static void lcd_move_z()
{
if (encoderPosition != 0)
{
refresh_cmd_timeout();
current_position[Z_AXIS] += float((int)encoderPosition) * move_menu_scale;
if (min_software_endstops && current_position[Z_AXIS] < Z_MIN_POS)
current_position[Z_AXIS] = Z_MIN_POS;
if (max_software_endstops && current_position[Z_AXIS] > Z_MAX_POS)
current_position[Z_AXIS] = Z_MAX_POS;
encoderPosition = 0;
#ifdef DELTA
calculate_delta(current_position);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[Z_AXIS]/60, active_extruder);
#else
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[Z_AXIS]/60, active_extruder);
#endif
lcdDrawUpdate = 1;
}
if (lcdDrawUpdate)
{
lcd_implementation_drawedit(PSTR("Z"), ftostr31(current_position[Z_AXIS]));
}
if (LCD_CLICKED)
{
lcd_quick_feedback();
currentMenu = lcd_move_menu_axis;
encoderPosition = 0;
}
}
static void lcd_move_e()
{
if (encoderPosition != 0)
{
current_position[E_AXIS] += float((int)encoderPosition) * move_menu_scale;
encoderPosition = 0;
#ifdef DELTA
calculate_delta(current_position);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[E_AXIS]/60, active_extruder);
#else
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[E_AXIS]/60, active_extruder);
#endif
lcdDrawUpdate = 1;
}
if (lcdDrawUpdate)
{
lcd_implementation_drawedit(PSTR("Extruder"), ftostr31(current_position[E_AXIS]));
}
if (LCD_CLICKED)
{
lcd_quick_feedback();
currentMenu = lcd_move_menu_axis;
encoderPosition = 0;
}
}
static void lcd_menu_change_material_preheat()
{
run_history = true;
setTargetHotend(material[active_extruder].temperature, active_extruder);
int16_t temp = degHotend(active_extruder) - 20;
int16_t target = degTargetHotend(active_extruder) - 20 - 10;
if (temp < 0) temp = 0;
if (temp > target && !is_command_queued())
{
set_extrude_min_temp(0);
for(uint8_t e=0; e<EXTRUDERS; e++)
volume_to_filament_length[e] = 1.0;//Set the extrusion to 1mm per given value, so we can move the filament a set distance.
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], 20.0, retract_feedrate/60.0, active_extruder);
float old_max_feedrate_e = max_feedrate[E_AXIS];
float old_retract_acceleration = retract_acceleration;
max_feedrate[E_AXIS] = FILAMENT_REVERSAL_SPEED;
retract_acceleration = FILAMENT_LONG_MOVE_ACCELERATION;
current_position[E_AXIS] = 0;
plan_set_e_position(current_position[E_AXIS]);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], -1.0, FILAMENT_REVERSAL_SPEED, active_extruder);
for(uint8_t n=0; n<6; n++)
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], (n+1)*-FILAMENT_REVERSAL_LENGTH/6, FILAMENT_REVERSAL_SPEED, active_extruder);
max_feedrate[E_AXIS] = old_max_feedrate_e;
retract_acceleration = old_retract_acceleration;
currentMenu = lcd_menu_change_material_remove;
temp = target;
}
uint8_t progress = uint8_t(temp * 125 / target);
if (progress < minProgress)
progress = minProgress;
else
minProgress = progress;
lcd_info_screen(lcd_menu_material_main, cancelMaterialInsert);
lcd_lib_draw_stringP(3, 0, PSTR("Heating printhead"));
lcd_lib_draw_stringP(3, 10, PSTR("for material removal"));
char buffer[20];
memset (buffer,0,sizeof(buffer));
char* c;
c = int_to_string(temp, buffer/*, PSTR( DEGREE_C_SYMBOL )*/);
*c++ = TEMPERATURE_SEPARATOR;
c = int_to_string(target, c, PSTR( DEGREE_C_SYMBOL ));
lcd_lib_draw_string_center(20, buffer);
lcd_progressbar(progress);
LED_HEAT();
lcd_lib_update_screen();
}
static void lcd_menu_change_material_preheat()
{
#ifdef USE_CHANGE_TEMPERATURE
setTargetHotend(material[active_extruder].change_temperature, active_extruder);
#else
setTargetHotend(material[active_extruder].temperature, active_extruder);
#endif
int16_t temp = degHotend(active_extruder) - 20;
int16_t target = degTargetHotend(active_extruder) - 20;
if (temp < 0) temp = 0;
if (temp > target - 5 && temp < target + 5)
{
if ((signed long)(millis() - preheat_end_time) > 0)
{
set_extrude_min_temp(0);
plan_set_e_position(0);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], 20.0 / volume_to_filament_length[active_extruder], retract_feedrate/60.0, active_extruder);
float old_max_feedrate_e = max_feedrate[E_AXIS];
float old_retract_acceleration = retract_acceleration;
max_feedrate[E_AXIS] = FILAMENT_REVERSAL_SPEED;
retract_acceleration = FILAMENT_LONG_MOVE_ACCELERATION;
plan_set_e_position(0);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], -1.0 / volume_to_filament_length[active_extruder], FILAMENT_REVERSAL_SPEED, active_extruder);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], -FILAMENT_REVERSAL_LENGTH / volume_to_filament_length[active_extruder], FILAMENT_REVERSAL_SPEED, active_extruder);
max_feedrate[E_AXIS] = old_max_feedrate_e;
retract_acceleration = old_retract_acceleration;
currentMenu = lcd_menu_change_material_remove;
temp = target;
}
}
else
{
#ifdef USE_CHANGE_TEMPERATURE
preheat_end_time = millis() + (unsigned long)material[active_extruder].change_preheat_wait_time * 1000L;
#else
preheat_end_time = millis();
#endif
}
uint8_t progress = uint8_t(temp * 125 / target);
if (progress < minProgress)
progress = minProgress;
else
minProgress = progress;
lcd_info_screen(post_change_material_menu, cancelMaterialInsert);
lcd_lib_draw_stringP(3, 10, PSTR("Heating printhead"));
lcd_lib_draw_stringP(3, 20, PSTR("for material removal"));
lcd_progressbar(progress);
lcd_lib_update_screen();
}
static void lcd_extrude(float length, float feedrate) {
current_position[E_AXIS] += length;
#ifdef DELTA
calculate_delta(current_position);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], feedrate, active_extruder);
#else
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate, active_extruder);
#endif
}
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
#endif
#endif
{
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) { limits_soft_check(target); }
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if (sys.state == STATE_CHECK_MODE) { return; }
// NOTE: Backlash compensation may be installed here. It will need direction info to track when
// to insert a backlash line motion(s) before the intended line motion and will require its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
// backlash steps will need to be also tracked, which will need to be kept at a system level.
// There are likely some other things that will need to be tracked as well. However, we feel
// that backlash compensation should NOT be handled by Grbl itself, because there are a myriad
// of ways to implement it and can be effective or ineffective for different CNC machines. This
// would be better handled by the interface as a post-processor task, where the original g-code
// is translated and inserts backlash motions that best suits the machine.
// NOTE: Perhaps as a middle-ground, all that needs to be sent is a flag or special command that
// indicates to Grbl what is a backlash compensation motion, so that Grbl executes the move but
// doesn't update the machine position values. Since the position values used by the g-code
// parser and planner are separate from the system machine positions, this is doable.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
do {
protocol_execute_runtime(); // Check for any run-time commands
if (sys.abort) { return; } // Bail, if system abort.
if ( plan_check_full_buffer() ) { protocol_auto_cycle_start(); } // Auto-cycle start when buffer is full.
else { break; }
} while (1);
#ifdef USE_LINE_NUMBERS
plan_buffer_line(target, feed_rate, invert_feed_rate, line_number);
#else
#ifdef VARIABLE_SPINDLE
// NNW
plan_buffer_line(target, feed_rate, invert_feed_rate,rpm);
#else
plan_buffer_line(target, feed_rate, invert_feed_rate);
#endif
#endif
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
// start. Otherwise ignore and continue on.
if (!sys.state) { sys.state = STATE_QUEUED; }
}
static void doStartPrint()
{
// zero the extruder position
current_position[E_AXIS] = 0.0;
plan_set_e_position(0);
// since we are going to prime the nozzle, forget about any G10/G11 retractions that happened at end of previous print
retracted = false;
// note that we have primed, so that we know to de-prime at the end
primed = true;
// move to priming height
current_position[Z_AXIS] = PRIMING_HEIGHT;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS], 0);
for(uint8_t e = 0; e<EXTRUDERS; e++)
{
if (!LCD_DETAIL_CACHE_MATERIAL(e))
{
// don't prime the extruder if it isn't used in the (Ulti)gcode
// traditional gcode files typically won't have the Material lines at start, so we won't prime for those
// Also, on dual/multi extrusion files, only prime the extruders that are used in the gcode-file.
continue;
}
active_extruder = e;
// undo the end-of-print retraction
plan_set_e_position((0.0 - END_OF_PRINT_RETRACTION) / volume_to_filament_length[e]);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], END_OF_PRINT_RECOVERY_SPEED, e);
// perform additional priming
plan_set_e_position(-PRIMING_MM3);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], (PRIMING_MM3_PER_SEC * volume_to_filament_length[e]), e);
// for extruders other than the first one, perform end of print retraction
if (e > 0)
{
plan_set_e_position((END_OF_PRINT_RETRACTION) / volume_to_filament_length[e]);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], retract_feedrate/60, e);
}
}
active_extruder = 0;
postMenuCheck = checkPrintFinished;
card.startFileprint();
lifetime_stats_print_start();
starttime = millis();
}
static void lcd_menu_first_run_bed_level_center_adjust()
{
LED_GLOW();
if (lcd_lib_encoder_pos == ENCODER_NO_SELECTION)
lcd_lib_encoder_pos = 0;
if (printing_state == PRINT_STATE_NORMAL && lcd_lib_encoder_pos != 0 && movesplanned() < 4)
{
current_position[Z_AXIS] -= float(lcd_lib_encoder_pos) * 0.05;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 60, 0);
}
lcd_lib_encoder_pos = 0;
if (movesplanned() > 0)
lcd_info_screen(NULL, NULL, PSTR("CONTINUE"));
else
lcd_info_screen(lcd_menu_first_run_bed_level_left_adjust, storeHomingZ_parkHeadForLeftAdjustment, PSTR("CONTINUE"));
DRAW_PROGRESS_NR(4);
lcd_lib_draw_string_centerP(10, PSTR("Rotate the button"));
lcd_lib_draw_string_centerP(20, PSTR("until the nozzle is"));
lcd_lib_draw_string_centerP(30, PSTR("a millimeter away"));
lcd_lib_draw_string_centerP(40, PSTR("from the buildplate."));
lcd_lib_update_screen();
}
static void lcd_menu_first_run_bed_level_paper_center()
{
LED_GLOW();
if (lcd_lib_encoder_pos == ENCODER_NO_SELECTION)
lcd_lib_encoder_pos = 0;
if (printing_state == PRINT_STATE_NORMAL && lcd_lib_encoder_pos != 0 && movesplanned() < 4)
{
current_position[Z_AXIS] -= float(lcd_lib_encoder_pos) * 0.05;
lcd_lib_encoder_pos = 0;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 60, 0);
}
if (movesplanned() > 0)
lcd_info_screen(NULL, NULL, PSTR("POKRACOVAT"));
else
lcd_info_screen(lcd_menu_first_run_bed_level_paper_left, parkHeadForLeftAdjustment, PSTR("POKRACOVAT"));
DRAW_PROGRESS_NR_IF_NOT_DONE(8);
lcd_lib_draw_string_centerP(10, PSTR("Zasunte papir mezi"));
lcd_lib_draw_string_centerP(20, PSTR("trysku a podlozku,"));
lcd_lib_draw_string_centerP(30, PSTR("otacejte dokud"));
lcd_lib_draw_string_centerP(40, PSTR("papir neklade odpor"));
lcd_lib_update_screen();
}
static void lcd_menu_first_run_bed_level_center_adjust()
{
LED_GLOW();
if (lcd_lib_encoder_pos == ENCODER_NO_SELECTION)
lcd_lib_encoder_pos = 0;
if (printing_state == PRINT_STATE_NORMAL && lcd_lib_encoder_pos != 0 && movesplanned() < 4)
{
current_position[Z_AXIS] -= float(lcd_lib_encoder_pos) * 0.05;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 60, 0);
}
lcd_lib_encoder_pos = 0;
if (movesplanned() > 0)
lcd_info_screen(NULL, NULL, PSTR("POKRACOVAT"));
else
lcd_info_screen(lcd_menu_first_run_bed_level_left_adjust, parkHeadForLeftAdjustment, PSTR("POKRACOVAT"));
DRAW_PROGRESS_NR_IF_NOT_DONE(4);
lcd_lib_draw_string_centerP(10, PSTR("Otacejte tlacitkem"));
lcd_lib_draw_string_centerP(20, PSTR("dokud nebude tryska"));
lcd_lib_draw_string_centerP(30, PSTR("priblizne milimetr"));
lcd_lib_draw_string_centerP(40, PSTR("od tiskove podlozky."));
lcd_lib_update_screen();
}
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.
// NOTE: This is the primary gateway to the grbl planner. All line motions, including arc line
// segments, must pass through this routine before being passed to the planner. The seperation of
// mc_line and plan_buffer_line is done primarily to make backlash compensation integration simple
// and direct.
// TODO: Check for a better way to avoid having to push the arguments twice for non-backlash cases.
// However, this keeps the memory requirements lower since it doesn't have to call and hold two
// plan_buffer_lines in memory. Grbl only has to retain the original line input variables during a
// backlash segment(s).
void mc_line(double x, double y, double z, double c, double feed_rate, uint8_t invert_feed_rate)
{
// TODO: Backlash compensation may be installed here. Only need direction info to track when
// to insert a backlash line motion(s) before the intended line motion. Requires its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
// backlash steps will need to be also tracked. Not sure what the best strategy is for this,
// i.e. keep the planner independent and do the computations in the status reporting, or let
// the planner handle the position corrections. The latter may get complicated.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
do {
protocol_execute_runtime(); // Check for any run-time commands
if (sys.abort) { return; } // Bail, if system abort.
} while ( plan_check_full_buffer() );
plan_buffer_line(x, y, z, c, feed_rate, invert_feed_rate);
// Auto-cycle start immediately after planner finishes. Enabled/disabled by grbl settings. During
// a feed hold, auto-start is disabled momentarily until the cycle is resumed by the cycle-start
// runtime command.
// NOTE: This is allows the user to decide to exclusively use the cycle start runtime command to
// begin motion or let grbl auto-start it for them. This is useful when: manually cycle-starting
// when the buffer is completely full and primed; auto-starting, if there was only one g-code
// command sent during manual operation; or if a system is prone to buffer starvation, auto-start
// helps make sure it minimizes any dwelling/motion hiccups and keeps the cycle going.
if (sys.auto_start) { st_cycle_start(); }
}
static void lcd_menu_first_run_bed_level_paper_center()
{
LED_GLOW();
if (lcd_lib_encoder_pos == ENCODER_NO_SELECTION)
lcd_lib_encoder_pos = 0;
if (printing_state == PRINT_STATE_NORMAL && lcd_lib_encoder_pos != 0 && movesplanned() < 4)
{
current_position[Z_AXIS] -= float(lcd_lib_encoder_pos) * 0.05;
lcd_lib_encoder_pos = 0;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 60, 0);
}
if (movesplanned() > 0)
lcd_info_screen(NULL, NULL, PSTR("CONTINUE"));
else
lcd_info_screen(lcd_menu_first_run_bed_level_paper_left, storeHomingZ_parkHeadForLeftAdjustment, PSTR("CONTINUE"));
DRAW_PROGRESS_NR(8);
lcd_lib_draw_string_centerP(10, PSTR("Slide a paper between"));
lcd_lib_draw_string_centerP(20, PSTR("buildplate and nozzle"));
lcd_lib_draw_string_centerP(30, PSTR("until you feel a"));
lcd_lib_draw_string_centerP(40, PSTR("bit resistance."));
lcd_lib_update_screen();
}
static void lcd_move_x()
{
if (encoderPosition != 0)
{
// Original Line.
// current_position[X_AXIS] += float((int)encoderPosition) * move_menu_scale;
// On Prusa i3v turning the knob to the right moves the X to the left so we invert it
// here.
current_position[X_AXIS] -= float((int)encoderPosition) * move_menu_scale;
if (current_position[X_AXIS] < X_MIN_POS)
current_position[X_AXIS] = X_MIN_POS;
if (current_position[X_AXIS] > X_MAX_POS)
current_position[X_AXIS] = X_MAX_POS;
encoderPosition = 0;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600, active_extruder);
lcdDrawUpdate = 1;
}
if (lcdDrawUpdate)
{
lcd_implementation_drawedit(PSTR("X"), ftostr31(current_position[X_AXIS]));
}
if (LCD_CLICKED)
{
lcd_quick_feedback();
currentMenu = lcd_move_menu_axis;
encoderPosition = 0;
}
}
static void materialInsertReady()
{
current_position[E_AXIS] -= END_OF_PRINT_RETRACTION;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25*60, active_extruder);
cancelMaterialInsert();
}
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.
// NOTE: This is the primary gateway to the grbl planner. All line motions, including arc line
// segments, must pass through this routine before being passed to the planner. The seperation of
// mc_line and plan_buffer_line is done primarily to place non-planner-type functions from being
// in the planner and to let backlash compensation or canned cycle integration simple and direct.
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
{
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) { limits_soft_check(target); }
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if (sys.state == STATE_CHECK_MODE) { return; }
// TODO: Backlash compensation may be installed here. Only need direction info to track when
// to insert a backlash line motion(s) before the intended line motion. Requires its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
// backlash steps will need to be also tracked. Not sure what the best strategy is for this,
// i.e. keep the planner independent and do the computations in the status reporting, or let
// the planner handle the position corrections. The latter may get complicated.
// TODO: Backlash comp positioning values may need to be kept at a system level, i.e. tracking
// true position after a feed hold in the middle of a backlash move. The difficulty is in making
// sure that the stepper subsystem and planner are working in sync, and the status report
// position also takes this into account.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
do {
protocol_execute_runtime(); // Check for any run-time commands
if (sys.abort) { return; } // Bail, if system abort.
if ( plan_check_full_buffer() ) { mc_auto_cycle_start(); } // Auto-cycle start when buffer is full.
else { break; }
} while (1);
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
// start. Otherwise ignore and continue on.
if (!sys.state) { sys.state = STATE_QUEUED; }
}
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
/* Write your local variable definition here */
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
setup();
plan_buffer_line(2,1);
//
for(;;){ST_PULSE_TI_Enable();}
//heat_manager();
//inactivity_manager();
/* Write your code here */
/* For example: for(;;) { } */
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
#ifdef PEX_RTOS_START
PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
#endif
/*** End of RTOS startup code. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
static void _lcd_move(const char *name, int axis, int min, int max) {
if (encoderPosition != 0) {
refresh_cmd_timeout();
current_position[axis] += float((int)encoderPosition) * move_menu_scale;
if (min_software_endstops && current_position[axis] < min) current_position[axis] = min;
if (max_software_endstops && current_position[axis] > max) current_position[axis] = max;
encoderPosition = 0;
#ifdef DELTA
calculate_delta(current_position);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
#else
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
#endif
lcdDrawUpdate = 1;
}
if (lcdDrawUpdate) lcd_implementation_drawedit(name, ftostr31(current_position[axis]));
if (LCD_CLICKED) lcd_goto_menu(lcd_move_menu_axis);
}
/**
*** MoveTo() width specific speed (%)
**/
void LaosMotion::moveTo(int x, int y, int z, int speed)
{
extern GlobalConfig *cfg;
action.target.x = ofsx + x/1000.0;
action.target.y = ofsy + y/1000.0;
action.target.z = ofsz + z/1000.0;
action.ActionType = AT_MOVE;
action.target.feed_rate = (speed * 60.0 * cfg->speed) / 100;
plan_buffer_line(&action);
//printf("To buffer: %d, %d, %d, %d\n", x, y,z,speed);
}
/**
*** LaosMotion() Constructor
*** Make new motion object
**/
LaosMotion::LaosMotion()
{
extern GlobalConfig *cfg;
#if DO_MOTION_TEST
tActionRequest act[2];
int i=0;
Timer t;
#endif
pwm.period(1.0 / cfg->pwmfreq);
pwm = cfg->pwmmin/100.0;
if ( laser == NULL ) laser = new DigitalOut(LASER_PIN);
*laser = LASEROFF;
mark_speed = cfg->speed;
//start.mode(PullUp);
xhome.mode(PullUp);
yhome.mode(PullUp);
isHome = false;
plan_init();
st_init();
reset();
mark_speed = cfg->speed;
bitmap_speed = cfg->xspeed;
action.param = 0;
action.target.x = action.target.y = action.target.z = action.target.e =0;
action.target.feed_rate = 60*mark_speed;
#if DO_MOTION_TEST
t.start();
act[0].ActionType = act[1].ActionType = AT_MOVE;
act[0].target.feed_rate = 60 * 100;
act[1].target.feed_rate = 60 * 200;
act[0].target.x = act[0].target.y = act[0].target.z = act[0].target.e = 0;
act[1].target.x = act[1].target.y = act[1].target.z = act[1].target.e = 100;
act[1].target.y = 200;
while(1)
{
while( plan_queue_full() ) led3 = !led3;
led1 = 1;
i++;
if ( i )
printf("%d PING...\n", t.read_ms());
else
printf("%d PONG...\n", t.read_ms());
if ( i > 1 || i<0) i = 0;
plan_buffer_line (&act[i]);
led1 = 0;
}
#endif
}
static void doStartPrint()
{
for(uint8_t e = 0; e<EXTRUDERS; e++)
{
if (!LCD_DETAIL_CACHE_MATERIAL(e))
continue;
active_extruder = e;
plan_set_e_position(-25.0 / volume_to_filament_length[e]);
current_position[E_AXIS] = 0.0;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, e);
if (e > 0)
{
plan_set_e_position(20.0 / volume_to_filament_length[e]);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 35, e);
}
}
active_extruder = 0;
postMenuCheck = checkPrintFinished;
card.startFileprint();
starttime = millis();
}
static void lcd_menu_change_material_insert()
{
LED_GLOW();
lcd_question_screen(lcd_menu_change_material_select_material, materialInsertReady, PSTR("READY"), lcd_menu_main, cancelMaterialInsert, PSTR("CANCEL"));
lcd_lib_draw_string_centerP(20, PSTR("Wait till material"));
lcd_lib_draw_string_centerP(30, PSTR("comes out the nozzle"));
if (movesplanned() < 2)
{
current_position[E_AXIS] += 0.5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENT_INSERT_EXTRUDE_SPEED, active_extruder);
}
lcd_lib_update_screen();
}
static void lcd_move_e()
{
if (blocking_enc>=millis() || LCD_CLICKED)
{
while (movesplanned() < 3)
{
current_position[E_AXIS] += 0.5;
lcd_implementation_drawedit(PSTR("Extruder"), ftostr31(current_position[E_AXIS]));
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3, active_extruder);
}
}else{
lcd_quick_feedback();
currentMenu = lcd_move_menu_axis;
encoderPosition = prevEncoderPosition;
}
}
static void lcd_menu_change_material_insert()
{
LED_GLOW();
lcd_question_screen(post_change_material_menu, materialInsertReady, PSTR("READY"), post_change_material_menu, cancelMaterialInsert, PSTR("CANCEL"));
lcd_lib_draw_string_centerP(20, PSTR("Wait till material"));
lcd_lib_draw_string_centerP(30, PSTR("comes out the nozzle"));
if (movesplanned() < 2)
{
plan_set_e_position(0);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], 0.5 / volume_to_filament_length[active_extruder], FILAMENT_INSERT_EXTRUDE_SPEED, active_extruder);
}
lcd_lib_update_screen();
}
void plan_buffer_action(tActionRequest *pAction)
{
switch (pAction->ActionType)
{
case AT_MOVE:
case AT_MOVE_ENDSTOP:
//plan_buffer_line (pAction->x, pAction->y, pAction->z, pAction->feed_rate, pAction->invert_feed_rate);
plan_buffer_line (pAction);
break;
case AT_WAIT:
case AT_WAIT_TEMPS:
plan_buffer_wait (pAction);
break;
}
}
static void lcd_menu_change_material_insert_wait_user_ready()
{
//Override the max feedrate and acceleration values to get a better insert speed and speedup/slowdown
float old_max_feedrate_e = max_feedrate[E_AXIS];
float old_retract_acceleration = retract_acceleration;
max_feedrate[E_AXIS] = FILAMENT_INSERT_FAST_SPEED;
retract_acceleration = FILAMENT_LONG_MOVE_ACCELERATION;
plan_set_e_position(0);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], FILAMENT_FORWARD_LENGTH / volume_to_filament_length[active_extruder], FILAMENT_INSERT_FAST_SPEED, active_extruder);
//Put back origonal values.
max_feedrate[E_AXIS] = old_max_feedrate_e;
retract_acceleration = old_retract_acceleration;
lcd_change_to_menu(lcd_menu_change_material_insert_forward);
}
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.
// NOTE: This is the primary gateway to the grbl planner. All line motions, including arc line
// segments, must pass through this routine before being passed to the planner. The seperation of
// mc_line and plan_buffer_line is done primarily to make backlash compensation integration simple
// and direct.
// TODO: Check for a better way to avoid having to push the arguments twice for non-backlash cases.
// However, this keeps the memory requirements lower since it doesn't have to call and hold two
// plan_buffer_lines in memory. Grbl only has to retain the original line input variables during a
// backlash segment(s).
void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate)
{
// TODO: Perform soft limit check here. Just check if the target x,y,z values are outside the
// work envelope. Should be straightforward and efficient. By placing it here, rather than in
// the g-code parser, it directly picks up motions from everywhere in Grbl.
// If in check gcode mode, prevent motion by blocking planner.
if (sys.state == STATE_CHECK_MODE) {
return;
}
// TODO: Backlash compensation may be installed here. Only need direction info to track when
// to insert a backlash line motion(s) before the intended line motion. Requires its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
// backlash steps will need to be also tracked. Not sure what the best strategy is for this,
// i.e. keep the planner independent and do the computations in the status reporting, or let
// the planner handle the position corrections. The latter may get complicated.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
do {
protocol_execute_runtime(); // Check for any run-time commands
if (sys.abort) {
return; // Bail, if system abort.
}
} while ( plan_check_full_buffer() );
plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
// start. Otherwise ignore and continue on.
if (!sys.state) {
sys.state = STATE_QUEUED;
}
// Auto-cycle start immediately after planner finishes. Enabled/disabled by grbl settings. During
// a feed hold, auto-start is disabled momentarily until the cycle is resumed by the cycle-start
// runtime command.
// NOTE: This is allows the user to decide to exclusively use the cycle start runtime command to
// begin motion or let grbl auto-start it for them. This is useful when: manually cycle-starting
// when the buffer is completely full and primed; auto-starting, if there was only one g-code
// command sent during manual operation; or if a system is prone to buffer starvation, auto-start
// helps make sure it minimizes any dwelling/motion hiccups and keeps the cycle going.
if (sys.auto_start) {
st_cycle_start();
}
}
static void runMaterialForward()
{
//Override the max feedrate and acceleration values to get a better insert speed and speedup/slowdown
float old_max_feedrate_e = max_feedrate[E_AXIS];
float old_retract_acceleration = retract_acceleration;
max_feedrate[E_AXIS] = FILAMENT_INSERT_FAST_SPEED;
retract_acceleration = FILAMENT_LONG_MOVE_ACCELERATION;
current_position[E_AXIS] = 0;
plan_set_e_position(current_position[E_AXIS]);
current_position[E_AXIS] = FILAMENT_FORWARD_LENGTH;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENT_INSERT_FAST_SPEED, 0);
//Put back origonal values.
max_feedrate[E_AXIS] = old_max_feedrate_e;
retract_acceleration = old_retract_acceleration;
}
static void lcd_menu_change_material_insert_wait_user()
{
LED_GLOW();
if (printing_state == PRINT_STATE_NORMAL && movesplanned() < 2)
{
current_position[E_AXIS] += 0.5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENT_INSERT_SPEED, active_extruder);
}
lcd_question_screen(NULL, lcd_menu_change_material_insert_wait_user_ready, PSTR("READY"), lcd_menu_main, cancelMaterialInsert, PSTR("CANCEL"));
lcd_lib_draw_string_centerP(10, PSTR("Insert new material"));
lcd_lib_draw_string_centerP(20, PSTR("from the backside of"));
lcd_lib_draw_string_centerP(30, PSTR("your machine,"));
lcd_lib_draw_string_centerP(40, PSTR("above the arrow."));
lcd_lib_update_screen();
}
static void lcd_menu_first_run_material_load_wait()
{
LED_GLOW();
lcd_info_screen(lcd_menu_first_run_material_select_1, doCooldown, PSTR("CONTINUE"));
DRAW_PROGRESS_NR(15);
lcd_lib_draw_string_centerP(10, PSTR("Push button when"));
lcd_lib_draw_string_centerP(20, PSTR("material exits"));
lcd_lib_draw_string_centerP(30, PSTR("from nozzle..."));
if (movesplanned() < 2)
{
current_position[E_AXIS] += 0.5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENT_INSERT_EXTRUDE_SPEED, 0);
}
lcd_lib_update_screen();
}
static void lcd_menu_first_run_material_load_insert()
{
LED_GLOW();
if (movesplanned() < 2)
{
current_position[E_AXIS] += 0.5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENT_INSERT_SPEED, 0);
}
SELECT_MAIN_MENU_ITEM(0);
lcd_info_screen(lcd_menu_first_run_material_load_forward, runMaterialForward, PSTR("CONTINUE"));
DRAW_PROGRESS_NR(13);
lcd_lib_draw_string_centerP(10, PSTR("Insert new material"));
lcd_lib_draw_string_centerP(20, PSTR("from the rear of"));
lcd_lib_draw_string_centerP(30, PSTR("your Ultimaker2,"));
lcd_lib_draw_string_centerP(40, PSTR("above the arrow."));
lcd_lib_update_screen();
}
