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🚀 ZV Input Shaping (MarlinFirmware#24797)
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/** | ||
* Marlin 3D Printer Firmware | ||
* Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] | ||
* | ||
* Based on Sprinter and grbl. | ||
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm | ||
* | ||
* This program is free software: you can redistribute it and/or modify | ||
* it under the terms of the GNU General Public License as published by | ||
* the Free Software Foundation, either version 3 of the License, or | ||
* (at your option) any later version. | ||
* | ||
* This program is distributed in the hope that it will be useful, | ||
* but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
* GNU General Public License for more details. | ||
* | ||
* You should have received a copy of the GNU General Public License | ||
* along with this program. If not, see <https://www.gnu.org/licenses/>. | ||
* | ||
*/ | ||
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#include "../../../inc/MarlinConfig.h" | ||
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#if ENABLED(INPUT_SHAPING) | ||
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#include "../../gcode.h" | ||
#include "../../../module/stepper.h" | ||
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void GcodeSuite::M593_report(const bool forReplay/*=true*/) { | ||
report_heading_etc(forReplay, F("Input Shaping")); | ||
#if HAS_SHAPING_X | ||
SERIAL_ECHO_MSG("M593 X" | ||
" F", stepper.get_shaping_frequency(X_AXIS), | ||
" D", stepper.get_shaping_damping_ratio(X_AXIS) | ||
); | ||
#endif | ||
#if HAS_SHAPING_Y | ||
SERIAL_ECHO_MSG("M593 Y" | ||
" F", stepper.get_shaping_frequency(Y_AXIS), | ||
" D", stepper.get_shaping_damping_ratio(Y_AXIS) | ||
); | ||
#endif | ||
} | ||
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/** | ||
* M593: Get or Set Input Shaping Parameters | ||
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes. | ||
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes. | ||
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet) | ||
* X<1> Set the given parameters only for the X axis. | ||
* Y<1> Set the given parameters only for the Y axis. | ||
*/ | ||
void GcodeSuite::M593() { | ||
if (!parser.seen_any()) return M593_report(); | ||
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const bool seen_X = TERN0(HAS_SHAPING_X, parser.seen_test('X')), | ||
seen_Y = TERN0(HAS_SHAPING_Y, parser.seen_test('Y')), | ||
for_X = seen_X || TERN0(HAS_SHAPING_X, (!seen_X && !seen_Y)), | ||
for_Y = seen_Y || TERN0(HAS_SHAPING_Y, (!seen_X && !seen_Y)); | ||
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if (parser.seen('D')) { | ||
const float zeta = parser.value_float(); | ||
if (WITHIN(zeta, 0, 1)) { | ||
if (for_X) stepper.set_shaping_damping_ratio(X_AXIS, zeta); | ||
if (for_Y) stepper.set_shaping_damping_ratio(Y_AXIS, zeta); | ||
} | ||
else | ||
SERIAL_ECHO_MSG("?Zeta (D) value out of range (0-1)"); | ||
} | ||
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if (parser.seen('F')) { | ||
const float freq = parser.value_float(); | ||
if (freq > 0) { | ||
if (for_X) stepper.set_shaping_frequency(X_AXIS, freq); | ||
if (for_Y) stepper.set_shaping_frequency(Y_AXIS, freq); | ||
} | ||
else | ||
SERIAL_ECHO_MSG("?Frequency (F) must be greater than 0"); | ||
} | ||
} | ||
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#endif |
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