Cleanup Nozzle class, fix XY vs Z move order
This commit is contained in:
Scott Lahteine
parent
2e33c3bdc2
commit
be73d5cc08
@ -20,246 +20,167 @@
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*
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*/
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#include "../inc/MarlinConfig.h"
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#if ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
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#include "nozzle.h"
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#include "../Marlin.h"
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#include "../module/motion.h"
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#include "point_t.h"
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#if ENABLED(DELTA)
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#include "../module/delta.h"
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#endif
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/**
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* @brief Stroke clean pattern
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* @details Wipes the nozzle back and forth in a linear movement
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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*/
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void Nozzle::stroke(
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_UNUSED point_t const &start,
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_UNUSED point_t const &end,
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_UNUSED uint8_t const &strokes
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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/**
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* @brief Stroke clean pattern
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* @details Wipes the nozzle back and forth in a linear movement
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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*/
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void Nozzle::stroke(const point_t &start, const point_t &end, const uint8_t &strokes) {
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
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#endif
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// Move to the starting point
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_z(start.z);
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do_blocking_move_to(start.x, start.y, start.z);
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// Start the stroke pattern
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for (uint8_t i = 0; i < (strokes >>1); i++) {
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for (uint8_t i = 0; i < (strokes >> 1); i++) {
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do_blocking_move_to_xy(end.x, end.y);
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do_blocking_move_to_xy(start.x, start.y);
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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do_blocking_move_to(initial.x, initial.y, initial.z);
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#endif // NOZZLE_CLEAN_GOBACK
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do_blocking_move_to(ix, iy, iz);
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#endif
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}
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Zig-zag clean pattern
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* @details Apply a zig-zag cleanning pattern
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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* @param objects number of objects to create
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*/
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void Nozzle::zigzag(
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_UNUSED point_t const &start,
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_UNUSED point_t const &end,
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_UNUSED uint8_t const &strokes,
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_UNUSED uint8_t const &objects
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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const float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length, // [twice the] Amplitude
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P = (nozzle_clean_horizontal ? nozzle_clean_length : nozzle_clean_height) / (objects << 1); // Period
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// Don't allow impossible triangles
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if (A <= 0.0f || P <= 0.0f ) return;
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/**
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* @brief Zig-zag clean pattern
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* @details Apply a zig-zag cleaning pattern
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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* @param objects number of triangles to do
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*/
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void Nozzle::zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) {
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const float diffx = end.x - start.x, diffy = end.y - start.y;
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if (!diffx || !diffy) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
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#endif
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do_blocking_move_to(start.x, start.y, start.z);
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const uint8_t zigs = objects << 1;
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const bool horiz = FABS(diffx) >= FABS(diffy); // Do a horizontal wipe?
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const float P = (horiz ? diffx : diffy) / zigs; // Period of each zig / zag
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const point_t *side;
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for (uint8_t j = 0; j < strokes; j++) {
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for (uint8_t i = 0; i < (objects << 1); i++) {
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
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do_blocking_move_to_xy(x, y);
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if (i == 0) do_blocking_move_to_z(start.z);
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for (int8_t i = 0; i < zigs; i++) {
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side = (i & 1) ? &end : &start;
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if (horiz)
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do_blocking_move_to_xy(start.x + i * P, side->y);
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else
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do_blocking_move_to_xy(side->x, start.y + i * P);
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}
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for (int i = (objects << 1); i > -1; i--) {
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - FABS(FMOD((i*P), (2*P)) - P)) );
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do_blocking_move_to_xy(x, y);
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for (int8_t i = zigs; i >= 0; i--) {
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side = (i & 1) ? &end : &start;
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if (horiz)
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do_blocking_move_to_xy(start.x + i * P, side->y);
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else
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do_blocking_move_to_xy(side->x, start.y + i * P);
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}
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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do_blocking_move_to_z(initial.z);
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do_blocking_move_to_xy(initial.x, initial.y);
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#endif // NOZZLE_CLEAN_GOBACK
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do_blocking_move_to(ix, iy, iz);
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#endif
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}
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Circular clean pattern
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* @details Apply a circular cleaning pattern
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*
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* @param start point_t defining the middle of circle
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* @param strokes number of strokes to execute
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* @param radius radius of circle
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*/
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void Nozzle::circle(
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_UNUSED point_t const &start,
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_UNUSED point_t const &middle,
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_UNUSED uint8_t const &strokes,
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_UNUSED float const &radius
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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/**
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* @brief Circular clean pattern
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* @details Apply a circular cleaning pattern
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*
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* @param start point_t defining the middle of circle
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* @param strokes number of strokes to execute
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* @param radius radius of circle
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*/
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void Nozzle::circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) {
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if (strokes == 0) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
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#endif
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if (start.z <= current_position[Z_AXIS]) {
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// Order of movement is pretty darn important here
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_z(start.z);
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}
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else {
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do_blocking_move_to_z(start.z);
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do_blocking_move_to_xy(start.x, start.y);
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}
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do_blocking_move_to(start.x, start.y, start.z);
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float x, y;
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for (uint8_t s = 0; s < strokes; s++) {
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for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++) {
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x = middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
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y = middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
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do_blocking_move_to_xy(x, y);
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}
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}
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for (uint8_t s = 0; s < strokes; s++)
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for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++)
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do_blocking_move_to_xy(
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middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius,
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middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius
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);
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// Let's be safe
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do_blocking_move_to_xy(start.x, start.y);
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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if (start.z <= initial.z) {
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// As above order is important
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do_blocking_move_to_z(initial.z);
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do_blocking_move_to_xy(initial.x, initial.y);
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}
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else {
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do_blocking_move_to_xy(initial.x, initial.y);
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do_blocking_move_to_z(initial.z);
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}
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Clean the nozzle
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* @details Starts the selected clean procedure pattern
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*
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* @param pattern one of the available patterns
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* @param argument depends on the cleaning pattern
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*/
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void Nozzle::clean(
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_UNUSED uint8_t const &pattern,
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_UNUSED uint8_t const &strokes,
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_UNUSED float const &radius,
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_UNUSED uint8_t const &objects
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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#if ENABLED(DELTA)
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if (current_position[Z_AXIS] > delta_clip_start_height)
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do_blocking_move_to_z(delta_clip_start_height);
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do_blocking_move_to(ix, iy, iz);
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#endif
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}
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/**
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* @brief Clean the nozzle
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* @details Starts the selected clean procedure pattern
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*
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* @param pattern one of the available patterns
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* @param argument depends on the cleaning pattern
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*/
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void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects/*=0*/) {
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switch (pattern) {
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case 1:
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Nozzle::zigzag(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes, objects);
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zigzag(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes, objects);
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break;
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case 2:
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Nozzle::circle(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
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circle(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
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break;
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default:
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Nozzle::stroke(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes);
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stroke(NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT, strokes);
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}
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#endif // NOZZLE_CLEAN_FEATURE
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}
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}
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void Nozzle::park(
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_UNUSED uint8_t const &z_action
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) {
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#if ENABLED(NOZZLE_PARK_FEATURE)
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float const z = current_position[Z_AXIS];
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point_t const park = NOZZLE_PARK_POINT;
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#endif // NOZZLE_CLEAN_FEATURE
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switch(z_action) {
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case 1: // force Z-park height
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#if ENABLED(NOZZLE_PARK_FEATURE)
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void Nozzle::park(const uint8_t &z_action) {
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const point_t park = NOZZLE_PARK_POINT;
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switch (z_action) {
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case 1: // Go to Z-park height
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do_blocking_move_to_z(park.z);
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break;
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case 2: // Raise by Z-park height
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do_blocking_move_to_z(
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(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
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do_blocking_move_to_z(min(current_position[Z_AXIS] + park.z, Z_MAX_POS));
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break;
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default: // Raise to Z-park height if lower
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if (current_position[Z_AXIS] < park.z)
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do_blocking_move_to_z(park.z);
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default: // Raise to at least the Z-park height
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do_blocking_move_to_z(max(park.z, current_position[Z_AXIS]));
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}
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do_blocking_move_to_xy(park.x, park.y);
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}
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#endif // NOZZLE_PARK_FEATURE
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}
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#endif // NOZZLE_PARK_FEATURE
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#endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE
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@ -26,14 +26,6 @@
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#include "../inc/MarlinConfig.h"
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#include "point_t.h"
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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constexpr float nozzle_clean_start_point[4] = NOZZLE_CLEAN_START_POINT,
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nozzle_clean_end_point[4] = NOZZLE_CLEAN_END_POINT,
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nozzle_clean_length = FABS(nozzle_clean_start_point[X_AXIS] - nozzle_clean_end_point[X_AXIS]), //abs x size of wipe pad
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nozzle_clean_height = FABS(nozzle_clean_start_point[Y_AXIS] - nozzle_clean_end_point[Y_AXIS]); //abs y size of wipe pad
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constexpr bool nozzle_clean_horizontal = nozzle_clean_length >= nozzle_clean_height; //whether to zig-zag horizontally or vertically
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#endif // NOZZLE_CLEAN_FEATURE
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/**
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* @brief Nozzle class
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*
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@ -41,6 +33,9 @@
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*/
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class Nozzle {
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private:
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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/**
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* @brief Stroke clean pattern
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* @details Wipes the nozzle back and forth in a linear movement
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@ -49,11 +44,7 @@ class Nozzle {
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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*/
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static void stroke(
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_UNUSED point_t const &start,
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_UNUSED point_t const &end,
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_UNUSED uint8_t const &strokes
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) _Os;
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static void stroke(const point_t &start, const point_t &end, const uint8_t &strokes) _Os;
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/**
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* @brief Zig-zag clean pattern
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@ -64,12 +55,7 @@ class Nozzle {
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* @param strokes number of strokes to execute
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* @param objects number of objects to create
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*/
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static void zigzag(
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_UNUSED point_t const &start,
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_UNUSED point_t const &end,
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_UNUSED uint8_t const &strokes,
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_UNUSED uint8_t const &objects
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) _Os;
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static void zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) _Os;
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/**
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* @brief Circular clean pattern
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@ -79,14 +65,14 @@ class Nozzle {
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* @param strokes number of strokes to execute
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* @param radius radius of circle
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*/
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static void circle(
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_UNUSED point_t const &start,
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_UNUSED point_t const &middle,
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_UNUSED uint8_t const &strokes,
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_UNUSED float const &radius
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) _Os;
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static void circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) _Os;
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#endif // NOZZLE_CLEAN_FEATURE
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public:
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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/**
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* @brief Clean the nozzle
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* @details Starts the selected clean procedure pattern
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@ -94,16 +80,15 @@ class Nozzle {
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* @param pattern one of the available patterns
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* @param argument depends on the cleaning pattern
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*/
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static void clean(
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_UNUSED uint8_t const &pattern,
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_UNUSED uint8_t const &strokes,
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_UNUSED float const &radius,
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_UNUSED uint8_t const &objects = 0
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) _Os;
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static void clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects=0) _Os;
|
||||
|
||||
static void park(
|
||||
_UNUSED uint8_t const &z_action
|
||||
) _Os;
|
||||
#endif // NOZZLE_CLEAN_FEATURE
|
||||
|
||||
#if ENABLED(NOZZLE_PARK_FEATURE)
|
||||
|
||||
static void park(const uint8_t &z_action) _Os;
|
||||
|
||||
#endif
|
||||
};
|
||||
|
||||
#endif // __NOZZLE_H__
|
||||
|
||||
@ -31,19 +31,9 @@
|
||||
* @param x The x-coordinate of the point.
|
||||
* @param y The y-coordinate of the point.
|
||||
* @param z The z-coordinate of the point.
|
||||
* @param e The e-coordinate of the point.
|
||||
*/
|
||||
struct point_t {
|
||||
float x, y, z, e;
|
||||
|
||||
/**
|
||||
* @brief Two dimensional point constructor
|
||||
*
|
||||
* @param x The x-coordinate of the point.
|
||||
* @param y The y-coordinate of the point.
|
||||
*/
|
||||
point_t(float const x, float const y)
|
||||
: point_t(x, y, NAN, NAN) {}
|
||||
float x, y, z;
|
||||
|
||||
/**
|
||||
* @brief Three dimensional point constructor
|
||||
@ -52,23 +42,16 @@ struct point_t {
|
||||
* @param y The y-coordinate of the point.
|
||||
* @param z The z-coordinate of the point.
|
||||
*/
|
||||
point_t(float const x, float const y, float const z)
|
||||
: point_t(x, y, z, NAN) {}
|
||||
point_t(const float x, const float y, const float z) : x(x), y(y), z(z) {}
|
||||
|
||||
/**
|
||||
* @brief Tree dimensional point constructor with extrusion length
|
||||
* @brief Two dimensional point constructor
|
||||
*
|
||||
* @param x The x-coordinate of the point.
|
||||
* @param y The y-coordinate of the point.
|
||||
* @param z The z-coordinate of the point.
|
||||
* @param e The e-coordinate of the point.
|
||||
*/
|
||||
point_t(float const x, float const y, float const z, float const e) {
|
||||
this->x = x;
|
||||
this->y = y;
|
||||
this->z = z;
|
||||
this->e = e;
|
||||
}
|
||||
point_t(const float x, const float y) : point_t(x, y, NAN) {}
|
||||
|
||||
};
|
||||
|
||||
#endif // __POINT_T__
|
||||
|
||||
Loading…
Reference in New Issue
Block a user