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Use ABC and XYZ for "3"

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This commit is contained in:
Scott Lahteine 2016-08-20 22:38:32 -05:00
parent 4cd1ad8f28
commit 2f223b8c79
6 changed files with 40 additions and 40 deletions
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24
Marlin/Marlin.h
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@ -266,13 +266,13 @@ extern bool volumetric_enabled;
extern int flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
extern bool axis_known_position[3]; // axis[n].is_known
extern bool axis_homed[3]; // axis[n].is_homed
extern bool axis_known_position[XYZ]; // axis[n].is_known
extern bool axis_homed[XYZ]; // axis[n].is_homed
extern volatile bool wait_for_heatup;
extern float current_position[NUM_AXIS];
extern float position_shift[3];
extern float home_offset[3];
extern float position_shift[XYZ];
extern float home_offset[XYZ];
// Software Endstops
void update_software_endstops(AxisEnum axis);
@ -303,25 +303,25 @@ float code_value_temp_abs();
float code_value_temp_diff();
#if ENABLED(DELTA)
extern float delta[3];
extern float endstop_adj[3]; // axis[n].endstop_adj
extern float delta[ABC];
extern float endstop_adj[ABC]; // axis[n].endstop_adj
extern float delta_radius;
extern float delta_diagonal_rod;
extern float delta_segments_per_second;
extern float delta_diagonal_rod_trim_tower_1;
extern float delta_diagonal_rod_trim_tower_2;
extern float delta_diagonal_rod_trim_tower_3;
void inverse_kinematics(const float cartesian[3]);
void inverse_kinematics(const float cartesian[XYZ]);
void recalc_delta_settings(float radius, float diagonal_rod);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
extern int delta_grid_spacing[2];
void adjust_delta(float cartesian[3]);
void adjust_delta(float cartesian[XYZ]);
#endif
#elif ENABLED(SCARA)
extern float delta[3];
extern float axis_scaling[3]; // Build size scaling
void inverse_kinematics(const float cartesian[3]);
void forward_kinematics_SCARA(float f_scara[3]);
extern float delta[ABC];
extern float axis_scaling[ABC]; // Build size scaling
void inverse_kinematics(const float cartesian[XYZ]);
void forward_kinematics_SCARA(float f_scara[ABC]);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)

48
Marlin/Marlin_main.cpp
View file

@ -286,8 +286,8 @@ uint8_t marlin_debug_flags = DEBUG_NONE;
float current_position[NUM_AXIS] = { 0.0 };
static float destination[NUM_AXIS] = { 0.0 };
bool axis_known_position[3] = { false };
bool axis_homed[3] = { false };
bool axis_known_position[XYZ] = { false };
bool axis_homed[XYZ] = { false };
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
@ -327,11 +327,11 @@ float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DI
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[3] = { 0 };
float position_shift[XYZ] = { 0 };
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[3] = { 0 };
float home_offset[XYZ] = { 0 };
// Software Endstops are based on the configured limits.
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
@ -462,11 +462,11 @@ static uint8_t target_extruder;
#define TOWER_2 Y_AXIS
#define TOWER_3 Z_AXIS
float delta[3];
float cartesian_position[3] = { 0 };
float delta[ABC];
float cartesian_position[XYZ] = { 0 };
#define SIN_60 0.8660254037844386
#define COS_60 0.5
float endstop_adj[3] = { 0 };
float endstop_adj[ABC] = { 0 };
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS;
float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
@ -495,8 +495,8 @@ static uint8_t target_extruder;
#if ENABLED(SCARA)
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
float delta[3];
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
float delta[ABC];
float axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
@ -1415,7 +1415,7 @@ DEFINE_PGM_READ_ANY(float, float);
DEFINE_PGM_READ_ANY(signed char, byte);
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[3] = \
static const PROGMEM type array##_P[XYZ] = \
{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
static inline type array(int axis) \
{ return pgm_read_any(&array##_P[axis]); }
@ -1555,7 +1555,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[3];
float homeposition[XYZ];
LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
@ -7802,9 +7802,9 @@ void ok_to_send() {
delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
}
void inverse_kinematics(const float in_cartesian[3]) {
void inverse_kinematics(const float in_cartesian[XYZ]) {
const float cartesian[3] = {
const float cartesian[XYZ] = {
RAW_X_POSITION(in_cartesian[X_AXIS]),
RAW_Y_POSITION(in_cartesian[Y_AXIS]),
RAW_Z_POSITION(in_cartesian[Z_AXIS])
@ -7834,7 +7834,7 @@ void ok_to_send() {
}
float delta_safe_distance_from_top() {
float cartesian[3] = {
float cartesian[XYZ] = {
LOGICAL_X_POSITION(0),
LOGICAL_Y_POSITION(0),
LOGICAL_Z_POSITION(0)
@ -7915,20 +7915,20 @@ void ok_to_send() {
cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
};
void forward_kinematics_DELTA(float point[3]) {
forward_kinematics_DELTA(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]);
void forward_kinematics_DELTA(float point[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
void set_cartesian_from_steppers() {
forward_kinematics_DELTA(stepper.get_axis_position_mm(X_AXIS),
stepper.get_axis_position_mm(Y_AXIS),
stepper.get_axis_position_mm(Z_AXIS));
forward_kinematics_DELTA(stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS));
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta(float cartesian[3]) {
void adjust_delta(float cartesian[XYZ]) {
if (delta_grid_spacing[X_AXIS] == 0 || delta_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
@ -8401,8 +8401,8 @@ void prepare_move_to_destination() {
#if ENABLED(SCARA)
void forward_kinematics_SCARA(float f_scara[3]) {
// Perform forward kinematics, and place results in delta[3]
void forward_kinematics_SCARA(float f_scara[ABC]) {
// Perform forward kinematics, and place results in delta[]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float x_sin, x_cos, y_sin, y_cos;
@ -8427,9 +8427,9 @@ void prepare_move_to_destination() {
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}
void inverse_kinematics(const float cartesian[3]) {
void inverse_kinematics(const float cartesian[XYZ]) {
// Inverse kinematics.
// Perform SCARA IK and place results in delta[3].
// Perform SCARA IK and place results in delta[].
// The maths and first version were done by QHARLEY.
// Integrated, tweaked by Joachim Cerny in June 2014.

2
Marlin/planner.cpp
View file

@ -968,7 +968,7 @@ void Planner::check_axes_activity() {
float junction_deviation = 0.1;
// Compute path unit vector
double unit_vec[3];
double unit_vec[XYZ];
unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters;
unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters;

2
Marlin/stepper.cpp
View file

@ -122,7 +122,7 @@ unsigned short Stepper::acc_step_rate; // needed for deceleration start point
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
unsigned short Stepper::OCR1A_nominal;
volatile long Stepper::endstops_trigsteps[3];
volatile long Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)

2
Marlin/stepper.h
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@ -128,7 +128,7 @@ class Stepper {
static uint8_t step_loops, step_loops_nominal;
static unsigned short OCR1A_nominal;
static volatile long endstops_trigsteps[3];
static volatile long endstops_trigsteps[XYZ];
static volatile long endstops_stepsTotal, endstops_stepsDone;
#if HAS_MOTOR_CURRENT_PWM

2
Marlin/temperature.cpp
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@ -95,7 +95,7 @@ unsigned char Temperature::soft_pwm_bed;
#endif
#if ENABLED(BABYSTEPPING)
volatile int Temperature::babystepsTodo[3] = { 0 };
volatile int Temperature::babystepsTodo[XYZ] = { 0 };
#endif
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0