906 lines
36 KiB
C++
906 lines
36 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* Marlin Firmware -- G26 - Mesh Validation Tool
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*/
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
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#include "ubl.h"
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#include "Marlin.h"
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#include "planner.h"
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#include "stepper.h"
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#include "temperature.h"
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#include "ultralcd.h"
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#define EXTRUSION_MULTIPLIER 1.0
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#define RETRACTION_MULTIPLIER 1.0
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#define NOZZLE 0.4
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#define FILAMENT 1.75
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#define LAYER_HEIGHT 0.2
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#define PRIME_LENGTH 10.0
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#define BED_TEMP 60.0
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#define HOTEND_TEMP 205.0
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#define OOZE_AMOUNT 0.3
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#define SIZE_OF_INTERSECTION_CIRCLES 5
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#define SIZE_OF_CROSSHAIRS 3
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#if SIZE_OF_CROSSHAIRS >= SIZE_OF_INTERSECTION_CIRCLES
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#error "SIZE_OF_CROSSHAIRS must be less than SIZE_OF_INTERSECTION_CIRCLES."
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#endif
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/**
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* G26 Mesh Validation Tool
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*
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* G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.
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* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must
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* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will
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* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and
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* the intersections of those lines (respectively).
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*
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* This action allows the user to immediately see where the Mesh is properly defined and where it needs to
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* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively
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* the user can specify the X and Y position of interest with command parameters. This allows the user to
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* focus on a particular area of the Mesh where attention is needed.
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*
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* B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.
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*
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* C Current When searching for Mesh Intersection points to draw, use the current nozzle location
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as the base for any distance comparison.
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*
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* D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this
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* command to see how well a Mesh as been adjusted to match a print surface. In order to do
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* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter
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* alters the command's normal behaviour and disables the Unified Bed Leveling System even if
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* it is on.
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*
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* H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.
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*
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* F # Filament Used to specify the diameter of the filament being used. If not specified
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* 1.75mm filament is assumed. If you are not getting acceptable results by using the
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* 'correct' numbers, you can scale this number up or down a little bit to change the amount
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* of filament that is being extruded during the printing of the various lines on the bed.
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*
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* K Keep-On Keep the heaters turned on at the end of the command.
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*
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* L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used.
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*
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* Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
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* un-retraction is at 1.2mm These numbers will be scaled by the specified amount
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*
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* M # Random Randomize the order that the circles are drawn on the bed. The search for the closest
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* undrawn cicle is still done. But the distance to the location for each circle has a
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* random number of the size specified added to it. Specifying R50 will give an interesting
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* deviation from the normal behaviour on a 10 x 10 Mesh.
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* N # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.
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* 'n' can be used instead if your host program does not appreciate you using 'N'.
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*
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* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This
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* is over kill, but using this parameter will let you get the very first 'cicle' perfect
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* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
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* Mesh calibrated. If not specified, a filament length of .3mm is assumed.
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*
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* P # Prime Prime the nozzle with specified length of filament. If this parameter is not
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* given, no prime action will take place. If the parameter specifies an amount, that much
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* will be purged before continuing. If no amount is specified the command will start
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* purging filament until the user provides an LCD Click and then it will continue with
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* printing the Mesh. You can carefully remove the spent filament with a needle nose
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* pliers while holding the LCD Click wheel in a depressed state.
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*
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* R # Repeat Prints the number of patterns given as a parameter, starting at the current location.
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* If a parameter isn't given, every point will be printed unless G26 is interrupted.
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* This works the same way that the UBL G29 P4 R parameter works.
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*
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* X # X Coord. Specify the starting location of the drawing activity.
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*
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* Y # Y Coord. Specify the starting location of the drawing activity.
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*/
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// External references
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extern float feedrate;
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extern Planner planner;
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#if ENABLED(ULTRA_LCD)
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extern char lcd_status_message[];
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#endif
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extern float destination[XYZE];
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void set_destination_to_current();
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void set_current_to_destination();
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float code_value_float();
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float code_value_linear_units();
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float code_value_axis_units(const AxisEnum axis);
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bool code_value_bool();
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bool code_has_value();
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void lcd_init();
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void lcd_setstatuspgm(const char* const message, const uint8_t level);
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bool prepare_move_to_destination_cartesian();
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void line_to_destination();
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void line_to_destination(float);
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void sync_plan_position_e();
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void chirp_at_user();
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// Private functions
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void un_retract_filament(float where[XYZE]);
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void retract_filament(float where[XYZE]);
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void look_for_lines_to_connect();
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bool parse_G26_parameters();
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void move_to(const float&, const float&, const float&, const float&) ;
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void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
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bool turn_on_heaters();
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bool prime_nozzle();
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static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16], continue_with_closest = 0;
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float g26_e_axis_feedrate = 0.020,
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random_deviation = 0.0,
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layer_height = LAYER_HEIGHT;
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static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
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// retracts/recovers won't result in a bad state.
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float valid_trig_angle(float);
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mesh_index_pair find_closest_circle_to_print(const float&, const float&);
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static float extrusion_multiplier = EXTRUSION_MULTIPLIER,
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retraction_multiplier = RETRACTION_MULTIPLIER,
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nozzle = NOZZLE,
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filament_diameter = FILAMENT,
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prime_length = PRIME_LENGTH,
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x_pos, y_pos,
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ooze_amount = OOZE_AMOUNT;
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static int16_t bed_temp = BED_TEMP,
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hotend_temp = HOTEND_TEMP;
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static int8_t prime_flag = 0;
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static bool keep_heaters_on = false;
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static int16_t g26_repeats;
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/**
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* G26: Mesh Validation Pattern generation.
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*
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* Used to interactively edit UBL's Mesh by placing the
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* nozzle in a problem area and doing a G29 P4 R command.
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*/
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void gcode_G26() {
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SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");
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float tmp, start_angle, end_angle;
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int i, xi, yi;
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mesh_index_pair location;
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// Don't allow Mesh Validation without homing first,
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// or if the parameter parsing did not go OK, abort
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if (axis_unhomed_error(true, true, true) || parse_G26_parameters()) return;
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if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
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do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
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stepper.synchronize();
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set_current_to_destination();
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}
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if (turn_on_heaters()) goto LEAVE;
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current_position[E_AXIS] = 0.0;
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sync_plan_position_e();
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if (prime_flag && prime_nozzle()) goto LEAVE;
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/**
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* Bed is preheated
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*
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* Nozzle is at temperature
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*
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* Filament is primed!
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*
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* It's "Show Time" !!!
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*/
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ZERO(circle_flags);
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ZERO(horizontal_mesh_line_flags);
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ZERO(vertical_mesh_line_flags);
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// Move nozzle to the specified height for the first layer
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set_destination_to_current();
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destination[Z_AXIS] = layer_height;
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move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0.0);
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move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], ooze_amount);
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ubl.has_control_of_lcd_panel = true;
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//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
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/**
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* Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten
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* the CPU load and make the arc drawing faster and more smooth
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*/
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float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1];
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for (i = 0; i <= 360 / 30; i++) {
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cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0)));
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sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0)));
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}
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do {
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if (ubl_lcd_clicked()) { // Check if the user wants to stop the Mesh Validation
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#if ENABLED(ULTRA_LCD)
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lcd_setstatuspgm(PSTR("Mesh Validation Stopped."), 99);
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lcd_quick_feedback();
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#endif
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while (!ubl_lcd_clicked()) { // Wait until the user is done pressing the
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idle(); // Encoder Wheel if that is why we are leaving
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lcd_reset_alert_level();
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lcd_setstatuspgm(PSTR(""));
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}
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while (ubl_lcd_clicked()) { // Wait until the user is done pressing the
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idle(); // Encoder Wheel if that is why we are leaving
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lcd_setstatuspgm(PSTR("Unpress Wheel"), 99);
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}
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goto LEAVE;
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}
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location = continue_with_closest
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? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
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: find_closest_circle_to_print(x_pos, y_pos); // Find the closest Mesh Intersection to where we are now.
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if (location.x_index >= 0 && location.y_index >= 0) {
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const float circle_x = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
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circle_y = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
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// Let's do a couple of quick sanity checks. We can pull this code out later if we never see it catch a problem
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#ifdef DELTA
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if (HYPOT2(circle_x, circle_y) > sq(DELTA_PRINTABLE_RADIUS)) {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Attempt to print outside of DELTA_PRINTABLE_RADIUS.");
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goto LEAVE;
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}
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#endif
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// TODO: Change this to use `position_is_reachable`
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if (!WITHIN(circle_x, X_MIN_POS, X_MAX_POS) || !WITHIN(circle_y, Y_MIN_POS, Y_MAX_POS)) {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Attempt to print off the bed.");
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goto LEAVE;
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}
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xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
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yi = location.y_index;
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if (ubl.g26_debug_flag) {
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SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi);
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SERIAL_ECHOPAIR(", yi=", yi);
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SERIAL_CHAR(')');
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SERIAL_EOL;
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}
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start_angle = 0.0; // assume it is going to be a full circle
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end_angle = 360.0;
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if (xi == 0) { // Check for bottom edge
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start_angle = -90.0;
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end_angle = 90.0;
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if (yi == 0) // it is an edge, check for the two left corners
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start_angle = 0.0;
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else if (yi == GRID_MAX_POINTS_Y - 1)
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end_angle = 0.0;
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}
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else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge
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start_angle = 90.0;
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end_angle = 270.0;
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if (yi == 0) // it is an edge, check for the two right corners
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end_angle = 180.0;
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else if (yi == GRID_MAX_POINTS_Y - 1)
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start_angle = 180.0;
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}
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else if (yi == 0) {
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start_angle = 0.0; // only do the top side of the cirlce
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end_angle = 180.0;
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}
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else if (yi == GRID_MAX_POINTS_Y - 1) {
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start_angle = 180.0; // only do the bottom side of the cirlce
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end_angle = 360.0;
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}
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for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) {
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int tmp_div_30 = tmp / 30.0;
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if (tmp_div_30 < 0) tmp_div_30 += 360 / 30;
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if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30;
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float x = circle_x + cos_table[tmp_div_30], // for speed, these are now a lookup table entry
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y = circle_y + sin_table[tmp_div_30],
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xe = circle_x + cos_table[tmp_div_30 + 1],
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ye = circle_y + sin_table[tmp_div_30 + 1];
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#ifdef DELTA
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if (HYPOT2(x, y) > sq(DELTA_PRINTABLE_RADIUS)) // Check to make sure this part of
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continue; // the 'circle' is on the bed. If
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#else // not, we need to skip
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x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
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y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
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xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);
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ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
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#endif
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//if (ubl.g26_debug_flag) {
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// char ccc, *cptr, seg_msg[50], seg_num[10];
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// strcpy(seg_msg, " segment: ");
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// strcpy(seg_num, " \n");
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// cptr = (char*) "01234567890ABCDEF????????";
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// ccc = cptr[tmp_div_30];
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// seg_num[1] = ccc;
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// strcat(seg_msg, seg_num);
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// debug_current_and_destination(seg_msg);
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//}
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print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), layer_height);
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}
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//debug_current_and_destination(PSTR("Looking for lines to connect."));
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look_for_lines_to_connect();
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//debug_current_and_destination(PSTR("Done with line connect."));
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}
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//debug_current_and_destination(PSTR("Done with current circle."));
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} while (location.x_index >= 0 && location.y_index >= 0 && g26_repeats--);
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LEAVE:
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lcd_reset_alert_level();
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lcd_setstatuspgm(PSTR("Leaving G26"));
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retract_filament(destination);
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destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
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//debug_current_and_destination(PSTR("ready to do Z-Raise."));
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move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Raise the nozzle
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//debug_current_and_destination(PSTR("done doing Z-Raise."));
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destination[X_AXIS] = x_pos; // Move back to the starting position
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destination[Y_AXIS] = y_pos;
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//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
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move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Move back to the starting position
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//debug_current_and_destination(PSTR("done doing X/Y move."));
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ubl.has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
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if (!keep_heaters_on) {
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#if HAS_TEMP_BED
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thermalManager.setTargetBed(0);
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#endif
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thermalManager.setTargetHotend(0, 0);
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}
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}
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float valid_trig_angle(float d) {
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while (d > 360.0) d -= 360.0;
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while (d < 0.0) d += 360.0;
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return d;
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}
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mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
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float closest = 99999.99;
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mesh_index_pair return_val;
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return_val.x_index = return_val.y_index = -1;
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for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
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for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
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if (!is_bit_set(circle_flags, i, j)) {
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const float mx = pgm_read_float(&ubl.mesh_index_to_xpos[i]), // We found a circle that needs to be printed
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my = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
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// Get the distance to this intersection
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float f = HYPOT(X - mx, Y - my);
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// It is possible that we are being called with the values
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// to let us find the closest circle to the start position.
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// But if this is not the case, add a small weighting to the
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// distance calculation to help it choose a better place to continue.
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f += HYPOT(x_pos - mx, y_pos - my) / 15.0;
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// Add in the specified amount of Random Noise to our search
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if (random_deviation > 1.0)
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f += random(0.0, random_deviation);
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if (f < closest) {
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closest = f; // We found a closer location that is still
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return_val.x_index = i; // un-printed --- save the data for it
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return_val.y_index = j;
|
|
return_val.distance = closest;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
bit_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
|
|
return return_val;
|
|
}
|
|
|
|
void look_for_lines_to_connect() {
|
|
float sx, sy, ex, ey;
|
|
|
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
|
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
|
|
|
if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
|
|
// This is already a half circle because we are at the edge of the bed.
|
|
|
|
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
|
|
if (!is_bit_set(horizontal_mesh_line_flags, i, j)) {
|
|
|
|
//
|
|
// We found two circles that need a horizontal line to connect them
|
|
// Print it!
|
|
//
|
|
sx = pgm_read_float(&ubl.mesh_index_to_xpos[ i ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
|
|
ex = pgm_read_float(&ubl.mesh_index_to_xpos[i + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
|
|
|
|
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
|
|
sy = ey = constrain(pgm_read_float(&ubl.mesh_index_to_ypos[j]), Y_MIN_POS + 1, Y_MAX_POS - 1);
|
|
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
|
|
|
|
if (ubl.g26_debug_flag) {
|
|
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
|
|
SERIAL_ECHOPAIR(", sy=", sy);
|
|
SERIAL_ECHOPAIR(") -> (ex=", ex);
|
|
SERIAL_ECHOPAIR(", ey=", ey);
|
|
SERIAL_CHAR(')');
|
|
SERIAL_EOL;
|
|
//debug_current_and_destination(PSTR("Connecting horizontal line."));
|
|
}
|
|
|
|
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
|
|
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again
|
|
}
|
|
}
|
|
|
|
if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.
|
|
// This is already a half circle because we are at the edge of the bed.
|
|
|
|
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
|
|
if (!is_bit_set( vertical_mesh_line_flags, i, j)) {
|
|
//
|
|
// We found two circles that need a vertical line to connect them
|
|
// Print it!
|
|
//
|
|
sy = pgm_read_float(&ubl.mesh_index_to_ypos[ j ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
|
|
ey = pgm_read_float(&ubl.mesh_index_to_ypos[j + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
|
|
|
|
sx = ex = constrain(pgm_read_float(&ubl.mesh_index_to_xpos[i]), X_MIN_POS + 1, X_MAX_POS - 1);
|
|
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
|
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
|
|
|
if (ubl.g26_debug_flag) {
|
|
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
|
|
SERIAL_ECHOPAIR(", sy=", sy);
|
|
SERIAL_ECHOPAIR(") -> (ex=", ex);
|
|
SERIAL_ECHOPAIR(", ey=", ey);
|
|
SERIAL_CHAR(')');
|
|
SERIAL_EOL;
|
|
debug_current_and_destination(PSTR("Connecting vertical line."));
|
|
}
|
|
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
|
|
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void move_to(const float &x, const float &y, const float &z, const float &e_delta) {
|
|
float feed_value;
|
|
static float last_z = -999.99;
|
|
|
|
bool has_xy_component = (x != current_position[X_AXIS] || y != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
|
|
|
|
//if (ubl.g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() has_xy_component:", (int)has_xy_component);
|
|
|
|
if (z != last_z) {
|
|
//if (ubl.g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() changing Z to ", (int)z);
|
|
|
|
last_z = z;
|
|
feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0); // Base the feed rate off of the configured Z_AXIS feed rate
|
|
|
|
destination[X_AXIS] = current_position[X_AXIS];
|
|
destination[Y_AXIS] = current_position[Y_AXIS];
|
|
destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.
|
|
destination[E_AXIS] = current_position[E_AXIS];
|
|
|
|
ubl_line_to_destination(feed_value, 0);
|
|
|
|
stepper.synchronize();
|
|
set_destination_to_current();
|
|
|
|
//if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() done with Z move"));
|
|
}
|
|
|
|
// Check if X or Y is involved in the movement.
|
|
// Yes: a 'normal' movement. No: a retract() or un_retract()
|
|
feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;
|
|
|
|
if (ubl.g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
|
|
|
|
destination[X_AXIS] = x;
|
|
destination[Y_AXIS] = y;
|
|
destination[E_AXIS] += e_delta;
|
|
|
|
//if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() doing last move"));
|
|
|
|
ubl_line_to_destination(feed_value, 0);
|
|
|
|
//if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() after last move"));
|
|
|
|
stepper.synchronize();
|
|
set_destination_to_current();
|
|
|
|
}
|
|
|
|
void retract_filament(float where[XYZE]) {
|
|
if (!g26_retracted) { // Only retract if we are not already retracted!
|
|
g26_retracted = true;
|
|
//if (ubl.g26_debug_flag) SERIAL_ECHOLNPGM(" Decided to do retract.");
|
|
move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], -1.0 * retraction_multiplier);
|
|
//if (ubl.g26_debug_flag) SERIAL_ECHOLNPGM(" Retraction done.");
|
|
}
|
|
}
|
|
|
|
void un_retract_filament(float where[XYZE]) {
|
|
if (g26_retracted) { // Only un-retract if we are retracted.
|
|
move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], 1.2 * retraction_multiplier);
|
|
g26_retracted = false;
|
|
//if (ubl.g26_debug_flag) SERIAL_ECHOLNPGM(" unretract done.");
|
|
}
|
|
}
|
|
|
|
/**
|
|
* print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one
|
|
* to the other. But there are really three sets of coordinates involved. The first coordinate
|
|
* is the present location of the nozzle. We don't necessarily want to print from this location.
|
|
* We first need to move the nozzle to the start of line segment where we want to print. Once
|
|
* there, we can use the two coordinates supplied to draw the line.
|
|
*
|
|
* Note: Although we assume the first set of coordinates is the start of the line and the second
|
|
* set of coordinates is the end of the line, it does not always work out that way. This function
|
|
* optimizes the movement to minimize the travel distance before it can start printing. This saves
|
|
* a lot of time and eleminates a lot of non-sensical movement of the nozzle. However, it does
|
|
* cause a lot of very little short retracement of th nozzle when it draws the very first line
|
|
* segment of a 'circle'. The time this requires is very short and is easily saved by the other
|
|
* cases where the optimization comes into play.
|
|
*/
|
|
void print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
|
|
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
|
|
dy_s = current_position[Y_AXIS] - sy,
|
|
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
|
|
// to save computation time
|
|
dx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segment
|
|
dy_e = current_position[Y_AXIS] - ey,
|
|
dist_end = HYPOT2(dx_e, dy_e),
|
|
|
|
line_length = HYPOT(ex - sx, ey - sy);
|
|
|
|
// If the end point of the line is closer to the nozzle, flip the direction,
|
|
// moving from the end to the start. On very small lines the optimization isn't worth it.
|
|
if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < abs(line_length)) {
|
|
//if (ubl.g26_debug_flag) SERIAL_ECHOLNPGM(" Reversing start and end of print_line_from_here_to_there()");
|
|
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
|
|
}
|
|
|
|
// Decide whether to retract & bump
|
|
|
|
if (dist_start > 2.0) {
|
|
retract_filament(destination);
|
|
//if (ubl.g26_debug_flag) SERIAL_ECHOLNPGM(" filament retracted.");
|
|
|
|
//if (ubl.g26_debug_flag) SERIAL_ECHOLNPGM(" Z bumping by 0.500 to minimize scraping.");
|
|
//todo: parameterize the bump height with a define
|
|
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]+0.500, 0.0); // Z bump to minimize scraping
|
|
move_to(sx, sy, sz+0.500, 0.0); // Get to the starting point with no extrusion while bumped
|
|
}
|
|
|
|
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
|
|
|
|
const float e_pos_delta = line_length * g26_e_axis_feedrate * extrusion_multiplier;
|
|
|
|
un_retract_filament(destination);
|
|
|
|
//if (ubl.g26_debug_flag) {
|
|
// SERIAL_ECHOLNPGM(" doing printing move.");
|
|
// debug_current_and_destination(PSTR("doing final move_to() inside print_line_from_here_to_there()"));
|
|
//}
|
|
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
|
|
}
|
|
|
|
/**
|
|
* This function used to be inline code in G26. But there are so many
|
|
* parameters it made sense to turn them into static globals and get
|
|
* this code out of sight of the main routine.
|
|
*/
|
|
bool parse_G26_parameters() {
|
|
|
|
extrusion_multiplier = EXTRUSION_MULTIPLIER;
|
|
retraction_multiplier = RETRACTION_MULTIPLIER;
|
|
nozzle = NOZZLE;
|
|
filament_diameter = FILAMENT;
|
|
layer_height = LAYER_HEIGHT;
|
|
prime_length = PRIME_LENGTH;
|
|
bed_temp = BED_TEMP;
|
|
hotend_temp = HOTEND_TEMP;
|
|
ooze_amount = OOZE_AMOUNT;
|
|
prime_flag = 0;
|
|
keep_heaters_on = false;
|
|
|
|
if (code_seen('B')) {
|
|
bed_temp = code_value_temp_abs();
|
|
if (!WITHIN(bed_temp, 15, 140)) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('C')) continue_with_closest++;
|
|
|
|
if (code_seen('L')) {
|
|
layer_height = code_value_linear_units();
|
|
if (!WITHIN(layer_height, 0.0, 2.0)) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('Q')) {
|
|
if (code_has_value()) {
|
|
retraction_multiplier = code_value_float();
|
|
if (!WITHIN(retraction_multiplier, 0.05, 15.0)) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
else {
|
|
SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('N') || code_seen('n')) {
|
|
nozzle = code_value_float();
|
|
if (!WITHIN(nozzle, 0.1, 1.0)) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('K')) keep_heaters_on++;
|
|
|
|
if (code_seen('O') && code_has_value())
|
|
ooze_amount = code_value_linear_units();
|
|
|
|
if (code_seen('P')) {
|
|
if (!code_has_value())
|
|
prime_flag = -1;
|
|
else {
|
|
prime_flag++;
|
|
prime_length = code_value_linear_units();
|
|
if (!WITHIN(prime_length, 0.0, 25.0)) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (code_seen('F')) {
|
|
filament_diameter = code_value_linear_units();
|
|
if (!WITHIN(filament_diameter, 1.0, 4.0)) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
extrusion_multiplier *= sq(1.75) / sq(filament_diameter); // If we aren't using 1.75mm filament, we need to
|
|
// scale up or down the length needed to get the
|
|
// same volume of filament
|
|
|
|
extrusion_multiplier *= filament_diameter * sq(nozzle) / sq(0.3); // Scale up by nozzle size
|
|
|
|
if (code_seen('H')) {
|
|
hotend_temp = code_value_temp_abs();
|
|
if (!WITHIN(hotend_temp, 165, 280)) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('M')) {
|
|
randomSeed(millis());
|
|
random_deviation = code_has_value() ? code_value_float() : 50.0;
|
|
}
|
|
|
|
if (code_seen('R')) {
|
|
g26_repeats = code_has_value() ? code_value_int() : 999;
|
|
|
|
if (g26_repeats <= 0) {
|
|
SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be greater than 0.");
|
|
return UBL_ERR;
|
|
}
|
|
|
|
g26_repeats--;
|
|
}
|
|
|
|
|
|
x_pos = current_position[X_AXIS];
|
|
y_pos = current_position[Y_AXIS];
|
|
|
|
if (code_seen('X')) {
|
|
x_pos = code_value_axis_units(X_AXIS);
|
|
if (!WITHIN(x_pos, X_MIN_POS, X_MAX_POS)) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified X coordinate not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
else
|
|
|
|
if (code_seen('Y')) {
|
|
y_pos = code_value_axis_units(Y_AXIS);
|
|
if (!WITHIN(y_pos, Y_MIN_POS, Y_MAX_POS)) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified Y coordinate not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* We save the question of what to do with the Unified Bed Leveling System's Activation until the very
|
|
* end. The reason is, if one of the parameters specified up above is incorrect, we don't want to
|
|
* alter the system's status. We wait until we know everything is correct before altering the state
|
|
* of the system.
|
|
*/
|
|
ubl.state.active = !code_seen('D');
|
|
|
|
return UBL_OK;
|
|
}
|
|
|
|
bool exit_from_g26() {
|
|
//strcpy(lcd_status_message, "Leaving G26"); // We can't do lcd_setstatus() without having it continue;
|
|
lcd_reset_alert_level();
|
|
lcd_setstatuspgm(PSTR("Leaving G26"));
|
|
while (ubl_lcd_clicked()) idle();
|
|
return UBL_ERR;
|
|
}
|
|
|
|
/**
|
|
* Turn on the bed and nozzle heat and
|
|
* wait for them to get up to temperature.
|
|
*/
|
|
bool turn_on_heaters() {
|
|
millis_t next;
|
|
#if HAS_TEMP_BED
|
|
#if ENABLED(ULTRA_LCD)
|
|
if (bed_temp > 25) {
|
|
lcd_setstatuspgm(PSTR("G26 Heating Bed."), 99);
|
|
lcd_quick_feedback();
|
|
#endif
|
|
ubl.has_control_of_lcd_panel = true;
|
|
thermalManager.setTargetBed(bed_temp);
|
|
next = millis() + 5000UL;
|
|
while (abs(thermalManager.degBed() - bed_temp) > 3) {
|
|
if (ubl_lcd_clicked()) return exit_from_g26();
|
|
if (PENDING(millis(), next)) {
|
|
next = millis() + 5000UL;
|
|
print_heaterstates();
|
|
}
|
|
idle();
|
|
}
|
|
#if ENABLED(ULTRA_LCD)
|
|
}
|
|
lcd_setstatuspgm(PSTR("G26 Heating Nozzle."), 99);
|
|
lcd_quick_feedback();
|
|
#endif
|
|
#endif
|
|
|
|
// Start heating the nozzle and wait for it to reach temperature.
|
|
thermalManager.setTargetHotend(hotend_temp, 0);
|
|
while (abs(thermalManager.degHotend(0) - hotend_temp) > 3) {
|
|
if (ubl_lcd_clicked()) return exit_from_g26();
|
|
if (PENDING(millis(), next)) {
|
|
next = millis() + 5000UL;
|
|
print_heaterstates();
|
|
}
|
|
idle();
|
|
}
|
|
|
|
#if ENABLED(ULTRA_LCD)
|
|
lcd_reset_alert_level();
|
|
lcd_setstatuspgm(PSTR(""));
|
|
lcd_quick_feedback();
|
|
#endif
|
|
|
|
return UBL_OK;
|
|
}
|
|
|
|
/**
|
|
* Prime the nozzle if needed. Return true on error.
|
|
*/
|
|
bool prime_nozzle() {
|
|
float Total_Prime = 0.0;
|
|
|
|
if (prime_flag == -1) { // The user wants to control how much filament gets purged
|
|
|
|
ubl.has_control_of_lcd_panel = true;
|
|
|
|
lcd_setstatuspgm(PSTR("User-Controlled Prime"), 99);
|
|
chirp_at_user();
|
|
|
|
set_destination_to_current();
|
|
|
|
un_retract_filament(destination); // Make sure G26 doesn't think the filament is retracted().
|
|
|
|
while (!ubl_lcd_clicked()) {
|
|
chirp_at_user();
|
|
destination[E_AXIS] += 0.25;
|
|
#ifdef PREVENT_LENGTHY_EXTRUDE
|
|
Total_Prime += 0.25;
|
|
if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR;
|
|
#endif
|
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ubl_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0);
|
|
|
|
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
|
|
// but because the planner has a buffer, we won't be able
|
|
// to stop as quickly. So we put up with the less smooth
|
|
// action to give the user a more responsive 'Stop'.
|
|
set_destination_to_current();
|
|
idle();
|
|
}
|
|
|
|
while (ubl_lcd_clicked()) idle(); // Debounce Encoder Wheel
|
|
|
|
#if ENABLED(ULTRA_LCD)
|
|
strcpy_P(lcd_status_message, PSTR("Done Priming")); // We can't do lcd_setstatuspgm() without having it continue;
|
|
// So... We cheat to get a message up.
|
|
lcd_setstatuspgm(PSTR("Done Priming"), 99);
|
|
lcd_quick_feedback();
|
|
#endif
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
}
|
|
else {
|
|
#if ENABLED(ULTRA_LCD)
|
|
lcd_setstatuspgm(PSTR("Fixed Length Prime."), 99);
|
|
lcd_quick_feedback();
|
|
#endif
|
|
set_destination_to_current();
|
|
destination[E_AXIS] += prime_length;
|
|
ubl_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0);
|
|
stepper.synchronize();
|
|
set_destination_to_current();
|
|
retract_filament(destination);
|
|
}
|
|
|
|
return UBL_OK;
|
|
}
|
|
|
|
#endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_EDITING
|