From a6feb58837fa97167f5340abaa7b1175ca858450 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Fri, 16 Mar 2018 00:46:42 -0500
Subject: [PATCH] Delta support for multiple hotends with offsets (#10118)
---
Marlin/src/gcode/calibrate/G28.cpp | 6 ++++--
Marlin/src/gcode/config/M218.cpp | 5 +++++
Marlin/src/gcode/feature/pause/M125.cpp | 2 +-
Marlin/src/gcode/feature/pause/M600.cpp | 2 +-
Marlin/src/module/delta.cpp | 27 +++++++++++++++++--------
Marlin/src/module/motion.cpp | 2 +-
Marlin/src/module/tool_change.cpp | 17 ++++++++++++++--
7 files changed, 46 insertions(+), 15 deletions(-)
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 44950b7868..e15ddb5e58 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -191,7 +191,9 @@ void GcodeSuite::G28(const bool always_home_all) {
// Always home with tool 0 active
#if HOTENDS > 1
- const uint8_t old_tool_index = active_extruder;
+ #if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)
+ const uint8_t old_tool_index = active_extruder;
+ #endif
tool_change(0, 0, true);
#endif
@@ -331,7 +333,7 @@ void GcodeSuite::G28(const bool always_home_all) {
clean_up_after_endstop_or_probe_move();
// Restore the active tool after homing
- #if HOTENDS > 1
+ #if HOTENDS > 1 && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE))
#if ENABLED(PARKING_EXTRUDER)
#define NO_FETCH false // fetch the previous toolhead
#else
diff --git a/Marlin/src/gcode/config/M218.cpp b/Marlin/src/gcode/config/M218.cpp
index 144abb2899..80e04694fc 100644
--- a/Marlin/src/gcode/config/M218.cpp
+++ b/Marlin/src/gcode/config/M218.cpp
@@ -70,6 +70,11 @@ void GcodeSuite::M218() {
}
SERIAL_EOL();
}
+
+ #if ENABLED(DELTA)
+ if (target_extruder == active_extruder)
+ do_blocking_move_to_xy(current_position[X_AXIS], current_position[Y_AXIS], planner.max_feedrate_mm_s[X_AXIS]);
+ #endif
}
#endif // HOTENDS > 1
diff --git a/Marlin/src/gcode/feature/pause/M125.cpp b/Marlin/src/gcode/feature/pause/M125.cpp
index 735f40f3a5..f25b0907da 100644
--- a/Marlin/src/gcode/feature/pause/M125.cpp
+++ b/Marlin/src/gcode/feature/pause/M125.cpp
@@ -65,7 +65,7 @@ void GcodeSuite::M125() {
// Lift Z axis
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
- #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
+ #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
#endif
diff --git a/Marlin/src/gcode/feature/pause/M600.cpp b/Marlin/src/gcode/feature/pause/M600.cpp
index dd7a773598..2a34f5baa4 100644
--- a/Marlin/src/gcode/feature/pause/M600.cpp
+++ b/Marlin/src/gcode/feature/pause/M600.cpp
@@ -87,7 +87,7 @@ void GcodeSuite::M600() {
// Lift Z axis
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
- #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
+ #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
#endif
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index d93bbdc76e..4c17bf901d 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -115,18 +115,29 @@ void recalc_delta_settings() {
}
#endif
-#define DELTA_DEBUG() do { \
- SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
- SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
- SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
+#define DELTA_DEBUG(VAR) do { \
+ SERIAL_ECHOPAIR("cartesian X:", VAR[X_AXIS]); \
+ SERIAL_ECHOPAIR(" Y:", VAR[Y_AXIS]); \
+ SERIAL_ECHOLNPAIR(" Z:", VAR[Z_AXIS]); \
SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
}while(0)
void inverse_kinematics(const float raw[XYZ]) {
- DELTA_IK(raw);
- // DELTA_DEBUG();
+ #if HOTENDS > 1
+ // Delta hotend offsets must be applied in Cartesian space with no "spoofing"
+ const float pos[XYZ] = {
+ raw[X_AXIS] - hotend_offset[X_AXIS][active_extruder],
+ raw[Y_AXIS] - hotend_offset[Y_AXIS][active_extruder],
+ raw[Z_AXIS]
+ };
+ DELTA_IK(pos);
+ //DELTA_DEBUG(pos);
+ #else
+ DELTA_IK(raw);
+ //DELTA_DEBUG(raw);
+ #endif
}
/**
@@ -136,10 +147,10 @@ void inverse_kinematics(const float raw[XYZ]) {
float delta_safe_distance_from_top() {
float cartesian[XYZ] = { 0, 0, 0 };
inverse_kinematics(cartesian);
- float distance = delta[A_AXIS];
+ float centered_extent = delta[A_AXIS];
cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
inverse_kinematics(cartesian);
- return FABS(distance - delta[A_AXIS]);
+ return FABS(centered_extent - delta[A_AXIS]);
}
/**
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index f3ec0dfe7e..f38e7a610a 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -610,7 +610,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
LOOP_XYZE(i) raw[i] += segment_distance[i];
- #if ENABLED(DELTA)
+ #if ENABLED(DELTA) && HOTENDS < 2
DELTA_IK(raw); // Delta can inline its kinematics
#else
inverse_kinematics(raw);
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index 83cff7a641..93a16442b2 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -382,7 +382,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
- // Always raise by some amount (destination copied from current_position earlier)
+ // Always raise by some amount
current_position[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
move_nozzle_servo(tmp_extruder);
@@ -492,11 +492,24 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// Tell the planner the new "current position"
SYNC_PLAN_POSITION_KINEMATIC();
+ #if ENABLED(DELTA)
+ //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
+ // Do a small lift to avoid the workpiece in the move back (below)
+ const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
+ if (safe_to_move && !no_move && IsRunning()) {
+ ++current_position[Z_AXIS];
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+ }
+ #else
+ constexpr bool safe_to_move = true;
+ #endif
+
// Move to the "old position" (move the extruder into place)
#if ENABLED(SWITCHING_NOZZLE)
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
#endif
- if (!no_move && IsRunning()) {
+
+ if (safe_to_move && !no_move && IsRunning()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#endif
--
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