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MarlinKimbra
Commit 58f5477c authored by MagoKimbra's avatar MagoKimbra
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Fix Delta Autocalibration

parent a20ca7be
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Showing with 48 additions and 56 deletions
MK/module/MK_Main.cpp
View file @ 58f5477c
......@@ -1634,7 +1634,7 @@ static void clean_up_after_endstop_move() {
delta_tower3_y = (delta_radius + tower_adj[5]) * sin((90 + tower_adj[2]) * M_PI/180);
}
bool Equal_AB(const float A, const float B, const float prec = 0.002) {
bool Equal_AB(const float A, const float B, const float prec = 0.001) {
if (abs(A - B) <= prec) return true;
return false;
}
......@@ -1811,16 +1811,10 @@ static void clean_up_after_endstop_move() {
}
} while (((x_done == false) or (y_done == false) or (z_done == false)));
float high_endstop = 0;
float low_endstop = 99;
for (uint8_t i = 0; i < 3; i++) {
if (endstop_adj[i] > high_endstop) high_endstop = endstop_adj[i];
if (abs(endstop_adj[i]) < low_endstop) low_endstop = endstop_adj[i];
}
float high_endstop = max(max(endstop_adj[0], endstop_adj[1]), endstop_adj[2]);
if (debugLevel & DEBUG_INFO) {
ECHO_SMV(INFO, "High endstop: ", high_endstop, 4);
ECHO_EMV(" Low endstop: ", low_endstop, 4);
ECHO_LMV(INFO, "High endstop: ", high_endstop, 4);
}
if (high_endstop > 0) {
......@@ -1830,15 +1824,13 @@ static void clean_up_after_endstop_move() {
}
max_pos[Z_AXIS] -= high_endstop;
}
/*
else if (low_endstop < 0) {
ECHO_LMV(DB, "Increment Build height by ", abs(low_endstop));
else if (high_endstop < 0) {
ECHO_LMV(DB, "Increment Build height by ", abs(high_endstop));
for(uint8_t i = 0; i < 3; i++) {
endstop_adj[i] -= low_endstop;
endstop_adj[i] -= high_endstop;
}
max_pos[Z_AXIS] -= low_endstop;
max_pos[Z_AXIS] -= high_endstop;
}
*/
set_delta_constants();
......@@ -2067,7 +2059,7 @@ static void clean_up_after_endstop_move() {
temp = (bed_level_ox - target) / 2;
adj_target = target + temp;
if (((bed_level_ox < adj_target) and (adj_t1_Radius > 0)) or ((bed_level_ox > adj_target) and (adj_t1_Radius < 0))) adj_t1_Radius = -(adj_t1_Radius / 2);
if (Equal_AB(bed_level_ox, adj_target, ac_prec)) t1_done = true;
if (Equal_AB(bed_level_ox, adj_target)) t1_done = true;
if (Equal_AB(bed_level_ox, prev_bed_level) and Equal_AB(adj_target, prev_target)) nochange_count ++;
if (nochange_count > 1) {
ECHO_LM(DB, "Stuck in Loop.. Exiting");
......@@ -2094,7 +2086,7 @@ static void clean_up_after_endstop_move() {
temp = (bed_level_oy - target) / 2;
adj_target = target + temp;
if (((bed_level_oy < adj_target) and (adj_t2_Radius > 0)) or ((bed_level_oy > adj_target) and (adj_t2_Radius < 0))) adj_t2_Radius = -(adj_t2_Radius / 2);
if (Equal_AB(bed_level_oy, adj_target, ac_prec)) t2_done = true;
if (Equal_AB(bed_level_oy, adj_target)) t2_done = true;
if (Equal_AB(bed_level_oy, prev_bed_level) and Equal_AB(adj_target, prev_target)) nochange_count ++;
if (nochange_count > 1) {
ECHO_LM(DB, "Stuck in Loop.. Exiting");
......@@ -2121,7 +2113,7 @@ static void clean_up_after_endstop_move() {
temp = (bed_level_oz - target) / 2;
adj_target = target + temp;
if (((bed_level_oz < adj_target) and (adj_t3_Radius > 0)) or ((bed_level_oz > adj_target) and (adj_t3_Radius < 0))) adj_t3_Radius = -(adj_t3_Radius / 2);
if (Equal_AB(bed_level_oz, adj_target, ac_prec)) t3_done = true;
if (Equal_AB(bed_level_oz, adj_target)) t3_done = true;
if (Equal_AB(bed_level_oz, prev_bed_level) and Equal_AB(adj_target, prev_target)) nochange_count ++;
if (nochange_count > 1) {
ECHO_LM(DB, "Stuck in Loop.. Exiting");
......@@ -2480,7 +2472,7 @@ static void clean_up_after_endstop_move() {
void prepare_move_raw() {
if (debugLevel & DEBUG_DEBUG) {
ECHO_S(DB);
ECHO_S(DEB);
print_xyz("prepare_move_raw > destination", destination);
}
refresh_cmd_timeout();
......@@ -2527,7 +2519,7 @@ static void clean_up_after_endstop_move() {
delta[Z_AXIS] += offset;
if (debugLevel & DEBUG_DEBUG) {
ECHO_SMV(DB, "grid_x=", grid_x);
ECHO_SMV(DEB, "grid_x=", grid_x);
ECHO_MV(" grid_y=", grid_y);
ECHO_MV(" floor_x=", floor_x);
ECHO_MV(" floor_y=", floor_y);
......@@ -4035,7 +4027,7 @@ inline void gcode_G28() {
bed_probe_all();
calibration_report();
if ((bed_level_c <= -ac_prec) or (bed_level_c >= ac_prec)) {
if ((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)) {
ECHO_LM(DB, "Checking delta radius");
dr_adjusted = adj_deltaradius();
}
......@@ -4043,10 +4035,10 @@ inline void gcode_G28() {
dr_adjusted = false;
if (debugLevel & DEBUG_DEBUG) {
ECHO_LMV(DB, "bed_level_c=", bed_level_c, 4);
ECHO_LMV(DB, "bed_level_x=", bed_level_x, 4);
ECHO_LMV(DB, "bed_level_y=", bed_level_y, 4);
ECHO_LMV(DB, "bed_level_z=", bed_level_z, 4);
ECHO_LMV(DEB, "bed_level_c=", bed_level_c, 4);
ECHO_LMV(DEB, "bed_level_x=", bed_level_x, 4);
ECHO_LMV(DEB, "bed_level_y=", bed_level_y, 4);
ECHO_LMV(DEB, "bed_level_z=", bed_level_z, 4);
}
idle();
......@@ -4081,13 +4073,13 @@ inline void gcode_G28() {
}
if (debugLevel & DEBUG_DEBUG) {
ECHO_LMV(DB, "bed_level_c=", bed_level_c, 4);
ECHO_LMV(DB, "bed_level_x=", bed_level_x, 4);
ECHO_LMV(DB, "bed_level_y=", bed_level_y, 4);
ECHO_LMV(DB, "bed_level_z=", bed_level_z, 4);
ECHO_LMV(DB, "bed_level_ox=", bed_level_ox, 4);
ECHO_LMV(DB, "bed_level_oy=", bed_level_oy, 4);
ECHO_LMV(DB, "bed_level_oz=", bed_level_oz, 4);
ECHO_LMV(DEB, "bed_level_c=", bed_level_c, 4);
ECHO_LMV(DEB, "bed_level_x=", bed_level_x, 4);
ECHO_LMV(DEB, "bed_level_y=", bed_level_y, 4);
ECHO_LMV(DEB, "bed_level_z=", bed_level_z, 4);
ECHO_LMV(DEB, "bed_level_ox=", bed_level_ox, 4);
ECHO_LMV(DEB, "bed_level_oy=", bed_level_oy, 4);
ECHO_LMV(DEB, "bed_level_oz=", bed_level_oz, 4);
}
} while((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)
or (bed_level_x < -ac_prec) or (bed_level_x > ac_prec)
......@@ -6888,25 +6880,25 @@ inline void gcode_M503() {
}
}
if (code_seen('L')) {
ECHO_LM(DB, "Current Delta geometry values:");
ECHO_LMV(DB, "X (Endstop Adj): ", endstop_adj[0], 3);
ECHO_LMV(DB, "Y (Endstop Adj): ", endstop_adj[1], 3);
ECHO_LMV(DB, "Z (Endstop Adj): ", endstop_adj[2], 3);
ECHO_SMV(DB, "P (Z-Probe Offset): X", z_probe_offset[0]);
ECHO_LM(CFG, "Current Delta geometry values:");
ECHO_LMV(CFG, "X (Endstop Adj): ", endstop_adj[0], 3);
ECHO_LMV(CFG, "Y (Endstop Adj): ", endstop_adj[1], 3);
ECHO_LMV(CFG, "Z (Endstop Adj): ", endstop_adj[2], 3);
ECHO_SMV(CFG, "P (Z-Probe Offset): X", z_probe_offset[0]);
ECHO_MV(" Y", z_probe_offset[1]);
ECHO_EMV(" Z", z_probe_offset[2]);
ECHO_LMV(DB, "A (Tower A Position Correction): ", tower_adj[0], 3);
ECHO_LMV(DB, "B (Tower B Position Correction): ", tower_adj[1], 3);
ECHO_LMV(DB, "C (Tower C Position Correction): ", tower_adj[2], 3);
ECHO_LMV(DB, "I (Tower A Radius Correction): ", tower_adj[3], 3);
ECHO_LMV(DB, "J (Tower B Radius Correction): ", tower_adj[4], 3);
ECHO_LMV(DB, "K (Tower C Radius Correction): ", tower_adj[5], 3);
ECHO_LMV(DB, "U (Tower A Diagonal Rod Correction): ", diagrod_adj[0], 3);
ECHO_LMV(DB, "V (Tower B Diagonal Rod Correction): ", diagrod_adj[1], 3);
ECHO_LMV(DB, "W (Tower C Diagonal Rod Correction): ", diagrod_adj[2], 3);
ECHO_LMV(DB, "R (Delta Radius): ", delta_radius);
ECHO_LMV(DB, "D (Diagonal Rod Length): ", delta_diagonal_rod);
ECHO_LMV(DB, "H (Z-Height): ", max_pos[Z_AXIS]);
ECHO_LMV(CFG, "A (Tower A Position Correction): ", tower_adj[0], 3);
ECHO_LMV(CFG, "B (Tower B Position Correction): ", tower_adj[1], 3);
ECHO_LMV(CFG, "C (Tower C Position Correction): ", tower_adj[2], 3);
ECHO_LMV(CFG, "I (Tower A Radius Correction): ", tower_adj[3], 3);
ECHO_LMV(CFG, "J (Tower B Radius Correction): ", tower_adj[4], 3);
ECHO_LMV(CFG, "K (Tower C Radius Correction): ", tower_adj[5], 3);
ECHO_LMV(CFG, "U (Tower A Diagonal Rod Correction): ", diagrod_adj[0], 3);
ECHO_LMV(CFG, "V (Tower B Diagonal Rod Correction): ", diagrod_adj[1], 3);
ECHO_LMV(CFG, "W (Tower C Diagonal Rod Correction): ", diagrod_adj[2], 3);
ECHO_LMV(CFG, "R (Delta Radius): ", delta_radius);
ECHO_LMV(CFG, "D (Diagonal Rod Length): ", delta_diagonal_rod);
ECHO_LMV(CFG, "H (Z-Height): ", max_pos[Z_AXIS]);
}
}
#endif
......@@ -7887,7 +7879,7 @@ void clamp_to_software_endstops(float target[3]) {
int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds));
if (debugLevel & DEBUG_DEBUG) {
ECHO_SMV(DB, "mm=", cartesian_mm);
ECHO_SMV(DEB, "mm=", cartesian_mm);
ECHO_MV(" seconds=", seconds);
ECHO_EMV(" steps=", steps);
}
......@@ -7927,12 +7919,12 @@ void clamp_to_software_endstops(float target[3]) {
adjust_delta(target);
if (debugLevel & DEBUG_DEBUG) {
ECHO_LMV(DB, "target[X_AXIS]=", target[X_AXIS]);
ECHO_LMV(DB, "target[Y_AXIS]=", target[Y_AXIS]);
ECHO_LMV(DB, "target[Z_AXIS]=", target[Z_AXIS]);
ECHO_LMV(DB, "delta[X_AXIS]=", delta[X_AXIS]);
ECHO_LMV(DB, "delta[Y_AXIS]=", delta[Y_AXIS]);
ECHO_LMV(DB, "delta[Z_AXIS]=", delta[Z_AXIS]);
ECHO_LMV(DEB, "target[X_AXIS]=", target[X_AXIS]);
ECHO_LMV(DEB, "target[Y_AXIS]=", target[Y_AXIS]);
ECHO_LMV(DEB, "target[Z_AXIS]=", target[Z_AXIS]);
ECHO_LMV(DEB, "delta[X_AXIS]=", delta[X_AXIS]);
ECHO_LMV(DEB, "delta[Y_AXIS]=", delta[Y_AXIS]);
ECHO_LMV(DEB, "delta[Z_AXIS]=", delta[Z_AXIS]);
}
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], frfm, active_extruder, active_driver);
......
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