/** * Prepare a bilinear-leveled linear move on Cartesian, * splitting the move where it crosses grid borders. */ void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits, uint16_t y_splits) { // Get current and destination cells for this line int cx1 = CELL_INDEX(X, current_position[X_AXIS]), cy1 = CELL_INDEX(Y, current_position[Y_AXIS]), cx2 = CELL_INDEX(X, destination[X_AXIS]), cy2 = CELL_INDEX(Y, destination[Y_AXIS]); cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2); cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2); cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2); cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2); // Start and end in the same cell? No split needed. if (cx1 == cx2 && cy1 == cy2) { buffer_line_to_destination(fr_mm_s); set_current_from_destination(); return; } #define LINE_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist) float normalized_dist, end[XYZE]; const int8_t gcx = MAX(cx1, cx2), gcy = MAX(cy1, cy2); // Crosses on the X and not already split on this X? // The x_splits flags are insurance against rounding errors. if (cx2 != cx1 && TEST(x_splits, gcx)) { // Split on the X grid line CBI(x_splits, gcx); COPY(end, destination); destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx; normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); destination[Y_AXIS] = LINE_SEGMENT_END(Y); } // Crosses on the Y and not already split on this Y? else if (cy2 != cy1 && TEST(y_splits, gcy)) { // Split on the Y grid line CBI(y_splits, gcy); COPY(end, destination); destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy; normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); destination[X_AXIS] = LINE_SEGMENT_END(X); } else { // Must already have been split on these border(s) // This should be a rare case. buffer_line_to_destination(fr_mm_s); set_current_from_destination(); return; } destination[Z_AXIS] = LINE_SEGMENT_END(Z); destination[E_AXIS] = LINE_SEGMENT_END(E); // Do the split and look for more borders bilinear_line_to_destination(fr_mm_s, x_splits, y_splits); // Restore destination from stack COPY(destination, end); bilinear_line_to_destination(fr_mm_s, x_splits, y_splits); }
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(); }
/** * G26: Mesh Validation Pattern generation. * * Used to interactively edit the mesh by placing the * nozzle in a problem area and doing a G29 P4 R command. * * Parameters: * * B Bed Temperature * C Continue from the Closest mesh point * D Disable leveling before starting * F Filament diameter * H Hotend Temperature * K Keep heaters on when completed * L Layer Height * O Ooze extrusion length * P Prime length * Q Retraction multiplier * R Repetitions (number of grid points) * S Nozzle Size (diameter) in mm * T Tool index to change to, if included * U Random deviation (50 if no value given) * X X position * Y Y position */ void GcodeSuite::G26() { SERIAL_ECHOLNPGM("G26 starting..."); // Don't allow Mesh Validation without homing first, // or if the parameter parsing did not go OK, abort if (axis_unhomed_error()) return; // Change the tool first, if specified if (parser.seenval('T')) tool_change(parser.value_int()); g26_extrusion_multiplier = EXTRUSION_MULTIPLIER; g26_retraction_multiplier = RETRACTION_MULTIPLIER; g26_layer_height = MESH_TEST_LAYER_HEIGHT; g26_prime_length = PRIME_LENGTH; g26_bed_temp = MESH_TEST_BED_TEMP; g26_hotend_temp = MESH_TEST_HOTEND_TEMP; g26_prime_flag = 0; float g26_nozzle = MESH_TEST_NOZZLE_SIZE, g26_filament_diameter = DEFAULT_NOMINAL_FILAMENT_DIA, g26_ooze_amount = parser.linearval('O', OOZE_AMOUNT); bool g26_continue_with_closest = parser.boolval('C'), g26_keep_heaters_on = parser.boolval('K'); if (parser.seenval('B')) { g26_bed_temp = parser.value_celsius(); if (g26_bed_temp && !WITHIN(g26_bed_temp, 40, 140)) { SERIAL_ECHOLNPGM("?Specified bed temperature not plausible (40-140C)."); return; } } if (parser.seenval('L')) { g26_layer_height = parser.value_linear_units(); if (!WITHIN(g26_layer_height, 0.0, 2.0)) { SERIAL_ECHOLNPGM("?Specified layer height not plausible."); return; } } if (parser.seen('Q')) { if (parser.has_value()) { g26_retraction_multiplier = parser.value_float(); if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) { SERIAL_ECHOLNPGM("?Specified Retraction Multiplier not plausible."); return; } } else { SERIAL_ECHOLNPGM("?Retraction Multiplier must be specified."); return; } } if (parser.seenval('S')) { g26_nozzle = parser.value_float(); if (!WITHIN(g26_nozzle, 0.1, 1.0)) { SERIAL_ECHOLNPGM("?Specified nozzle size not plausible."); return; } } if (parser.seen('P')) { if (!parser.has_value()) { #if HAS_LCD_MENU g26_prime_flag = -1; #else SERIAL_ECHOLNPGM("?Prime length must be specified when not using an LCD."); return; #endif } else { g26_prime_flag++; g26_prime_length = parser.value_linear_units(); if (!WITHIN(g26_prime_length, 0.0, 25.0)) { SERIAL_ECHOLNPGM("?Specified prime length not plausible."); return; } } } if (parser.seenval('F')) { g26_filament_diameter = parser.value_linear_units(); if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) { SERIAL_ECHOLNPGM("?Specified filament size not plausible."); return; } } g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to // scale up or down the length needed to get the // same volume of filament g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size if (parser.seenval('H')) { g26_hotend_temp = parser.value_celsius(); if (!WITHIN(g26_hotend_temp, 165, 280)) { SERIAL_ECHOLNPGM("?Specified nozzle temperature not plausible."); return; } } if (parser.seen('U')) { randomSeed(millis()); // This setting will persist for the next G26 random_deviation = parser.has_value() ? parser.value_float() : 50.0; } int16_t g26_repeats; #if HAS_LCD_MENU g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1); #else if (!parser.seen('R')) { SERIAL_ECHOLNPGM("?(R)epeat must be specified when not using an LCD."); return; } else g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1; #endif if (g26_repeats < 1) { SERIAL_ECHOLNPGM("?(R)epeat value not plausible; must be at least 1."); return; } g26_x_pos = parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[X_AXIS]; g26_y_pos = parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position[Y_AXIS]; if (!position_is_reachable(g26_x_pos, g26_y_pos)) { SERIAL_ECHOLNPGM("?Specified X,Y coordinate out of bounds."); return; } /** * Wait until all parameters are verified before altering the state! */ set_bed_leveling_enabled(!parser.seen('D')); if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) { do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES); set_current_from_destination(); } if (turn_on_heaters() != G26_OK) goto LEAVE; current_position[E_AXIS] = 0.0; sync_plan_position_e(); if (g26_prime_flag && prime_nozzle() != G26_OK) 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_from_current(); destination[Z_AXIS] = g26_layer_height; move_to(destination, 0.0); move_to(destination, g26_ooze_amount); #if HAS_LCD_MENU ui.capture(); #endif //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern.")); #if DISABLED(ARC_SUPPORT) /** * Pre-generate radius offset values at 30 degree intervals to reduce CPU load. */ #define A_INT 30 #define _ANGS (360 / A_INT) #define A_CNT (_ANGS / 2) #define _IND(A) ((A + _ANGS * 8) % _ANGS) #define _COS(A) (trig_table[_IND(A) % A_CNT] * (_IND(A) >= A_CNT ? -1 : 1)) #define _SIN(A) (-_COS((A + A_CNT / 2) % _ANGS)) #if A_CNT & 1 #error "A_CNT must be a positive value. Please change A_INT." #endif float trig_table[A_CNT]; for (uint8_t i = 0; i < A_CNT; i++) trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * A_INT)); #endif // !ARC_SUPPORT mesh_index_pair location; 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 = _GET_MESH_X(location.x_index), circle_y = _GET_MESH_Y(location.y_index); // If this mesh location is outside the printable_radius, skip it. if (!position_is_reachable(circle_x, circle_y)) continue; // Determine where to start and end the circle, // which is always drawn counter-clockwise. const uint8_t xi = location.x_index, yi = location.y_index; const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1; #if ENABLED(ARC_SUPPORT) #define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2) float sx = circle_x + INTERSECTION_CIRCLE_RADIUS, // default to full circle ex = circle_x + INTERSECTION_CIRCLE_RADIUS, sy = circle_y, ey = circle_y, arc_length = ARC_LENGTH(4); // Figure out where to start and end the arc - we always print counterclockwise if (xi == 0) { // left edge sx = f ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x; ex = b ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x; sy = f ? circle_y : circle_y - (INTERSECTION_CIRCLE_RADIUS); ey = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS; arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2); } else if (r) { // right edge sx = b ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x; ex = f ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x; sy = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS; ey = f ? circle_y : circle_y - (INTERSECTION_CIRCLE_RADIUS); arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2); } else if (f) { sx = circle_x + INTERSECTION_CIRCLE_RADIUS; ex = circle_x - (INTERSECTION_CIRCLE_RADIUS); sy = ey = circle_y; arc_length = ARC_LENGTH(2); } else if (b) { sx = circle_x - (INTERSECTION_CIRCLE_RADIUS); ex = circle_x + INTERSECTION_CIRCLE_RADIUS; sy = ey = circle_y; arc_length = ARC_LENGTH(2); } const float arc_offset[2] = { circle_x - sx, circle_y - sy }; const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual circle dy_s = current_position[Y_AXIS] - sy, dist_start = HYPOT2(dx_s, dy_s); const float endpoint[XYZE] = { ex, ey, g26_layer_height, current_position[E_AXIS] + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier) }; if (dist_start > 2.0) { retract_filament(destination); //todo: parameterize the bump height with a define move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping move_to(sx, sy, g26_layer_height + 0.500, 0.0); // Get to the starting point with no extrusion while bumped } move_to(sx, sy, g26_layer_height, 0.0); // Get to the starting point with no extrusion / un-Z bump recover_filament(destination); const float save_feedrate = feedrate_mm_s; feedrate_mm_s = PLANNER_XY_FEEDRATE() / 10.0; if (g26_debug_flag) { SERIAL_ECHOPAIR(" plan_arc(ex=", endpoint[X_AXIS]); SERIAL_ECHOPAIR(", ey=", endpoint[Y_AXIS]); SERIAL_ECHOPAIR(", ez=", endpoint[Z_AXIS]); SERIAL_ECHOPAIR(", len=", arc_length); SERIAL_ECHOPAIR(") -> (ex=", current_position[X_AXIS]); SERIAL_ECHOPAIR(", ey=", current_position[Y_AXIS]); SERIAL_ECHOPAIR(", ez=", current_position[Z_AXIS]); SERIAL_CHAR(')'); SERIAL_EOL(); } plan_arc(endpoint, arc_offset, false); // Draw a counter-clockwise arc feedrate_mm_s = save_feedrate; set_destination_from_current(); #if HAS_LCD_MENU if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation #endif #else // !ARC_SUPPORT int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00) if (xi == 0) { // Left edge? Just right half. start_ind = f ? 0 : -3; // 03:00 to 12:00 for front-left end_ind = b ? 0 : 2; // 06:00 to 03:00 for back-left } else if (r) { // Right edge? Just left half. start_ind = b ? 6 : 3; // 12:00 to 09:00 for front-right end_ind = f ? 5 : 8; // 09:00 to 06:00 for back-right } else if (f) { // Front edge? Just back half. start_ind = 0; // 03:00 end_ind = 5; // 09:00 } else if (b) { // Back edge? Just front half. start_ind = 6; // 09:00 end_ind = 11; // 03:00 } for (int8_t ind = start_ind; ind <= end_ind; ind++) { #if HAS_LCD_MENU if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation #endif float rx = circle_x + _COS(ind), // For speed, these are now a lookup table entry ry = circle_y + _SIN(ind), xe = circle_x + _COS(ind + 1), ye = circle_y + _SIN(ind + 1); #if IS_KINEMATIC // Check to make sure this segment is entirely on the bed, skip if not. if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue; #else // not, we need to skip rx = constrain(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops ry = constrain(ry, 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 print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height); SERIAL_FLUSH(); // Prevent host M105 buffer overrun. } #endif // !ARC_SUPPORT if (look_for_lines_to_connect()) goto LEAVE; } SERIAL_FLUSH(); // Prevent host M105 buffer overrun. } while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0); LEAVE: ui.set_status_P(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.")); #if HAS_LCD_MENU ui.release(); // Give back control of the LCD #endif if (!g26_keep_heaters_on) { #if HAS_HEATED_BED thermalManager.setTargetBed(0); #endif thermalManager.setTargetHotend(active_extruder, 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(); }