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🚸 G33 R and O options (#22707)
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@LVD-AC @thinkyhead
LVD-AC authored and thinkyhead committed Oct 3, 2021
1 parent 6e1c997 commit 44d54a0
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Showing 4 changed files with 40 additions and 63 deletions.
65 changes: 38 additions & 27 deletions Marlin/src/gcode/calibrate/G33.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,8 @@ enum CalEnum : char { // the 7 main calibration points -

float lcd_probe_pt(const xy_pos_t &xy);

float dcr;

void ac_home() {
endstops.enable(true);
TERN_(SENSORLESS_HOMING, probe.set_homing_current(true));
Expand Down Expand Up @@ -175,9 +177,9 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
/**
* - Probe a point
*/
static float calibration_probe(const xy_pos_t &xy, const bool stow) {
static float calibration_probe(const xy_pos_t &xy, const bool stow, const bool probe_at_offset) {
#if HAS_BED_PROBE
return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true, false);
return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true, probe_at_offset);
#else
UNUSED(stow);
return lcd_probe_pt(xy);
Expand All @@ -187,7 +189,7 @@ static float calibration_probe(const xy_pos_t &xy, const bool stow) {
/**
* - Probe a grid
*/
static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each, const bool probe_at_offset) {
const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2,
Expand All @@ -209,11 +211,9 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi

if (!_0p_calibration) {

const float dcr = delta_calibration_radius();

if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
const xy_pos_t center{0};
z_pt[CEN] += calibration_probe(center, stow_after_each);
z_pt[CEN] += calibration_probe(center, stow_after_each, probe_at_offset);
if (isnan(z_pt[CEN])) return false;
}

Expand All @@ -224,7 +224,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = dcr * 0.1;
const xy_pos_t vec = { cos(a), sin(a) };
z_pt[CEN] += calibration_probe(vec * r, stow_after_each);
z_pt[CEN] += calibration_probe(vec * r, stow_after_each, probe_at_offset);
if (isnan(z_pt[CEN])) return false;
}
z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
Expand All @@ -249,7 +249,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
r = dcr * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
interpol = FMOD(rad, 1);
const xy_pos_t vec = { cos(a), sin(a) };
const float z_temp = calibration_probe(vec * r, stow_after_each);
const float z_temp = calibration_probe(vec * r, stow_after_each, probe_at_offset);
if (isnan(z_temp)) return false;
// split probe point to neighbouring calibration points
z_pt[uint8_t(LROUND(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
Expand All @@ -276,7 +276,6 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_at_pt_axis[NPP + 1]) {
xyz_pos_t pos{0};

const float dcr = delta_calibration_radius();
LOOP_CAL_ALL(rad) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = (rad == CEN ? 0.0f : dcr);
Expand All @@ -287,7 +286,7 @@ static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_
}

static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], float z_pt[NPP + 1]) {
const float r_quot = delta_calibration_radius() / delta_radius;
const float r_quot = dcr / delta_radius;

#define ZPP(N,I,A) (((1.0f + r_quot * (N)) / 3.0f) * mm_at_pt_axis[I].A)
#define Z00(I, A) ZPP( 0, I, A)
Expand Down Expand Up @@ -328,7 +327,7 @@ static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], abc_float_t d
}

static float auto_tune_h() {
const float r_quot = delta_calibration_radius() / delta_radius;
const float r_quot = dcr / delta_radius;
return RECIPROCAL(r_quot / (2.0f / 3.0f)); // (2/3)/CR
}

Expand Down Expand Up @@ -373,6 +372,8 @@ static float auto_tune_a() {
* P3 Probe all positions: center, towers and opposite towers. Calibrate all.
* P4-P10 Probe all positions at different intermediate locations and average them.
*
* Rn.nn override default calibration Radius
*
* T Don't calibrate tower angle corrections
*
* Cn.nn Calibration precision; when omitted calibrates to maximum precision
Expand All @@ -387,6 +388,8 @@ static float auto_tune_a() {
*
* E Engage the probe for each point
*
* O Probe at offset points (this is wrong but it seems to work)
*
* With SENSORLESS_PROBING:
* Use these flags to calibrate stall sensitivity: (e.g., `G33 P1 Y Z` to calibrate X only.)
* X Don't activate stallguard on X.
Expand All @@ -403,7 +406,27 @@ void GcodeSuite::G33() {
return;
}

const bool towers_set = !parser.seen_test('T');
const bool probe_at_offset = TERN0(HAS_PROBE_XY_OFFSET, parser.boolval('O')),
towers_set = !parser.seen_test('T');

float max_dcr = dcr = DELTA_PRINTABLE_RADIUS;
#if HAS_PROBE_XY_OFFSET
// For offset probes the calibration radius is set to a safe but non-optimal value
dcr -= HYPOT(probe.offset_xy.x, probe.offset_xy.y);
if (probe_at_offset) {
// With probe positions both probe and nozzle need to be within the printable area
max_dcr = dcr;
}
// else with nozzle positions there is a risk of the probe being outside the bed
// but as long the nozzle stays within the printable area there is no risk of
// the effector crashing into the towers.
#endif

if (parser.seenval('R')) dcr = parser.value_float();
if (!WITHIN(dcr, 0, max_dcr)) {
SERIAL_ECHOLNPGM("?calibration (R)adius implausible.");
return;
}

const float calibration_precision = parser.floatval('C', 0.0f);
if (calibration_precision < 0) {
Expand Down Expand Up @@ -453,18 +476,6 @@ void GcodeSuite::G33() {

SERIAL_ECHOLNPGM("G33 Auto Calibrate");

const float dcr = delta_calibration_radius();

if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
LOOP_CAL_RAD(axis) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1));
if (!position_is_reachable(cos(a) * dcr, sin(a) * dcr)) {
SERIAL_ECHOLNPGM("?Bed calibration radius implausible.");
return;
}
}
}

// Report settings
PGM_P const checkingac = PSTR("Checking... AC");
SERIAL_ECHOPGM_P(checkingac);
Expand All @@ -487,7 +498,7 @@ void GcodeSuite::G33() {

// Probe the points
zero_std_dev_old = zero_std_dev;
if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each)) {
if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each, probe_at_offset)) {
SERIAL_ECHOLNPGM("Correct delta settings with M665 and M666");
return ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index));
}
Expand Down Expand Up @@ -526,11 +537,11 @@ void GcodeSuite::G33() {
#define Z0(I) ZP(0, I)

// calculate factors
if (_7p_9_center) calibration_radius_factor = 0.9f;
if (_7p_9_center) dcr *= 0.9f;
h_factor = auto_tune_h();
r_factor = auto_tune_r();
a_factor = auto_tune_a();
calibration_radius_factor = 1.0f;
dcr /= 0.9f;

switch (probe_points) {
case 0:
Expand Down
3 changes: 2 additions & 1 deletion Marlin/src/lcd/menu/menu_delta_calibrate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,8 +88,9 @@ void _man_probe_pt(const xy_pos_t &xy) {
}

void _goto_tower_a(const_float_t a) {
constexpr float dcr = DELTA_PRINTABLE_RADIUS;
xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };
_man_probe_pt(tower_vec * delta_calibration_radius());
_man_probe_pt(tower_vec * dcr);
}
void _goto_tower_x() { _goto_tower_a(210); }
void _goto_tower_y() { _goto_tower_a(330); }
Expand Down
22 changes: 0 additions & 22 deletions Marlin/src/module/delta.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,28 +82,6 @@ void recalc_delta_settings() {
set_all_unhomed();
}

/**
* Get a safe radius for calibration
*/

#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)

#if ENABLED(DELTA_AUTO_CALIBRATION)
float calibration_radius_factor = 1;
#endif

float delta_calibration_radius() {
return calibration_radius_factor * (
#if HAS_BED_PROBE
FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), PROBING_MARGIN))
#else
DELTA_PRINTABLE_RADIUS
#endif
);
}

#endif

/**
* Delta Inverse Kinematics
*
Expand Down
13 changes: 0 additions & 13 deletions Marlin/src/module/delta.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,19 +45,6 @@ extern abc_float_t delta_diagonal_rod_trim;
*/
void recalc_delta_settings();

/**
* Get a safe radius for calibration
*/
#if ENABLED(DELTA_AUTO_CALIBRATION)
extern float calibration_radius_factor;
#else
constexpr float calibration_radius_factor = 1;
#endif

#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
float delta_calibration_radius();
#endif

/**
* Delta Inverse Kinematics
*
Expand Down

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