Fix

MarlinKimbra/Configuration_Delta.h

@@ -29,6 +29,9 @@
 //Uncomment to enable autocalibration debug messages
 #define DEBUG_MESSAGES
 
+//Amount to lift head after probing a point
+#define AUTOCAL_PROBELIFT 3 // mm
+
 // Precision for G30 delta autocalibration function
 #define AUTOCALIBRATION_PRECISION 0.1      // mm
 
@@ -80,9 +83,9 @@
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstop when homing; 1=MAX, -1=MIN
-#define X_HOME_DIR 1 //DELTA MUST HAVE MAX ENDSTOP
-#define Y_HOME_DIR 1 //DELTA MUST HAVE MAX ENDSTOP
-#define Z_HOME_DIR 1 //DELTA MUST HAVE MAX ENDSTOP
+#define X_HOME_DIR 1 // DELTA MUST HAVE MAX ENDSTOP
+#define Y_HOME_DIR 1 // DELTA MUST HAVE MAX ENDSTOP
+#define Z_HOME_DIR 1 // DELTA MUST HAVE MAX ENDSTOP
 
 #define min_software_endstops true  // If true, axis won't move to coordinates less than HOME_POS.
 #define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.

MarlinKimbra/Marlin_main.cpp

@@ -376,7 +376,7 @@ bool target_direction;
       };
   static float z_offset;
   static float bed_level_x, bed_level_y, bed_level_z;
-  static float bed_level_c = 20; //used for inital bed probe safe distance (to avoid crashing into bed)
+  static float bed_level_c = 20; // used for inital bed probe safe distance (to avoid crashing into bed)
   static float bed_level_ox, bed_level_oy, bed_level_oz;
   static int loopcount;
   static bool home_all_axis = true;
@@ -1635,9 +1635,9 @@ static void setup_for_endstop_move() {
   float z_probe() {
 
     enable_endstops(true);
-    //feedrate = homing_feedrate[X_AXIS];
-    //prepare_move_raw();
-    //st_synchronize();
+    feedrate = homing_feedrate[X_AXIS];
+    prepare_move_raw();
+    st_synchronize();
 
     float start_z = current_position[Z_AXIS];
     long start_steps = st_get_position(Z_AXIS);
@@ -1672,13 +1672,10 @@ static void setup_for_endstop_move() {
     float probe_bed_z, probe_z, probe_h, probe_l;
     int probe_count;
       
-    for (int y = 3; y >= -3; y--)
-    {
+    for (int y = 3; y >= -3; y--) {
       int dir = y % 2 ? -1 : 1;
-      for (int x = -3*dir; x != 4*dir; x += dir)
-      {
-        if (x*x + y*y < 11)
-        {
+      for (int x = -3*dir; x != 4*dir; x += dir) {
+        if (x*x + y*y < 11) {
           destination[X_AXIS] = AUTOLEVEL_GRID * x - z_probe_offset[X_AXIS];
           if (destination[X_AXIS]<X_MIN_POS) destination[X_AXIS]=X_MIN_POS;
           if (destination[X_AXIS]>X_MAX_POS) destination[X_AXIS]=X_MAX_POS;
@@ -1689,8 +1686,7 @@ static void setup_for_endstop_move() {
           probe_z = -100;
           probe_h = -100;
           probe_l = 100;
-          do
-          {
+          do {
             probe_bed_z = probe_z;
             probe_z = z_probe() + z_offset;
             if (probe_z > probe_h) probe_h = probe_z;
@@ -1700,26 +1696,22 @@ static void setup_for_endstop_move() {
 
           bed_level[x+3][3-y] = probe_bed_z;
         }
-        else
-        {
+        else {
           bed_level[x+3][3-y] = 0.0;
         }
       }
       // For unprobed positions just copy nearest neighbor.
-      if (abs(y) >= 3)
-      {
+      if (abs(y) >= 3) {
         bed_level[1][3-y] = bed_level[2][3-y];
         bed_level[5][3-y] = bed_level[4][3-y];
       }
-      if (abs(y) >=2)
-      {
+      if (abs(y) >=2) {
         bed_level[0][3-y] = bed_level[1][3-y];
         bed_level[6][3-y] = bed_level[5][3-y];
       }
       // Print calibration results for manual frame adjustment.
       ECHO_S(DB);
-      for (int x = -3; x <= 3; x++)
-      {
+      for (int x = -3; x <= 3; x++) {
         ECHO_VM(bed_level[x+3][3-y], " ", 3);
       }
       ECHO_E;
@@ -1737,7 +1729,7 @@ static void setup_for_endstop_move() {
     destination[Y_AXIS] = y - z_probe_offset[Y_AXIS];
     if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS;
     if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;
-    destination[Z_AXIS] = bed_level_c - z_probe_offset[Z_AXIS] + 3;
+    destination[Z_AXIS] = bed_level_c - z_probe_offset[Z_AXIS] + AUTOCAL_PROBELIFT;
     prepare_move();
     st_synchronize();
 
@@ -1763,15 +1755,13 @@ static void setup_for_endstop_move() {
     float probe_l[7];
     float range_h = 0, range_l = 0;
 
-    for(int x = 0; x < 7; x++)
-    {
+    for(int x = 0; x < 7; x++) {
       probe_h[x] = -100;
       probe_l[x] = 100;
     }
 
     // probe test loop  
-    for(int x = 0; x < 3; x++)
-    {
+    for(int x = 0; x < 3; x++) {
       bed_probe_all();
 
       if (bed_level_c > probe_h[0]) probe_h[0] = bed_level_c;
@@ -1789,8 +1779,7 @@ static void setup_for_endstop_move() {
       if (bed_level_ox > probe_h[6]) probe_h[6] = bed_level_ox;
       if (bed_level_ox < probe_l[6]) probe_l[6] = bed_level_ox;
     }
-    for(int x = 0; x < 7; x++)
-    {
+    for(int x = 0; x < 7; x++) {
       if (probe_h[x] - probe_l[x] > range_h) range_h = probe_h[x] - probe_l[x];
       if (probe_h[x] - probe_l[x] < range_l) range_l = probe_h[x] - probe_l[x];
     }
@@ -1801,7 +1790,6 @@ static void setup_for_endstop_move() {
     //Probe all bed positions & store carriage positions
     bed_level_c = probe_bed(0.0, 0.0);
     save_carriage_positions(0);
-    //Probe all bed positions & store carriage positions
     bed_level_z = probe_bed(0.0, bed_radius);
     save_carriage_positions(1);
     bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
@@ -1876,7 +1864,7 @@ static void setup_for_endstop_move() {
     sync_plan_position();
 
     // Move all carriages up together until the first endstop is hit.
-    for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * max_length[Z_AXIS];
+    for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
     feedrate = 1.732 * homing_feedrate[X_AXIS];
     line_to_destination();
     st_synchronize();

MarlinKimbra/motion_control.cpp

-/*
-  motion_control.c - high level interface for issuing motion commands
-  Part of Grbl
-
-  Copyright (c) 2009-2011 Simen Svale Skogsrud
-  Copyright (c) 2011 Sungeun K. Jeon
-  
-  Grbl is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include "Marlin.h"
-#include "stepper.h"
-#include "planner.h"
-
-// The arc is approximated by generating a huge number of tiny, linear segments. The length of each 
-// segment is configured in settings.mm_per_arc_segment.  
-void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1, 
-  uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder, uint8_t driver)
-{      
-  //   int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
-  //   plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
-  float center_axis0 = position[axis_0] + offset[axis_0];
-  float center_axis1 = position[axis_1] + offset[axis_1];
-  float linear_travel = target[axis_linear] - position[axis_linear];
-  float extruder_travel = target[E_AXIS] - position[E_AXIS];
-  float r_axis0 = -offset[axis_0];  // Radius vector from center to current location
-  float r_axis1 = -offset[axis_1];
-  float rt_axis0 = target[axis_0] - center_axis0;
-  float rt_axis1 = target[axis_1] - center_axis1;
-  
-  // CCW angle between position and target from circle center. Only one atan2() trig computation required.
-  float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
-  if (angular_travel < 0) { angular_travel += 2*M_PI; }
-  if (isclockwise) { angular_travel -= 2*M_PI; }
-  
-  //20141002:full circle for G03 did not work, e.g. G03 X80 Y80 I20 J0 F2000 is giving an Angle of zero so head is not moving
-  //to compensate when start pos = target pos && angle is zero -> angle = 2Pi
-  if (position[axis_0] == target[axis_0] && position[axis_1] == target[axis_1] && angular_travel == 0)
-  {
-	  angular_travel += 2*M_PI;
-  }
-  //end fix G03
-  
-  float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
-  if (millimeters_of_travel < 0.001) { return; }
-  uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
-  if(segments == 0) segments = 1;
-  
-  /*  
-    // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
-    // by a number of discrete segments. The inverse feed_rate should be correct for the sum of 
-    // all segments.
-    if (invert_feed_rate) { feed_rate *= segments; }
-  */
-  float theta_per_segment = angular_travel/segments;
-  float linear_per_segment = linear_travel/segments;
-  float extruder_per_segment = extruder_travel/segments;
-  
-  /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
-     and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
-         r_T = [cos(phi) -sin(phi);
-                sin(phi)  cos(phi] * r ;
-     
-     For arc generation, the center of the circle is the axis of rotation and the radius vector is 
-     defined from the circle center to the initial position. Each line segment is formed by successive
-     vector rotations. This requires only two cos() and sin() computations to form the rotation
-     matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
-     all double numbers are single precision on the Arduino. (True double precision will not have
-     round off issues for CNC applications.) Single precision error can accumulate to be greater than
-     tool precision in some cases. Therefore, arc path correction is implemented. 
-
-     Small angle approximation may be used to reduce computation overhead further. This approximation
-     holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
-     theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
-     to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for 
-     numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
-     issue for CNC machines with the single precision Arduino calculations.
-     
-     This approximation also allows mc_arc to immediately insert a line segment into the planner 
-     without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
-     a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. 
-     This is important when there are successive arc motions. 
-  */
-  // Vector rotation matrix values
-  float cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
-  float sin_T = theta_per_segment;
-  
-  float arc_target[4];
-  float sin_Ti;
-  float cos_Ti;
-  float r_axisi;
-  uint16_t i;
-  int8_t count = 0;
-
-  // Initialize the linear axis
-  arc_target[axis_linear] = position[axis_linear];
-  
-  // Initialize the extruder axis
-  arc_target[E_AXIS] = position[E_AXIS];
-
-  for (i = 1; i<segments; i++) { // Increment (segments-1)
-    
-    if (count < N_ARC_CORRECTION) {
-      // Apply vector rotation matrix 
-      r_axisi = r_axis0*sin_T + r_axis1*cos_T;
-      r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
-      r_axis1 = r_axisi;
-      count++;
-    } else {
-      // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
-      // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
-      cos_Ti = cos(i*theta_per_segment);
-      sin_Ti = sin(i*theta_per_segment);
-      r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
-      r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
-      count = 0;
-    }
-
-    // Update arc_target location
-    arc_target[axis_0] = center_axis0 + r_axis0;
-    arc_target[axis_1] = center_axis1 + r_axis1;
-    arc_target[axis_linear] += linear_per_segment;
-    arc_target[E_AXIS] += extruder_per_segment;
-
-    clamp_to_software_endstops(arc_target);
-    plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder, driver);
-
-  }
-  // Ensure last segment arrives at target location.
-  plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, extruder, driver);
-
-  //   plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
-}
-

MarlinKimbra/motion_control.h

-/*
-  motion_control.h - high level interface for issuing motion commands
-  Part of Grbl
-
-  Copyright (c) 2009-2011 Simen Svale Skogsrud
-  Copyright (c) 2011 Sungeun K. Jeon
-  
-  Grbl is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef motion_control_h
-#define motion_control_h
-
-// Execute an arc in offset mode format. position == current xyz, target == target xyz, 
-// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
-// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
-// for vector transformation direction.
-void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1,
-  unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise, uint8_t extruder, uint8_t driver);
-
-#endif