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ABL at any points

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This commit is contained in:
Gabe Rosenhouse 2014-02-15 18:06:51 -08:00
parent 9fa328e5c8
commit 34fd59c370
2 changed files with 63 additions and 2 deletions
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16
Marlin/Configuration.h
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@ -335,12 +335,28 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef ENABLE_AUTO_BED_LEVELING
// Enable auto bed leveling at any 3 points that aren't colinear
#define AUTO_BED_LEVELING_ANY_POINTS
#ifdef AUTO_BED_LEVELING_ANY_POINTS
#define ABL_PROBE_PT_1_X -11
#define ABL_PROBE_PT_1_Y -15
#define ABL_PROBE_PT_2_X -11
#define ABL_PROBE_PT_2_Y 75
#define ABL_PROBE_PT_3_X 121
#define ABL_PROBE_PT_3_Y -15
#else // not AUTO_BED_LEVELING_ANY_POINTS
// these are the positions on the bed to do the probing
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20
#endif
// 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

49
Marlin/Marlin_main.cpp
View File

@ -846,7 +846,36 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#else
#else // not ACCURATE_BED_LEVELING
#ifdef AUTO_BED_LEVELING_ANY_POINTS
static void set_bed_level_equation_any_pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
plan_bed_level_matrix.set_to_identity();
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
vector_3 corrected_position = plan_get_position();
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
// but the bed at 0 so we don't go below it.
current_position[Z_AXIS] = zprobe_zoffset;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#else // not AUTO_BED_LEVELING_ANY_POINTS
static void set_bed_level_equation(float z_at_xLeft_yFront, float z_at_xRight_yFront, float z_at_xLeft_yBack) {
plan_bed_level_matrix.set_to_identity();
@ -881,6 +910,7 @@ static void set_bed_level_equation(float z_at_xLeft_yFront, float z_at_xRight_yF
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#endif // AUTO_BED_LEVELING_ANY_POINTS
#endif // ACCURATE_BED_LEVELING
static void run_z_probe() {
@ -1514,6 +1544,21 @@ void process_commands()
#else // ACCURATE_BED_LEVELING not defined
#ifdef AUTO_BED_LEVELING_ANY_POINTS
// probe 1
float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
// probe 2
float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
// probe 3
float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
clean_up_after_endstop_move();
set_bed_level_equation_any_pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#else // not AUTO_BED_LEVELING_ANY_POINTS
// prob 1
float z_at_xLeft_yBack = probe_pt(LEFT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION, Z_RAISE_BEFORE_PROBING);
@ -1526,7 +1571,7 @@ void process_commands()
clean_up_after_endstop_move();
set_bed_level_equation(z_at_xLeft_yFront, z_at_xRight_yFront, z_at_xLeft_yBack);
#endif
#endif // ACCURATE_BED_LEVELING
st_synchronize();