mesh_index_pair unified_bed_leveling::find_closest_circle_to_print(const float &X, const float &Y) { float closest = 99999.99; mesh_index_pair return_val; return_val.x_index = return_val.y_index = -1; for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { if (!is_bit_set(circle_flags, i, j)) { const float mx = mesh_index_to_xpos(i), // We found a circle that needs to be printed my = mesh_index_to_ypos(j); // Get the distance to this intersection float f = HYPOT(X - mx, Y - my); // It is possible that we are being called with the values // to let us find the closest circle to the start position. // But if this is not the case, add a small weighting to the // distance calculation to help it choose a better place to continue. f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0; // Add in the specified amount of Random Noise to our search if (random_deviation > 1.0) f += random(0.0, random_deviation); if (f < closest) { closest = f; // We found a closer location that is still return_val.x_index = i; // un-printed --- save the data for it return_val.y_index = j; return_val.distance = closest; } } } } bit_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done. return return_val; }
bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) { if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary return true; // did not move, so current_position still accurate const float total[XYZE] = { rtarget[X_AXIS] - current_position[X_AXIS], rtarget[Y_AXIS] - current_position[Y_AXIS], rtarget[Z_AXIS] - current_position[Z_AXIS], rtarget[E_AXIS] - current_position[E_AXIS] }; const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]); // total horizontal xy distance #if IS_KINEMATIC const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate uint16_t segments = lroundf(delta_segments_per_second * seconds), // preferred number of segments for distance @ feedrate seglimit = lroundf(cartesian_xy_mm * (1.0f / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length NOMORE(segments, seglimit); // limit to minimum segment length (fewer segments) #else uint16_t segments = lroundf(cartesian_xy_mm * (1.0f / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length #endif NOLESS(segments, 1U); // must have at least one segment const float inv_segments = 1.0f / segments; // divide once, multiply thereafter #if IS_SCARA // scale the feed rate from mm/s to degrees/s scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate; scara_oldA = planner.get_axis_position_degrees(A_AXIS); scara_oldB = planner.get_axis_position_degrees(B_AXIS); #endif const float diff[XYZE] = { total[X_AXIS] * inv_segments, total[Y_AXIS] * inv_segments, total[Z_AXIS] * inv_segments, total[E_AXIS] * inv_segments }; // Note that E segment distance could vary slightly as z mesh height // changes for each segment, but small enough to ignore. float raw[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] }; // Only compute leveling per segment if ubl active and target below z_fade_height. if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) { // no mesh leveling while (--segments) { LOOP_XYZE(i) raw[i] += diff[i]; ubl_buffer_segment_raw(raw, feedrate); } ubl_buffer_segment_raw(rtarget, feedrate); return false; // moved but did not set_current_from_destination(); } // Otherwise perform per-segment leveling #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]); #endif // increment to first segment destination LOOP_XYZE(i) raw[i] += diff[i]; for (;;) { // for each mesh cell encountered during the move // Compute mesh cell invariants that remain constant for all segments within cell. // Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter) // the bilinear interpolation from the adjacent cell within the mesh will still work. // Inner loop will exit each time (because out of cell bounds) but will come back // in top of loop and again re-find same adjacent cell and use it, just less efficient // for mesh inset area. int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST)), cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST)); cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1); cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1); const float x0 = mesh_index_to_xpos(cell_xi), // 64 byte table lookup avoids mul+add y0 = mesh_index_to_ypos(cell_yi); float z_x0y0 = z_values[cell_xi ][cell_yi ], // z at lower left corner z_x1y0 = z_values[cell_xi+1][cell_yi ], // z at upper left corner z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A) if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell, if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points float cx = raw[X_AXIS] - x0, // cell-relative x and y cy = raw[Y_AXIS] - y0; const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0f / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right) z_xmy1 = (z_x1y1 - z_x0y1) * (1.0f / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right) float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx (changes for each cx in cell) const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1 float z_cxym = z_cxyd * (1.0f / (MESH_Y_DIST)); // z slope per y along cx from y0 to y1 (changes for each cx in cell) // float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop) // As subsequent segments step through this cell, the z_cxy0 intercept will change // and the z_cxym slope will change, both as a function of cx within the cell, and // each change by a constant for fixed segment lengths. const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0 z_sxym = (z_xmy1 - z_xmy0) * (1.0f / (MESH_Y_DIST)) * diff[X_AXIS]; // per-segment adjustment to z_cxym for (;;) { // for all segments within this mesh cell if (--segments == 0) // if this is last segment, use rtarget for exact COPY(raw, rtarget); const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) * fade_scaling_factor // apply fade factor to interpolated mesh height #endif ; const float z = raw[Z_AXIS]; raw[Z_AXIS] += z_cxcy; ubl_buffer_segment_raw(raw, feedrate); raw[Z_AXIS] = z; if (segments == 0) // done with last segment return false; // did not set_current_from_destination() LOOP_XYZE(i) raw[i] += diff[i]; cx += diff[X_AXIS]; cy += diff[Y_AXIS]; if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) // done within this cell, break to next break; // Next segment still within same mesh cell, adjust the per-segment // slope and intercept to compute next z height. z_cxy0 += z_sxy0; // adjust z_cxy0 by per-segment z_sxy0 z_cxym += z_sxym; // adjust z_cxym by per-segment z_sxym } // segment loop } // cell loop return false; // caller will update current_position }
void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) { /** * Much of the nozzle movement will be within the same cell. So we will do as little computation * as possible to determine if this is the case. If this move is within the same cell, we will * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave */ #if ENABLED(SKEW_CORRECTION) // For skew correction just adjust the destination point and we're done float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] }, end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] }; planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]); planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]); #else const float (&start)[XYZE] = current_position, (&end)[XYZE] = destination; #endif const int cell_start_xi = get_cell_index_x(start[X_AXIS]), cell_start_yi = get_cell_index_y(start[Y_AXIS]), cell_dest_xi = get_cell_index_x(end[X_AXIS]), cell_dest_yi = get_cell_index_y(end[Y_AXIS]); if (g26_debug_flag) { SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]); SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]); SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]); SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]); SERIAL_CHAR(')'); SERIAL_EOL(); debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()")); } // A move within the same cell needs no splitting if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // For a move off the bed, use a constant Z raise if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) { // Note: There is no Z Correction in this case. We are off the grid and don't know what // a reasonable correction would be. If the user has specified a UBL_Z_RAISE_WHEN_OFF_MESH // value, that will be used instead of a calculated (Bi-Linear interpolation) correction. const float z_raise = 0.0 #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + UBL_Z_RAISE_WHEN_OFF_MESH #endif ; planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z_raise, end[E_AXIS], feed_rate, extruder); set_current_from_destination(); if (g26_debug_flag) debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()")); return; } FINAL_MOVE: // The distance is always MESH_X_DIST so multiply by the constant reciprocal. const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * (1.0f / (MESH_X_DIST)); float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio * (z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]), z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio * (z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]); if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0; // X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset. const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * (1.0f / (MESH_Y_DIST)), z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0; // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + (isnan(z0) ? 0.0 : z0), end[E_AXIS], feed_rate, extruder); if (g26_debug_flag) debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()")); set_current_from_destination(); return; } /** * Past this point the move is known to cross one or more mesh lines. Check for the most common * case - crossing only one X or Y line - after details are worked out to reduce computation. */ const float dx = end[X_AXIS] - start[X_AXIS], dy = end[Y_AXIS] - start[Y_AXIS]; const int left_flag = dx < 0.0 ? 1 : 0, down_flag = dy < 0.0 ? 1 : 0; const float adx = left_flag ? -dx : dx, ady = down_flag ? -dy : dy; const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1, dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1; /** * Compute the extruder scaling factor for each partial move, checking for * zero-length moves that would result in an infinite scaling factor. * A float divide is required for this, but then it just multiplies. * Also select a scaling factor based on the larger of the X and Y * components. The larger of the two is used to preserve precision. */ const bool use_x_dist = adx > ady; float on_axis_distance = use_x_dist ? dx : dy, e_position = end[E_AXIS] - start[E_AXIS], z_position = end[Z_AXIS] - start[Z_AXIS]; const float e_normalized_dist = e_position / on_axis_distance, z_normalized_dist = z_position / on_axis_distance; int current_xi = cell_start_xi, current_yi = cell_start_yi; const float m = dy / dx, c = start[Y_AXIS] - m * start[X_AXIS]; const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0), inf_m_flag = (isinf(m) != 0); /** * Handle vertical lines that stay within one column. * These need not be perfectly vertical. */ if (dxi == 0) { // Vertical line? current_yi += down_flag; // Line going down? Just go to the bottom. while (current_yi != cell_dest_yi + down_flag) { current_yi += dyi; const float next_mesh_line_y = mesh_index_to_ypos(current_yi); /** * Skip the calculations for an infinite slope. * For others the next X is the same so this can continue. * Calculate X at the next Y mesh line. */ const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m; float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; const float ry = mesh_index_to_ypos(current_yi); /** * Without this check, it's possible to generate a zero length move, as in the case where * the line is heading down, starting exactly on a mesh line boundary. Since this is rare * it might be fine to remove this check and let planner.buffer_segment() filter it out. */ if (ry != start[Y_AXIS]) { if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); } //else printf("FIRST MOVE PRUNED "); } if (g26_debug_flag) debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()")); // At the final destination? Usually not, but when on a Y Mesh Line it's completed. if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); return; } /** * Handle horizontal lines that stay within one row. * These need not be perfectly horizontal. */ if (dyi == 0) { // Horizontal line? current_xi += left_flag; // Heading left? Just go to the left edge of the cell for the first move. while (current_xi != cell_dest_xi + left_flag) { current_xi += dxi; const float next_mesh_line_x = mesh_index_to_xpos(current_xi), ry = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; const float rx = mesh_index_to_xpos(current_xi); /** * Without this check, it's possible to generate a zero length move, as in the case where * the line is heading left, starting exactly on a mesh line boundary. Since this is rare * it might be fine to remove this check and let planner.buffer_segment() filter it out. */ if (rx != start[X_AXIS]) { if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder)) break; } //else printf("FIRST MOVE PRUNED "); } if (g26_debug_flag) debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()")); if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); return; } /** * * Handle the generic case of a line crossing both X and Y Mesh lines. * */ int xi_cnt = cell_start_xi - cell_dest_xi, yi_cnt = cell_start_yi - cell_dest_yi; if (xi_cnt < 0) xi_cnt = -xi_cnt; if (yi_cnt < 0) yi_cnt = -yi_cnt; current_xi += left_flag; current_yi += down_flag; while (xi_cnt || yi_cnt) { const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi), next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi), ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line // (No need to worry about m being zero. // If that was the case, it was already detected // as a vertical line move above.) if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first // Yes! Crossing a Y Mesh Line next float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder)) break; current_yi += dyi; yi_cnt--; } else { // Yes! Crossing a X Mesh Line next float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder)) break; current_xi += dxi; xi_cnt--; } if (xi_cnt < 0 || yi_cnt < 0) break; // Too far! Exit the loop and go to FINAL_MOVE } if (g26_debug_flag) debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()")); if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); }
bool unified_bed_leveling::look_for_lines_to_connect() { float sx, sy, ex, ey; for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { #if ENABLED(NEWPANEL) if (user_canceled()) return true; // Check if the user wants to stop the Mesh Validation #endif if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X. // This is already a half circle because we are at the edge of the bed. if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i + 1, j)) { // check if we can do a line to the left if (!is_bit_set(horizontal_mesh_line_flags, i, j)) { // // We found two circles that need a horizontal line to connect them // Print it! // sx = mesh_index_to_xpos( i ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge ex = mesh_index_to_xpos(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1); sy = ey = constrain(mesh_index_to_ypos(j), Y_MIN_POS + 1, Y_MAX_POS - 1); ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1); if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) { if (g26_debug_flag) { SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx); SERIAL_ECHOPAIR(", sy=", sy); SERIAL_ECHOPAIR(") -> (ex=", ex); SERIAL_ECHOPAIR(", ey=", ey); SERIAL_CHAR(')'); SERIAL_EOL(); //debug_current_and_destination(PSTR("Connecting horizontal line.")); } print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height); } bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it } } if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y. // This is already a half circle because we are at the edge of the bed. if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i, j + 1)) { // check if we can do a line straight down if (!is_bit_set( vertical_mesh_line_flags, i, j)) { // // We found two circles that need a vertical line to connect them // Print it! // sy = mesh_index_to_ypos( j ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge ey = mesh_index_to_ypos(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge sx = ex = constrain(mesh_index_to_xpos(i), X_MIN_POS + 1, X_MAX_POS - 1); sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1); ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1); if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) { if (g26_debug_flag) { SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx); SERIAL_ECHOPAIR(", sy=", sy); SERIAL_ECHOPAIR(") -> (ex=", ex); SERIAL_ECHOPAIR(", ey=", ey); SERIAL_CHAR(')'); SERIAL_EOL(); debug_current_and_destination(PSTR("Connecting vertical line.")); } print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height); } bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped } } } } } } return false; }
/** * G26: Mesh Validation Pattern generation. * * Used to interactively edit UBL's Mesh by placing the * nozzle in a problem area and doing a G29 P4 R command. */ void unified_bed_leveling::G26() { SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s)."); float tmp, start_angle, end_angle; int i, xi, yi; mesh_index_pair location; // Don't allow Mesh Validation without homing first, // or if the parameter parsing did not go OK, abort if (axis_unhomed_error() || parse_G26_parameters()) return; if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) { do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES); stepper.synchronize(); set_current_to_destination(); } if (turn_on_heaters()) goto LEAVE; current_position[E_AXIS] = 0.0; sync_plan_position_e(); if (g26_prime_flag && prime_nozzle()) goto LEAVE; /** * Bed is preheated * * Nozzle is at temperature * * Filament is primed! * * It's "Show Time" !!! */ ZERO(circle_flags); ZERO(horizontal_mesh_line_flags); ZERO(vertical_mesh_line_flags); // Move nozzle to the specified height for the first layer set_destination_to_current(); destination[Z_AXIS] = g26_layer_height; move_to(destination, 0.0); move_to(destination, g26_ooze_amount); has_control_of_lcd_panel = true; //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern.")); /** * Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten * the CPU load and make the arc drawing faster and more smooth */ float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1]; for (i = 0; i <= 360 / 30; i++) { cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0))); sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0))); } do { location = g26_continue_with_closest ? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS]) : find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now. if (location.x_index >= 0 && location.y_index >= 0) { const float circle_x = mesh_index_to_xpos(location.x_index), circle_y = mesh_index_to_ypos(location.y_index); // If this mesh location is outside the printable_radius, skip it. if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue; xi = location.x_index; // Just to shrink the next few lines and make them easier to understand yi = location.y_index; if (g26_debug_flag) { SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi); SERIAL_ECHOPAIR(", yi=", yi); SERIAL_CHAR(')'); SERIAL_EOL(); } start_angle = 0.0; // assume it is going to be a full circle end_angle = 360.0; if (xi == 0) { // Check for bottom edge start_angle = -90.0; end_angle = 90.0; if (yi == 0) // it is an edge, check for the two left corners start_angle = 0.0; else if (yi == GRID_MAX_POINTS_Y - 1) end_angle = 0.0; } else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge start_angle = 90.0; end_angle = 270.0; if (yi == 0) // it is an edge, check for the two right corners end_angle = 180.0; else if (yi == GRID_MAX_POINTS_Y - 1) start_angle = 180.0; } else if (yi == 0) { start_angle = 0.0; // only do the top side of the cirlce end_angle = 180.0; } else if (yi == GRID_MAX_POINTS_Y - 1) { start_angle = 180.0; // only do the bottom side of the cirlce end_angle = 360.0; } for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) { #if ENABLED(NEWPANEL) if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation #endif int tmp_div_30 = tmp / 30.0; if (tmp_div_30 < 0) tmp_div_30 += 360 / 30; if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30; float x = circle_x + cos_table[tmp_div_30], // for speed, these are now a lookup table entry y = circle_y + sin_table[tmp_div_30], xe = circle_x + cos_table[tmp_div_30 + 1], ye = circle_y + sin_table[tmp_div_30 + 1]; #if IS_KINEMATIC // Check to make sure this segment is entirely on the bed, skip if not. if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue; #else // not, we need to skip x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1); xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1); ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1); #endif //if (g26_debug_flag) { // char ccc, *cptr, seg_msg[50], seg_num[10]; // strcpy(seg_msg, " segment: "); // strcpy(seg_num, " \n"); // cptr = (char*) "01234567890ABCDEF????????"; // ccc = cptr[tmp_div_30]; // seg_num[1] = ccc; // strcat(seg_msg, seg_num); // debug_current_and_destination(seg_msg); //} print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height); } if (look_for_lines_to_connect()) goto LEAVE; } } while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0); LEAVE: lcd_setstatusPGM(PSTR("Leaving G26"), -1); retract_filament(destination); destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; //debug_current_and_destination(PSTR("ready to do Z-Raise.")); move_to(destination, 0); // Raise the nozzle //debug_current_and_destination(PSTR("done doing Z-Raise.")); destination[X_AXIS] = g26_x_pos; // Move back to the starting position destination[Y_AXIS] = g26_y_pos; //destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is move_to(destination, 0); // Move back to the starting position //debug_current_and_destination(PSTR("done doing X/Y move.")); has_control_of_lcd_panel = false; // Give back control of the LCD Panel! if (!g26_keep_heaters_on) { #if HAS_TEMP_BED thermalManager.setTargetBed(0); #endif thermalManager.setTargetHotend(0, 0); } }
void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) { /** * Much of the nozzle movement will be within the same cell. So we will do as little computation * as possible to determine if this is the case. If this move is within the same cell, we will * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave */ #if ENABLED(SKEW_CORRECTION) // For skew correction just adjust the destination point and we're done float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] }, end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] }; planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]); planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]); #else const float (&start)[XYZE] = current_position, (&end)[XYZE] = destination; #endif const int cell_start_xi = get_cell_index_x(start[X_AXIS]), cell_start_yi = get_cell_index_y(start[Y_AXIS]), cell_dest_xi = get_cell_index_x(end[X_AXIS]), cell_dest_yi = get_cell_index_y(end[Y_AXIS]); if (g26_debug_flag) { SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]); SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]); SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]); SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]); SERIAL_CHAR(')'); SERIAL_EOL(); debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()")); } if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell, /** * we don't need to break up the move * * If we are moving off the print bed, we are going to allow the move at this level. * But we detect it and isolate it. For now, we just pass along the request. */ if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) { // Note: There is no Z Correction in this case. We are off the grid and don't know what // a reasonable correction would be. planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder); set_current_from_destination(); if (g26_debug_flag) debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()")); return; } FINAL_MOVE: /** * Optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to * generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function. * We are going to only calculate the amount we are from the first mesh line towards the second mesh line once. * We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And, * instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor * to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide. */ const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST)); float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio * (z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]), z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio * (z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]); if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0; // we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we // are going to apply the Y-Distance into the cell to interpolate the final Z correction. const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST)); float z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0; /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder); if (g26_debug_flag) debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()")); set_current_from_destination(); return; } /** * If we get here, we are processing a move that crosses at least one Mesh Line. We will check * for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details * of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less * computation and in fact most lines are of this nature. We will check for that in the following * blocks of code: */ const float dx = end[X_AXIS] - start[X_AXIS], dy = end[Y_AXIS] - start[Y_AXIS]; const int left_flag = dx < 0.0 ? 1 : 0, down_flag = dy < 0.0 ? 1 : 0; const float adx = left_flag ? -dx : dx, ady = down_flag ? -dy : dy; const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1, dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1; /** * Compute the scaling factor for the extruder for each partial move. * We need to watch out for zero length moves because it will cause us to * have an infinate scaling factor. We are stuck doing a floating point * divide to get our scaling factor, but after that, we just multiply by this * number. We also pick our scaling factor based on whether the X or Y * component is larger. We use the biggest of the two to preserve precision. */ const bool use_x_dist = adx > ady; float on_axis_distance = use_x_dist ? dx : dy, e_position = end[E_AXIS] - start[E_AXIS], z_position = end[Z_AXIS] - start[Z_AXIS]; const float e_normalized_dist = e_position / on_axis_distance, z_normalized_dist = z_position / on_axis_distance; int current_xi = cell_start_xi, current_yi = cell_start_yi; const float m = dy / dx, c = start[Y_AXIS] - m * start[X_AXIS]; const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0), inf_m_flag = (isinf(m) != 0); /** * This block handles vertical lines. These are lines that stay within the same * X Cell column. They do not need to be perfectly vertical. They just can * not cross into another X Cell column. */ if (dxi == 0) { // Check for a vertical line current_yi += down_flag; // Line is heading down, we just want to go to the bottom while (current_yi != cell_dest_yi + down_flag) { current_yi += dyi; const float next_mesh_line_y = mesh_index_to_ypos(current_yi); /** * if the slope of the line is infinite, we won't do the calculations * else, we know the next X is the same so we can recover and continue! * Calculate X at the next Y mesh line */ const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m; float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; const float ry = mesh_index_to_ypos(current_yi); /** * Without this check, it is possible for the algorithm to generate a zero length move in the case * where the line is heading down and it is starting right on a Mesh Line boundary. For how often that * happens, it might be best to remove the check and always 'schedule' the move because * the planner.buffer_segment() routine will filter it if that happens. */ if (ry != start[Y_AXIS]) { if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); } //else printf("FIRST MOVE PRUNED "); } if (g26_debug_flag) debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()")); // // Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done. // if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); return; } /** * * This block handles horizontal lines. These are lines that stay within the same * Y Cell row. They do not need to be perfectly horizontal. They just can * not cross into another Y Cell row. * */ if (dyi == 0) { // Check for a horizontal line current_xi += left_flag; // Line is heading left, we just want to go to the left // edge of this cell for the first move. while (current_xi != cell_dest_xi + left_flag) { current_xi += dxi; const float next_mesh_line_x = mesh_index_to_xpos(current_xi), ry = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; const float rx = mesh_index_to_xpos(current_xi); /** * Without this check, it is possible for the algorithm to generate a zero length move in the case * where the line is heading left and it is starting right on a Mesh Line boundary. For how often * that happens, it might be best to remove the check and always 'schedule' the move because * the planner.buffer_segment() routine will filter it if that happens. */ if (rx != start[X_AXIS]) { if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); } //else printf("FIRST MOVE PRUNED "); } if (g26_debug_flag) debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()")); if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); return; } /** * * This block handles the generic case of a line crossing both X and Y Mesh lines. * */ int xi_cnt = cell_start_xi - cell_dest_xi, yi_cnt = cell_start_yi - cell_dest_yi; if (xi_cnt < 0) xi_cnt = -xi_cnt; if (yi_cnt < 0) yi_cnt = -yi_cnt; current_xi += left_flag; current_yi += down_flag; while (xi_cnt > 0 || yi_cnt > 0) { const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi), next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi), ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line // (No need to worry about m being zero. // If that was the case, it was already detected // as a vertical line move above.) if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first // Yes! Crossing a Y Mesh Line next float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder); current_yi += dyi; yi_cnt--; } else { // Yes! Crossing a X Mesh Line next float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder); current_xi += dxi; xi_cnt--; } if (xi_cnt < 0 || yi_cnt < 0) break; // we've gone too far, so exit the loop and move on to FINAL_MOVE } if (g26_debug_flag) debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()")); if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); }