Cleanups to UBL_DELTA
This commit is contained in:
Scott Lahteine
parent
cbfca29522
commit
0696dda470
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@ -731,15 +731,12 @@
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* Set granular options based on the specific type of leveling
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*/
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#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(DELTA)
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#define UBL_DELTA
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#endif
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#define UBL_DELTA (ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(DELTA))
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#define ABL_PLANAR (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT))
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#define ABL_GRID (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR))
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#define HAS_ABL (ABL_PLANAR || ABL_GRID || ENABLED(AUTO_BED_LEVELING_UBL))
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#define HAS_LEVELING (HAS_ABL || ENABLED(MESH_BED_LEVELING))
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#define PLANNER_LEVELING (ABL_PLANAR || ABL_GRID || ENABLED(MESH_BED_LEVELING) || ENABLED(UBL_DELTA))
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#define PLANNER_LEVELING (ABL_PLANAR || ABL_GRID || ENABLED(MESH_BED_LEVELING) || UBL_DELTA)
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#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
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#if HAS_PROBING_PROCEDURE
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#define PROBE_BED_WIDTH abs(RIGHT_PROBE_BED_POSITION - (LEFT_PROBE_BED_POSITION))
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@ -823,8 +820,7 @@
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/**
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* DELTA_SEGMENT_MIN_LENGTH for UBL_DELTA
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*/
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#if ENABLED(UBL_DELTA)
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#if UBL_DELTA
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#ifndef DELTA_SEGMENT_MIN_LENGTH
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#if IS_SCARA
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#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
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@ -278,8 +278,7 @@
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// If this mesh location is outside the printable_radius, skip it.
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if ( ! position_is_reachable_raw_xy( circle_x, circle_y ))
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continue;
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if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue;
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xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
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yi = location.y_index;
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@ -329,9 +328,7 @@
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ye = circle_y + sin_table[tmp_div_30 + 1];
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#if IS_KINEMATIC
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// Check to make sure this segment is entirely on the bed, skip if not.
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if (( ! position_is_reachable_raw_xy( x , y )) ||
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( ! position_is_reachable_raw_xy( xe, ye )))
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continue;
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if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue;
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#else // not, we need to skip
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x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
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y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
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@ -459,8 +456,7 @@
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sy = ey = constrain(pgm_read_float(&ubl.mesh_index_to_ypos[j]), Y_MIN_POS + 1, Y_MAX_POS - 1);
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ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
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if (( position_is_reachable_raw_xy( sx, sy )) &&
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( position_is_reachable_raw_xy( ex, ey ))) {
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if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
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if (ubl.g26_debug_flag) {
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SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
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@ -494,8 +490,7 @@
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sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
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ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
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if (( position_is_reachable_raw_xy( sx, sy )) &&
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( position_is_reachable_raw_xy( ex, ey ))) {
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if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
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if (ubl.g26_debug_flag) {
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SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
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@ -2427,9 +2427,12 @@ static void clean_up_after_endstop_or_probe_move() {
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#elif ENABLED(AUTO_BED_LEVELING_UBL)
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#if ENABLED(UBL_DELTA)
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if (( ubl.state.active ) && ( ! enable )) { // leveling from on to off
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planner.unapply_leveling(current_position);
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#if PLANNER_LEVELING
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if (ubl.state.active != enable) {
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if (!enable) // leveling from on to off
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planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
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else
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planner.unapply_leveling(current_position);
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}
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#endif
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@ -11104,7 +11107,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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#endif // AUTO_BED_LEVELING_BILINEAR
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#if IS_KINEMATIC && DISABLED(UBL_DELTA)
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#if IS_KINEMATIC && !UBL_DELTA
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/**
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* Prepare a linear move in a DELTA or SCARA setup.
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@ -11124,7 +11127,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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}
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// Fail if attempting move outside printable radius
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if ( ! position_is_reachable_xy( ltarget[X_AXIS], ltarget[Y_AXIS] )) return true;
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if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) return true;
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// Get the cartesian distances moved in XYZE
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float difference[XYZE];
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@ -11225,7 +11228,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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return false;
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}
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#else // !IS_KINEMATIC
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#else // !IS_KINEMATIC || UBL_DELTA
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/**
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* Prepare a linear move in a Cartesian setup.
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@ -11263,7 +11266,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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return false;
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}
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#endif // !IS_KINEMATIC
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#endif // !IS_KINEMATIC || UBL_DELTA
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#if ENABLED(DUAL_X_CARRIAGE)
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@ -11375,21 +11378,21 @@ void prepare_move_to_destination() {
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#endif
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#if IS_KINEMATIC
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#if ENABLED(UBL_DELTA)
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if (ubl_prepare_linear_move_to(destination,feedrate_mm_s)) return;
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if (
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#if IS_KINEMATIC
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#if UBL_DELTA
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ubl_prepare_linear_move_to(destination, feedrate_mm_s)
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#else
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prepare_kinematic_move_to(destination)
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#endif
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#elif ENABLED(DUAL_X_CARRIAGE)
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prepare_move_to_destination_dualx()
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#elif UBL_DELTA // will work for CARTESIAN too (smaller segments follow mesh more closely)
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ubl_prepare_linear_move_to(destination, feedrate_mm_s)
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#else
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if (prepare_kinematic_move_to(destination)) return;
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prepare_move_to_destination_cartesian()
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#endif
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#else
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#if ENABLED(DUAL_X_CARRIAGE)
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if (prepare_move_to_destination_dualx()) return;
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#elif ENABLED(UBL_DELTA) // will work for CARTESIAN too (smaller segments follow mesh more closely)
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if (ubl_prepare_linear_move_to(destination,feedrate_mm_s)) return;
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#else
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if (prepare_move_to_destination_cartesian()) return;
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#endif
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#endif
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) return;
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set_current_to_destination();
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}
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@ -248,11 +248,9 @@
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#if ENABLED(DELTA)
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#if DISABLED(USE_XMAX_PLUG) && DISABLED(USE_YMAX_PLUG) && DISABLED(USE_ZMAX_PLUG)
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#error "You probably want to use Max Endstops for DELTA!"
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#endif
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(UBL_DELTA)
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#error "ENABLE_LEVELING_FADE_HEIGHT for DELTA requires UBL_DELTA and AUTO_BED_LEVELING_UBL."
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#endif
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#if ABL_GRID
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#elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_BILINEAR) && !UBL_DELTA
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#error "ENABLE_LEVELING_FADE_HEIGHT on DELTA requires AUTO_BED_LEVELING_BILINEAR or AUTO_BED_LEVELING_UBL."
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#elif ABL_GRID
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#if (GRID_MAX_POINTS_X & 1) == 0 || (GRID_MAX_POINTS_Y & 1) == 0
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#error "DELTA requires GRID_MAX_POINTS_X and GRID_MAX_POINTS_Y to be odd numbers."
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#elif GRID_MAX_POINTS_X < 3
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@ -431,20 +429,11 @@ static_assert(1 >= 0
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* Unified Bed Leveling
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*/
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#if IS_KINEMATIC
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#if ENABLED(DELTA)
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#if DISABLED(UBL_DELTA)
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#error "AUTO_BED_LEVELING_UBL requires UBL_DELTA for DELTA printers."
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#endif
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#else // SCARA
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#error "AUTO_BED_LEVELING_UBL not supported for SCARA printers."
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#endif
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#endif
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#if DISABLED(NEWPANEL)
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#if IS_SCARA
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#error "AUTO_BED_LEVELING_UBL does not yet support SCARA printers."
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#elif DISABLED(NEWPANEL)
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#error "AUTO_BED_LEVELING_UBL requires an LCD controller."
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#endif
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#elif ENABLED(UBL_DELTA)
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#error "UBL_DELTA requires AUTO_BED_LEVELING_UBL."
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#endif
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/**
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@ -603,10 +592,8 @@ static_assert(1 >= 0
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/**
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* Delta and SCARA have limited bed leveling options
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*/
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#if IS_KINEMATIC
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#if DISABLED(AUTO_BED_LEVELING_BILINEAR) && DISABLED(UBL_DELTA)
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#error "Only AUTO_BED_LEVELING_BILINEAR or AUTO_BED_LEVELING_UBL with UBL_DELTA support DELTA and SCARA bed leveling."
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#endif
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#if IS_SCARA && DISABLED(AUTO_BED_LEVELING_BILINEAR)
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#error "Only AUTO_BED_LEVELING_BILINEAR currently supports SCARA bed leveling."
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#endif
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/**
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@ -534,12 +534,12 @@ void Planner::check_axes_activity() {
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*/
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void Planner::apply_leveling(float &lx, float &ly, float &lz) {
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#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_DELTA) // probably should also be enabled for UBL without UBL_DELTA
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#if ENABLED(AUTO_BED_LEVELING_UBL) && UBL_DELTA // probably should also be enabled for UBL without UBL_DELTA
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if (!ubl.state.active) return;
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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// if z_fade_height enabled (nonzero) and raw_z above it, no leveling required
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if ((planner.z_fade_height) && (planner.z_fade_height <= RAW_Z_POSITION(lz))) return;
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lz += ubl.state.z_offset + ( ubl.get_z_correction(lx,ly) * ubl.fade_scaling_factor_for_z(lz));
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lz += ubl.state.z_offset + ubl.get_z_correction(lx,ly) * ubl.fade_scaling_factor_for_z(lz);
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#else // no fade
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lz += ubl.state.z_offset + ubl.get_z_correction(lx,ly);
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#endif // FADE
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@ -598,13 +598,13 @@ void Planner::check_axes_activity() {
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void Planner::unapply_leveling(float logical[XYZ]) {
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#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_DELTA)
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#if ENABLED(AUTO_BED_LEVELING_UBL) && UBL_DELTA
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if ( ubl.state.active ) {
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if (ubl.state.active) {
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float z_leveled = RAW_Z_POSITION(logical[Z_AXIS]);
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float z_ublmesh = ubl.get_z_correction(logical[X_AXIS],logical[Y_AXIS]);
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float z_unlevel = z_leveled - ubl.state.z_offset - z_ublmesh;
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const float z_leveled = RAW_Z_POSITION(logical[Z_AXIS]),
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z_ublmesh = ubl.get_z_correction(logical[X_AXIS], logical[Y_AXIS]);
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float z_unlevel = z_leveled - ubl.state.z_offset - z_ublmesh;
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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@ -616,9 +616,9 @@ void Planner::check_axes_activity() {
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// so U(1-M/H)==L-O-M
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// so U==(L-O-M)/(1-M/H) for U<H
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if ( planner.z_fade_height ) {
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float z_unfaded = z_unlevel / ( 1.0 - ( z_ublmesh * planner.inverse_z_fade_height ));
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if ( z_unfaded < planner.z_fade_height ) // don't know until after compute
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if (planner.z_fade_height) {
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float z_unfaded = z_unlevel / (1.0 - z_ublmesh * planner.inverse_z_fade_height);
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if (z_unfaded < planner.z_fade_height) // don't know until after compute
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z_unlevel = z_unfaded;
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}
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@ -474,20 +474,10 @@
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set_current_to_destination();
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}
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#ifdef UBL_DELTA
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#define COPY_XYZE( target, source ) { \
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target[X_AXIS] = source[X_AXIS]; \
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target[Y_AXIS] = source[Y_AXIS]; \
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target[Z_AXIS] = source[Z_AXIS]; \
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target[E_AXIS] = source[E_AXIS]; \
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}
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#if UBL_DELTA
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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static float scara_feed_factor;
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static float scara_oldA;
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static float scara_oldB;
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static float scara_feed_factor, scara_oldA, scara_oldB;
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#endif
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// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
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@ -501,18 +491,18 @@
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float feedrate = fr_mm_s;
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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float adiff = abs(delta[A_AXIS] - scara_oldA);
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float bdiff = abs(delta[B_AXIS] - scara_oldB);
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float adiff = abs(delta[A_AXIS] - scara_oldA),
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bdiff = abs(delta[B_AXIS] - scara_oldB);
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scara_oldA = delta[A_AXIS];
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scara_oldB = delta[B_AXIS];
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feedrate = max(adiff, bdiff) * scara_feed_factor;
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#endif
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planner._buffer_line( delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], feedrate, extruder );
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planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], feedrate, extruder);
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#else // cartesian
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planner._buffer_line( ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder );
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planner._buffer_line(ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
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#endif
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}
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@ -525,7 +515,7 @@
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static bool ubl_prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate) {
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if ( ! position_is_reachable_xy( ltarget[X_AXIS], ltarget[Y_AXIS] )) // fail if moving outside reachable boundary
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if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) // fail if moving outside reachable boundary
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return true; // did not move, so current_position still accurate
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const float difference[XYZE] = { // cartesian distances moved in XYZE
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@ -533,21 +523,21 @@
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ltarget[Y_AXIS] - current_position[Y_AXIS],
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ltarget[Z_AXIS] - current_position[Z_AXIS],
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ltarget[E_AXIS] - current_position[E_AXIS]
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};
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};
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float cartesian_xy_mm = sqrtf( sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) ); // total horizontal xy distance
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const float cartesian_xy_mm = HYPOT(difference[X_AXIS], difference[Y_AXIS]); // total horizontal xy distance
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#if IS_KINEMATIC
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float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
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uint16_t segments = lroundf( delta_segments_per_second * seconds ); // preferred number of segments for distance @ feedrate
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uint16_t seglimit = lroundf( cartesian_xy_mm * (1.0/(DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
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NOMORE( segments, seglimit ); // limit to minimum segment length (fewer segments)
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const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
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uint16_t segments = lroundf(delta_segments_per_second * seconds), // preferred number of segments for distance @ feedrate
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seglimit = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
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NOMORE(segments, seglimit); // limit to minimum segment length (fewer segments)
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#else
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uint16_t segments = lroundf( cartesian_xy_mm * (1.0/(DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
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uint16_t segments = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
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#endif
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NOLESS( segments, 1 ); // must have at least one segment
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float inv_segments = 1.0 / segments; // divide once, multiply thereafter
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NOLESS(segments, 1); // must have at least one segment
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const float inv_segments = 1.0 / segments; // divide once, multiply thereafter
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
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@ -560,57 +550,53 @@
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difference[Y_AXIS] * inv_segments,
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difference[Z_AXIS] * inv_segments,
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difference[E_AXIS] * inv_segments
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};
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};
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||||
|
||||
// Note that E segment distance could vary slightly as z mesh height
|
||||
// changes for each segment, but small enough to ignore.
|
||||
|
||||
bool above_fade_height = false;
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
if (( planner.z_fade_height != 0 ) &&
|
||||
( planner.z_fade_height < RAW_Z_POSITION(ltarget[Z_AXIS]) )) {
|
||||
above_fade_height = true;
|
||||
}
|
||||
#endif
|
||||
const bool above_fade_height = (
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
planner.z_fade_height != 0 && planner.z_fade_height < RAW_Z_POSITION(ltarget[Z_AXIS])
|
||||
#else
|
||||
false
|
||||
#endif
|
||||
);
|
||||
|
||||
// Only compute leveling per segment if ubl active and target below z_fade_height.
|
||||
|
||||
if (( ! ubl.state.active ) || ( above_fade_height )) { // no mesh leveling
|
||||
if (!ubl.state.active || above_fade_height) { // no mesh leveling
|
||||
|
||||
const float z_offset = ubl.state.active ? ubl.state.z_offset : 0.0;
|
||||
|
||||
float seg_dest[XYZE]; // per-segment destination,
|
||||
COPY_XYZE( seg_dest, current_position ); // starting from current position
|
||||
float seg_dest[XYZE]; // per-segment destination,
|
||||
COPY(seg_dest, current_position); // starting from current position
|
||||
|
||||
while (--segments) {
|
||||
LOOP_XYZE(i) seg_dest[i] += segment_distance[i];
|
||||
float ztemp = seg_dest[Z_AXIS];
|
||||
seg_dest[Z_AXIS] += z_offset;
|
||||
ubl_buffer_line_segment( seg_dest, feedrate, active_extruder );
|
||||
ubl_buffer_line_segment(seg_dest, feedrate, active_extruder);
|
||||
seg_dest[Z_AXIS] = ztemp;
|
||||
}
|
||||
|
||||
// Since repeated adding segment_distance accumulates small errors, final move to exact destination.
|
||||
COPY_XYZE( seg_dest, ltarget );
|
||||
COPY(seg_dest, ltarget);
|
||||
seg_dest[Z_AXIS] += z_offset;
|
||||
ubl_buffer_line_segment( seg_dest, feedrate, active_extruder );
|
||||
ubl_buffer_line_segment(seg_dest, feedrate, active_extruder);
|
||||
return false; // moved but did not set_current_to_destination();
|
||||
}
|
||||
|
||||
// Otherwise perform per-segment leveling
|
||||
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
float fade_scaling_factor = ubl.fade_scaling_factor_for_z(ltarget[Z_AXIS]);
|
||||
#endif
|
||||
|
||||
float seg_dest[XYZE]; // per-segment destination, initialize to first segment
|
||||
LOOP_XYZE(i) seg_dest[i] = current_position[i] + segment_distance[i];
|
||||
|
||||
const float& dx_seg = segment_distance[X_AXIS]; // alias for clarity
|
||||
const float& dy_seg = segment_distance[Y_AXIS];
|
||||
|
||||
float rx = RAW_X_POSITION(seg_dest[X_AXIS]); // assume raw vs logical coordinates shifted but not scaled.
|
||||
float ry = RAW_Y_POSITION(seg_dest[Y_AXIS]);
|
||||
float rx = RAW_X_POSITION(seg_dest[X_AXIS]), // assume raw vs logical coordinates shifted but not scaled.
|
||||
ry = RAW_Y_POSITION(seg_dest[Y_AXIS]);
|
||||
|
||||
do { // for each mesh cell encountered during the move
|
||||
|
||||
|
|
@ -621,74 +607,75 @@
|
|||
// in top of loop and again re-find same adjacent cell and use it, just less efficient
|
||||
// for mesh inset area.
|
||||
|
||||
int8_t cell_xi = (rx - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
|
||||
cell_xi = constrain( cell_xi, 0, (GRID_MAX_POINTS_X) - 1 );
|
||||
int8_t cell_xi = (rx - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST)),
|
||||
cell_yi = (ry - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
|
||||
|
||||
int8_t cell_yi = (ry - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
|
||||
cell_yi = constrain( cell_yi, 0, (GRID_MAX_POINTS_Y) - 1 );
|
||||
cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
|
||||
cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
|
||||
|
||||
// float x0 = (UBL_MESH_MIN_X) + ((MESH_X_DIST) * cell_xi ); // lower left cell corner
|
||||
// float y0 = (UBL_MESH_MIN_Y) + ((MESH_Y_DIST) * cell_yi ); // lower left cell corner
|
||||
// float x1 = x0 + MESH_X_DIST; // upper right cell corner
|
||||
// float y1 = y0 + MESH_Y_DIST; // upper right cell corner
|
||||
|
||||
float x0 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi ])); // 64 byte table lookup avoids mul+add
|
||||
float y0 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi ])); // 64 byte table lookup avoids mul+add
|
||||
float x1 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi+1])); // 64 byte table lookup avoids mul+add
|
||||
float y1 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi+1])); // 64 byte table lookup avoids mul+add
|
||||
const float x0 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi ])), // 64 byte table lookup avoids mul+add
|
||||
y0 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi ])), // 64 byte table lookup avoids mul+add
|
||||
x1 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi+1])), // 64 byte table lookup avoids mul+add
|
||||
y1 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi+1])), // 64 byte table lookup avoids mul+add
|
||||
|
||||
float cx = rx - x0; // cell-relative x
|
||||
float cy = ry - y0; // cell-relative y
|
||||
cx = rx - x0, // cell-relative x
|
||||
cy = ry - y0; // cell-relative y
|
||||
|
||||
float z_x0y0 = ubl.z_values[cell_xi ][cell_yi ]; // z at lower left corner
|
||||
float z_x1y0 = ubl.z_values[cell_xi+1][cell_yi ]; // z at upper left corner
|
||||
float z_x0y1 = ubl.z_values[cell_xi ][cell_yi+1]; // z at lower right corner
|
||||
float z_x1y1 = ubl.z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
|
||||
float z_x0y0 = ubl.z_values[cell_xi ][cell_yi ], // z at lower left corner
|
||||
z_x1y0 = ubl.z_values[cell_xi+1][cell_yi ], // z at upper left corner
|
||||
z_x0y1 = ubl.z_values[cell_xi ][cell_yi+1], // z at lower right corner
|
||||
z_x1y1 = ubl.z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
|
||||
|
||||
if ( isnan( z_x0y0 )) z_x0y0 = 0; // ideally activating ubl.state.active (G29 A)
|
||||
if ( isnan( z_x1y0 )) z_x1y0 = 0; // should refuse if any invalid mesh points
|
||||
if ( isnan( z_x0y1 )) z_x0y1 = 0; // in order to avoid isnan tests per cell,
|
||||
if ( isnan( z_x1y1 )) z_x1y1 = 0; // thus guessing zero for undefined points
|
||||
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating ubl.state.active (G29 A)
|
||||
if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
|
||||
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
|
||||
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
|
||||
|
||||
float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0/MESH_X_DIST); // z slope per x along y0 (lower left to lower right)
|
||||
float z_xmy1 = (z_x1y1 - z_x0y1) * (1.0/MESH_X_DIST); // z slope per x along y1 (upper left to upper right)
|
||||
const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right)
|
||||
z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right)
|
||||
|
||||
float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx
|
||||
float z_cxy1 = z_x0y1 + z_xmy1 * cx; // z height along y1 at cx
|
||||
float z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
|
||||
float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx
|
||||
|
||||
float z_cxym = z_cxyd * (1.0/MESH_Y_DIST); // z slope per y along cx from y0 to y1
|
||||
float z_cxcy = z_cxy0 + z_cxym * cy; // z height along cx at cy
|
||||
const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx
|
||||
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
|
||||
|
||||
float z_cxym = z_cxyd * (1.0 / (MESH_Y_DIST)), // z slope per y along cx from y0 to y1
|
||||
z_cxcy = z_cxy0 + z_cxym * cy; // z height along cx at cy
|
||||
|
||||
// As subsequent segments step through this cell, the z_cxy0 intercept will change
|
||||
// and the z_cxym slope will change, both as a function of cx within the cell, and
|
||||
// each change by a constant for fixed segment lengths.
|
||||
|
||||
float z_sxy0 = z_xmy0 * dx_seg; // per-segment adjustment to z_cxy0
|
||||
float z_sxym = ( z_xmy1 - z_xmy0 ) * (1.0/MESH_Y_DIST) * dx_seg; // per-segment adjustment to z_cxym
|
||||
const float z_sxy0 = z_xmy0 * dx_seg, // per-segment adjustment to z_cxy0
|
||||
z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * dx_seg; // per-segment adjustment to z_cxym
|
||||
|
||||
do { // for all segments within this mesh cell
|
||||
|
||||
z_cxcy += ubl.state.z_offset;
|
||||
|
||||
if ( --segments == 0 ) { // this is last segment, use ltarget for exact
|
||||
COPY_XYZE( seg_dest, ltarget );
|
||||
if (--segments == 0) { // this is last segment, use ltarget for exact
|
||||
COPY(seg_dest, ltarget);
|
||||
seg_dest[Z_AXIS] += z_cxcy;
|
||||
ubl_buffer_line_segment( seg_dest, feedrate, active_extruder );
|
||||
ubl_buffer_line_segment(seg_dest, feedrate, active_extruder);
|
||||
return false; // did not set_current_to_destination()
|
||||
}
|
||||
|
||||
float z_orig = seg_dest[Z_AXIS]; // remember the pre-leveled segment z value
|
||||
seg_dest[Z_AXIS] = z_orig + z_cxcy; // adjust segment z height per mesh leveling
|
||||
ubl_buffer_line_segment( seg_dest, feedrate, active_extruder );
|
||||
seg_dest[Z_AXIS] = z_orig; // restore pre-leveled z before incrementing
|
||||
const float z_orig = seg_dest[Z_AXIS]; // remember the pre-leveled segment z value
|
||||
seg_dest[Z_AXIS] = z_orig + z_cxcy; // adjust segment z height per mesh leveling
|
||||
ubl_buffer_line_segment(seg_dest, feedrate, active_extruder);
|
||||
seg_dest[Z_AXIS] = z_orig; // restore pre-leveled z before incrementing
|
||||
|
||||
LOOP_XYZE(i) seg_dest[i] += segment_distance[i]; // adjust seg_dest for next segment
|
||||
|
||||
cx += dx_seg;
|
||||
cy += dy_seg;
|
||||
|
||||
if ( !WITHIN(cx,0,MESH_X_DIST) || !WITHIN(cy,0,MESH_Y_DIST)) { // done within this cell, break to next
|
||||
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) { // done within this cell, break to next
|
||||
rx = RAW_X_POSITION(seg_dest[X_AXIS]);
|
||||
ry = RAW_Y_POSITION(seg_dest[Y_AXIS]);
|
||||
break;
|
||||
|
|
|
|||
Loading…
Reference in a new issue