , 70 }, - { 1015.84079162998*OVERSAMPLENR , 65 }, - { 1017.21555915335*OVERSAMPLENR , 60 }, - { 1018.35284662863*OVERSAMPLENR , 55 }, - { 1019.28926921888*OVERSAMPLENR , 50 }, - { 1020.05398015669*OVERSAMPLENR , 45 }, - { 1020.67737496272*OVERSAMPLENR , 40 }, - { 1021.1802909627*OVERSAMPLENR , 35 }, - { 1021.58459281248*OVERSAMPLENR , 30 }, - { 1021.90701441192*OVERSAMPLENR , 25 }, - { 1022.16215103698*OVERSAMPLENR , 20 }, - { 1022.36275529549*OVERSAMPLENR , 15 }, - { 1022.51930392497*OVERSAMPLENR , 10 }, - { 1022.64051573734*OVERSAMPLENR , 5 }, - { 1022.73355805611*OVERSAMPLENR , 0 } -}; -#endif #define _TT_NAME(_N) temptable_ ## _N #define TT_NAME(_N) _TT_NAME(_N) diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index a10f53342..fb2ddbfff 100644 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -19,6 +19,7 @@ int absPreheatHotendTemp; int absPreheatHPBTemp; int absPreheatFanSpeed; + #ifdef ULTIPANEL static float manual_feedrate[] = MANUAL_FEEDRATE; #endif // ULTIPANEL @@ -255,8 +256,8 @@ static void lcd_sdcard_stop() enquecommand_P(PSTR(SD_FINISHED_RELEASECOMMAND)); } autotempShutdown(); - - cancel_heatup = true; + + cancel_heatup = true; } /* Menu implementation */ @@ -868,6 +869,10 @@ static void lcd_control_motion_menu() MENU_ITEM_EDIT(float51, MSG_ESTEPS, &axis_steps_per_unit[E_AXIS], 5, 9999); #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &abort_on_endstop_hit); +#endif +#ifdef SCARA + MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS],0.5,2); + MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS],0.5,2); #endif END_MENU(); } @@ -904,13 +909,13 @@ static void lcd_control_retract_menu() MENU_ITEM(back, MSG_CONTROL, lcd_control_menu); MENU_ITEM_EDIT(bool, MSG_AUTORETRACT, &autoretract_enabled); MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT, &retract_length, 0, 100); - #if EXTRUDERS > 1 + #if EXTRUDERS > 1 MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_SWAP, &retract_length_swap, 0, 100); #endif MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACTF, &retract_feedrate, 1, 999); MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_ZLIFT, &retract_zlift, 0, 999); MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_RECOVER, &retract_recover_length, 0, 100); - #if EXTRUDERS > 1 + #if EXTRUDERS > 1 MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_RECOVER_SWAP, &retract_recover_length_swap, 0, 100); #endif MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACT_RECOVERF, &retract_recover_feedrate, 1, 999); diff --git a/README.md b/README.md index 913b0c55a..017e989e8 100644 --- a/README.md +++ b/README.md @@ -47,6 +47,7 @@ Features: * PID tuning * CoreXY kinematics (www.corexy.com/theory.html) * Delta kinematics +* SCARA kinematics * Dual X-carriage support for multiple extruder systems * Configurable serial port to support connection of wireless adaptors. * Automatic operation of extruder/cold-end cooling fans based on nozzle temperature