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Merge pull request #7866 from thinkyhead/bf2_finally_G33_is_done

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[2.0.x] Apply G33 updates
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Scott Lahteine 2017-10-06 16:03:26 -05:00 committed by GitHub
commit 67a7dd9792
1 changed files with 53 additions and 28 deletions
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81
Marlin/src/gcode/calibrate/G33.cpp
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@ -107,6 +107,34 @@ static void G33_cleanup(
#endif #endif
} }
/**
* G33 - Delta '1-4-7-point' Auto-Calibration
* Calibrate height, endstops, delta radius, and tower angles.
*
* Parameters:
*
* Pn Number of probe points:
*
* P0 No probe. Normalize only.
* P1 Probe center and set height only.
* P2 Probe center and towers. Set height, endstops, and delta radius.
* P3 Probe all positions: center, towers and opposite towers. Set all.
* P4-P7 Probe all positions at different locations and average them.
*
* T0 Don't calibrate tower angle corrections
*
* Cn.nn Calibration precision; when omitted calibrates to maximum precision
*
* Fn Force to run at least n iterations and takes the best result
*
* Vn Verbose level:
*
* V0 Dry-run mode. Report settings and probe results. No calibration.
* V1 Report settings
* V2 Report settings and probe results
*
* E Engage the probe for each point
*/
void GcodeSuite::G33() { void GcodeSuite::G33() {
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS); const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
@ -134,6 +162,7 @@ void GcodeSuite::G33() {
} }
const bool towers_set = parser.boolval('T', true), const bool towers_set = parser.boolval('T', true),
stow_after_each = parser.boolval('E'),
_0p_calibration = probe_points == 0, _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1, _1p_calibration = probe_points == 1,
_4p_calibration = probe_points == 2, _4p_calibration = probe_points == 2,
@ -146,15 +175,9 @@ void GcodeSuite::G33() {
_7p_quadruple_circle = probe_points == 7, _7p_quadruple_circle = probe_points == 7,
_7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle, _7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
_7p_intermed_points = _7p_calibration && !_7p_half_circle; _7p_intermed_points = _7p_calibration && !_7p_half_circle;
#if DISABLED(PROBE_MANUALLY)
const bool stow_after_each = parser.boolval('E');
const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
#endif
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h"; const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
int8_t iterations = 0; int8_t iterations = 0;
float test_precision, float test_precision,
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
@ -189,7 +212,6 @@ void GcodeSuite::G33() {
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
stepper.synchronize(); stepper.synchronize();
#if HAS_LEVELING #if HAS_LEVELING
reset_bed_level(); // After calibration bed-level data is no longer valid reset_bed_level(); // After calibration bed-level data is no longer valid
#endif #endif
@ -220,19 +242,11 @@ void GcodeSuite::G33() {
print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
#if DISABLED(PROBE_MANUALLY)
if (!_0p_calibration) {
const float measured_z = probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
if (isnan(measured_z)) return G33_CLEANUP();
home_offset[Z_AXIS] -= measured_z;
}
#endif
do { do {
float z_at_pt[13] = { 0.0 }; float z_at_pt[13] = { 0.0 };
test_precision = _0p_calibration ? 0.00 : zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev; test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
iterations++; iterations++;
@ -301,7 +315,7 @@ void GcodeSuite::G33() {
// Solve matrices // Solve matrices
if ((zero_std_dev < test_precision && zero_std_dev > calibration_precision) || iterations <= force_iterations) { if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
if (zero_std_dev < zero_std_dev_min) { if (zero_std_dev < zero_std_dev_min) {
COPY(e_old, delta_endstop_adj); COPY(e_old, delta_endstop_adj);
dr_old = delta_radius; dr_old = delta_radius;
@ -311,9 +325,9 @@ void GcodeSuite::G33() {
float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 }; float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
const float r_diff = delta_radius - delta_calibration_radius, const float r_diff = delta_radius - delta_calibration_radius,
h_factor = (1.00 + r_diff * 0.001) / 6.0, //1.02 / 6 for r_diff = 20mm h_factor = (1.00 + r_diff * 0.001) / 6.0, // 1.02 for r_diff = 20mm
r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)) / 6.0, //2.25 / 6 for r_diff = 20mm r_factor = (-(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff))) / 6.0, // 2.25 for r_diff = 20mm
a_factor = 66.66 / delta_calibration_radius; //1.25 for cal_rd = 80mm a_factor = (66.66 / delta_calibration_radius) / (iterations == 1 ? 16.0 : 2.0); // 0.83 for cal_rd = 80mm
#define ZP(N,I) ((N) * z_at_pt[I]) #define ZP(N,I) ((N) * z_at_pt[I])
#define Z6(I) ZP(6, I) #define Z6(I) ZP(6, I)
@ -326,8 +340,16 @@ void GcodeSuite::G33() {
#endif #endif
switch (probe_points) { switch (probe_points) {
case 0:
#if DISABLED(PROBE_MANUALLY)
test_precision = 0.00; // forced end
#endif
break;
case 1: case 1:
test_precision = 0.00; // forced end #if DISABLED(PROBE_MANUALLY)
test_precision = 0.00; // forced end
#endif
LOOP_XYZ(axis) e_delta[axis] = Z1(0); LOOP_XYZ(axis) e_delta[axis] = Z1(0);
break; break;
@ -353,9 +375,12 @@ void GcodeSuite::G33() {
r_delta = (Z6(0) - Z1(1) - Z1(5) - Z1(9) - Z1(7) - Z1(11) - Z1(3)) * r_factor; r_delta = (Z6(0) - Z1(1) - Z1(5) - Z1(9) - Z1(7) - Z1(11) - Z1(3)) * r_factor;
if (towers_set) { if (towers_set) {
t_delta[A_AXIS] = ( - Z2(5) + Z1(9) - Z2(11) + Z1(3)) * a_factor; t_delta[A_AXIS] = ( - Z2(5) + Z2(9) - Z2(11) + Z2(3)) * a_factor;
t_delta[B_AXIS] = ( Z2(1) - Z1(9) + Z2(7) - Z1(3)) * a_factor; t_delta[B_AXIS] = ( Z2(1) - Z2(9) + Z2(7) - Z2(3)) * a_factor;
t_delta[C_AXIS] = ( -Z2(1) + Z1(5) - Z2(7) + Z1(11) ) * a_factor; t_delta[C_AXIS] = (-Z2(1) + Z2(5) - Z2(7) + Z2(11) ) * a_factor;
e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
} }
break; break;
} }
@ -407,7 +432,7 @@ void GcodeSuite::G33() {
} }
} }
if (verbose_level != 0) { // !dry run if (verbose_level != 0) { // !dry run
if ((zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) && iterations > force_iterations) { // end iterations if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK"); SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOL_SP(36); SERIAL_PROTOCOL_SP(36);
#if DISABLED(PROBE_MANUALLY) #if DISABLED(PROBE_MANUALLY)
@ -469,7 +494,7 @@ void GcodeSuite::G33() {
endstops.not_homing(); endstops.not_homing();
} }
while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations); while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
G33_CLEANUP(); G33_CLEANUP();
} }