124 lines
3.9 KiB
C++
124 lines
3.9 KiB
C++
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/**
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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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#include "../../inc/MarlinConfig.h"
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#if ENABLED(BACKLASH_GCODE)
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#include "../../module/planner.h"
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float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM,
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backlash_correction = BACKLASH_CORRECTION;
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#ifdef BACKLASH_SMOOTHING_MM
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float backlash_smoothing_mm = BACKLASH_SMOOTHING_MM;
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#endif
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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float backlash_measured_mm[XYZ] = { 0 };
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uint8_t backlash_measured_num[XYZ] = { 0 };
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#endif
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#include "../gcode.h"
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/**
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* M425: Enable and tune backlash correction.
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*
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* F<fraction> Enable/disable/fade-out backlash correction (0.0 to 1.0)
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* S<smoothing_mm> Distance over which backlash correction is spread
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* X<distance_mm> Set the backlash distance on X (0 to disable)
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* Y<distance_mm> ... on Y
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* Z<distance_mm> ... on Z
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* X If a backlash measurement was done on X, copy that value
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* Y ... on Y
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* Z ... on Z
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*
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* Type M425 without any arguments to show active values.
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*/
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void GcodeSuite::M425() {
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bool noArgs = true;
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LOOP_XYZ(i) {
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if (parser.seen(axis_codes[i])) {
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planner.synchronize();
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const float measured_backlash = (
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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backlash_measured_num[i] > 0 ? backlash_measured_mm[i] / backlash_measured_num[i] : 0
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#else
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0
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#endif
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);
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backlash_distance_mm[i] = parser.has_value() ? parser.value_linear_units() : measured_backlash;
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noArgs = false;
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}
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}
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if (parser.seen('F')) {
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planner.synchronize();
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backlash_correction = max(0, min(1.0, parser.value_linear_units()));
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noArgs = false;
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}
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#ifdef BACKLASH_SMOOTHING_MM
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if (parser.seen('S')) {
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planner.synchronize();
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backlash_smoothing_mm = parser.value_linear_units();
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noArgs = false;
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}
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#endif
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if (noArgs) {
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SERIAL_ECHOPGM("Backlash correction is ");
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if (!backlash_correction) SERIAL_ECHOPGM("in");
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SERIAL_ECHOLNPGM("active:");
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SERIAL_ECHOPAIR(" Correction Amount/Fade-out: F", backlash_correction);
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SERIAL_ECHOLNPGM(" (F1.0 = full, F0.0 = none)");
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SERIAL_ECHOPGM(" Backlash Distance (mm): ");
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LOOP_XYZ(a) {
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SERIAL_CHAR(' ');
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SERIAL_CHAR(axis_codes[a]);
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SERIAL_ECHO(backlash_distance_mm[a]);
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SERIAL_EOL();
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}
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#ifdef BACKLASH_SMOOTHING_MM
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SERIAL_ECHOLNPAIR(" Smoothing (mm): S", backlash_smoothing_mm);
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#endif
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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SERIAL_ECHOPGM(" Average measured backlash (mm):");
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LOOP_XYZ(a) {
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if (backlash_measured_num[a] > 0) {
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SERIAL_CHAR(' ');
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SERIAL_CHAR(axis_codes[a]);
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SERIAL_ECHO(backlash_measured_mm[a] / backlash_measured_num[a]);
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}
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}
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if (!backlash_measured_num[X_AXIS] && !backlash_measured_num[Y_AXIS] && !backlash_measured_num[Z_AXIS])
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SERIAL_ECHOPGM(" (Not yet measured)");
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SERIAL_EOL();
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#endif
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}
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}
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#endif // BACKLASH_GCODE
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