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Polargraph / Makelangelo kinematics (#22790)

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This commit is contained in:
Dan Royer 2021-09-20 13:42:33 -07:00 committed by Scott Lahteine
parent f3864a1ae7
commit 3344071f24
24 changed files with 304 additions and 104 deletions
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7
Marlin/Configuration.h
View file

@ -761,6 +761,13 @@
// Enable for a belt style printer with endless "Z" motion
//#define BELTPRINTER
// Enable for Polargraph Kinematics
//#define POLARGRAPH
#if ENABLED(POLARGRAPH)
#define POLARGRAPH_MAX_BELT_LEN 1035.0
#define POLAR_SEGMENTS_PER_SECOND 5
#endif
//===========================================================================
//============================== Endstop Settings ===========================
//===========================================================================

2
Marlin/src/MarlinCore.cpp
View file

@ -168,6 +168,8 @@
#if ENABLED(DELTA)
#include "module/delta.h"
#elif ENABLED(POLARGRAPH)
#include "module/polargraph.h"
#elif IS_SCARA
#include "module/scara.h"
#endif

7
Marlin/src/core/language.h
View file

@ -264,9 +264,10 @@
// Settings Report Strings
#define STR_Z_AUTO_ALIGN "Z Auto-Align"
#define STR_BACKLASH_COMPENSATION "Backlash compensation"
#define STR_DELTA_SETTINGS "Delta settings (L<diagonal-rod> R<radius> H<height> S<segments-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
#define STR_SCARA_SETTINGS "SCARA settings"
#define STR_SCARA_S "S<seg-per-sec>"
#define STR_S_SEG_PER_SEC "S<seg-per-sec>"
#define STR_DELTA_SETTINGS "Delta (L<diagonal-rod> R<radius> H<height> S<seg-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
#define STR_SCARA_SETTINGS "SCARA"
#define STR_POLARGRAPH_SETTINGS "Polargraph"
#define STR_SCARA_P_T_Z "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
#define STR_ENDSTOP_ADJUSTMENT "Endstop adjustment"
#define STR_SKEW_FACTOR "Skew Factor"

2
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View file

@ -324,6 +324,8 @@
#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
#elif ENABLED(DELTA)
#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
#elif ENABLED(POLARGRAPH)
#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
#else // CARTESIAN
#ifdef LEVELED_SEGMENT_LENGTH
#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH

25
Marlin/src/gcode/calibrate/M665.cpp
View file

@ -132,7 +132,7 @@
}
void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
report_heading_etc(forReplay, PSTR(STR_SCARA_SETTINGS " (" STR_SCARA_S TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")"));
report_heading_etc(forReplay, PSTR(STR_SCARA_SETTINGS " (" STR_S_SEG_PER_SEC TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")"));
SERIAL_ECHOLNPGM_P(
PSTR(" M665 S"), segments_per_second
#if HAS_SCARA_OFFSET
@ -143,6 +143,29 @@
);
}
#elif ENABLED(POLARGRAPH)
#include "../../module/polargraph.h"
/**
* M665: Set POLARGRAPH settings
*
* Parameters:
*
* S[segments-per-second] - Segments-per-second
*/
void GcodeSuite::M665() {
if (parser.seenval('S'))
segments_per_second = parser.value_float();
else
M665_report();
}
void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
report_heading_etc(forReplay, PSTR(STR_POLARGRAPH_SETTINGS " (" STR_S_SEG_PER_SEC ")"));
SERIAL_ECHOLNPGM(" M665 S", segments_per_second);
}
#endif
#endif // IS_KINEMATIC

36
Marlin/src/gcode/control/M280.cpp
View file

@ -26,22 +26,44 @@
#include "../gcode.h"
#include "../../module/servo.h"
#include "../../module/planner.h"
/**
* M280: Get or set servo position. P<index> [S<angle>]
* M280: Get or set servo position.
* P<index> - Servo index
* S<angle> - Angle to set, omit to read current angle, or use -1 to detach
*
* With POLARGRAPH:
* T<ms> - Duration of servo move
*/
void GcodeSuite::M280() {
if (!parser.seen('P')) return;
if (!parser.seenval('P')) return;
TERN_(POLARGRAPH, planner.synchronize());
const int servo_index = parser.value_int();
if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
if (parser.seen('S')) {
const int a = parser.value_int();
if (a == -1)
DETACH_SERVO(servo_index);
if (parser.seenval('S')) {
const int anew = parser.value_int();
if (anew >= 0) {
#if ENABLED(POLARGRAPH)
if (parser.seen('T')) { // (ms) Total duration of servo move
const int16_t t = constrain(parser.value_int(), 0, 10000);
const int aold = servo[servo_index].read();
millis_t now = millis();
const millis_t start = now, end = start + t;
while (PENDING(now, end)) {
safe_delay(50);
now = _MIN(millis(), end);
MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t)));
}
}
#endif // POLARGRAPH
MOVE_SERVO(servo_index, anew);
}
else
MOVE_SERVO(servo_index, a);
DETACH_SERVO(servo_index);
}
else
SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());

2
Marlin/src/gcode/control/M282.cpp
View file

@ -32,7 +32,7 @@
*/
void GcodeSuite::M282() {
if (!parser.seen('P')) return;
if (!parser.seenval('P')) return;
const int servo_index = parser.value_int();
if (WITHIN(servo_index, 0, NUM_SERVOS - 1))

4
Marlin/src/gcode/gcode.cpp
View file

@ -885,8 +885,8 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
case 605: M605(); break; // M605: Set Dual X Carriage movement mode
#endif
#if ENABLED(DELTA)
case 665: M665(); break; // M665: Set delta configurations
#if IS_KINEMATIC
case 665: M665(); break; // M665: Set Delta/SCARA parameters
#endif
#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS

1
Marlin/src/gcode/gcode.h
View file

@ -244,6 +244,7 @@
* M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
* M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
* Set SCARA configurations: "M665 S<segments-per-second> P<theta-psi-offset> T<theta-offset> Z<z-offset> (Requires MORGAN_SCARA or MP_SCARA)
* M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
* M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
* M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)

2
Marlin/src/inc/Conditionals_LCD.h
View file

@ -1061,7 +1061,7 @@
#if ANY(MORGAN_SCARA, MP_SCARA, AXEL_TPARA)
#define IS_SCARA 1
#define IS_KINEMATIC 1
#elif ENABLED(DELTA)
#elif EITHER(DELTA, POLARGRAPH)
#define IS_KINEMATIC 1
#else
#define IS_CARTESIAN 1

4
Marlin/src/inc/SanityCheck.h
View file

@ -1340,8 +1340,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
/**
* Servo deactivation depends on servo endstops, switching nozzle, or switching extruder
*/
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && !HAS_Z_SERVO_PROBE && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR) && !defined(SWITCHING_TOOLHEAD_SERVO_NR)
#error "Z_PROBE_SERVO_NR, switching nozzle, switching toolhead or switching extruder is required for DEACTIVATE_SERVOS_AFTER_MOVE."
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && NONE(HAS_Z_SERVO_PROBE, POLARGRAPH) && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR) && !defined(SWITCHING_TOOLHEAD_SERVO_NR)
#error "Z_PROBE_SERVO_NR, switching nozzle, switching toolhead, switching extruder, or POLARGRAPH is required for DEACTIVATE_SERVOS_AFTER_MOVE."
#endif
/**

6
Marlin/src/lcd/menu/menu_advanced.cpp
View file

@ -466,9 +466,11 @@ void menu_backlash();
#ifdef MAX_JERK_EDIT_VALUES
MAX_JERK_EDIT_VALUES
#elif ENABLED(LIMITED_JERK_EDITING)
{ (DEFAULT_XJERK) * 2, (DEFAULT_YJERK) * 2, (DEFAULT_ZJERK) * 2, (DEFAULT_EJERK) * 2 }
{ LOGICAL_AXIS_LIST((DEFAULT_EJERK) * 2,
(DEFAULT_XJERK) * 2, (DEFAULT_YJERK) * 2, (DEFAULT_ZJERK) * 2,
(DEFAULT_IJERK) * 2, (DEFAULT_JJERK) * 2, (DEFAULT_KJERK) * 2) }
#else
{ 990, 990, 990, 990 }
{ LOGICAL_AXIS_LIST(990, 990, 990, 990, 990, 990, 990) }
#endif
;
#define EDIT_JERK(N) EDIT_ITEM_FAST(float3, MSG_V##N##_JERK, &planner.max_jerk[_AXIS(N)], 1, max_jerk_edit[_AXIS(N)])

2
Marlin/src/module/motion.cpp
View file

@ -489,7 +489,7 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
#endif
#if EITHER(DELTA, IS_SCARA)
#if IS_KINEMATIC
if (!position_is_reachable(x, y)) return;
destination = current_position; // sync destination at the start
#endif

8
Marlin/src/module/motion.h
View file

@ -504,6 +504,14 @@ void home_if_needed(const bool keeplev=false);
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
#elif ENABLED(POLARGRAPH)
const float x1 = rx - (X_MIN_POS), x2 = (X_MAX_POS) - rx, y = ry - (Y_MAX_POS),
a = HYPOT(x1, y), b = HYPOT(x2, y);
return a < (POLARGRAPH_MAX_BELT_LEN) + 1
&& b < (POLARGRAPH_MAX_BELT_LEN) + 1
&& (a + b) > _MIN(X_BED_SIZE, Y_BED_SIZE);
#elif ENABLED(AXEL_TPARA)
const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);

4
Marlin/src/module/planner.cpp
View file

@ -3021,7 +3021,7 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, cons
#else
const feedRate_t feedrate = fr_mm_s;
#endif
delta.e = machine.e;
TERN_(HAS_EXTRUDERS, delta.e = machine.e);
if (buffer_segment(delta OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), feedrate, extruder, mm)) {
position_cart = cart;
return true;
@ -3126,7 +3126,7 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) {
#if IS_KINEMATIC
position_cart = xyze;
inverse_kinematics(machine);
delta.e = machine.e;
TERN_(HAS_EXTRUDERS, delta.e = machine.e);
set_machine_position_mm(delta);
#else
set_machine_position_mm(machine);

2
Marlin/src/module/planner.h
View file

@ -48,6 +48,8 @@
#if ENABLED(DELTA)
#include "delta.h"
#elif ENABLED(POLARGRAPH)
#include "polargraph.h"
#endif
#if ABL_PLANAR

47
Marlin/src/module/polargraph.cpp Normal file
View file

@ -0,0 +1,47 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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/>.
*
*/
/**
* polargraph.cpp
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(POLARGRAPH)
#include "polargraph.h"
#include "motion.h"
// For homing:
#include "planner.h"
#include "endstops.h"
#include "../lcd/marlinui.h"
#include "../MarlinCore.h"
float segments_per_second; // Initialized by settings.load()
void inverse_kinematics(const xyz_pos_t &raw) {
const float x1 = raw.x - (X_MIN_POS), x2 = (X_MAX_POS) - raw.x, y = raw.y - (Y_MAX_POS);
delta.set(HYPOT(x1, y), HYPOT(x2, y), raw.z);
}
#endif // POLARGRAPH

33
Marlin/src/module/polargraph.h Normal file
View file

@ -0,0 +1,33 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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/>.
*
*/
#pragma once
/**
* polargraph.h - Polargraph-specific functions
*/
#include "../core/types.h"
#include "../core/macros.h"
extern float segments_per_second;
void inverse_kinematics(const xyz_pos_t &raw);

171
Marlin/src/module/settings.cpp
View file

@ -36,7 +36,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V84"
#define EEPROM_VERSION "V85"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@ -279,17 +279,24 @@ typedef struct SettingsDataStruct {
bool bltouch_last_written_mode;
//
// DELTA / [XYZ]_DUAL_ENDSTOPS
// Kinematic Settings
//
#if ENABLED(DELTA)
float delta_height; // M666 H
abc_float_t delta_endstop_adj; // M666 X Y Z
float delta_radius, // M665 R
delta_diagonal_rod, // M665 L
segments_per_second; // M665 S
abc_float_t delta_tower_angle_trim, // M665 X Y Z
delta_diagonal_rod_trim; // M665 A B C
#elif HAS_EXTRA_ENDSTOPS
#if IS_KINEMATIC
float segments_per_second; // M665 S
#if ENABLED(DELTA)
float delta_height; // M666 H
abc_float_t delta_endstop_adj; // M666 X Y Z
float delta_radius, // M665 R
delta_diagonal_rod; // M665 L
abc_float_t delta_tower_angle_trim, // M665 X Y Z
delta_diagonal_rod_trim; // M665 A B C
#endif
#endif
//
// Extra Endstops offsets
//
#if HAS_EXTRA_ENDSTOPS
float x2_endstop_adj, // M666 X
y2_endstop_adj, // M666 Y
z2_endstop_adj, // M666 (S2) Z
@ -857,45 +864,49 @@ void MarlinSettings::postprocess() {
}
//
// DELTA Geometry or Dual Endstops offsets
// Kinematic Settings
//
#if IS_KINEMATIC
{
EEPROM_WRITE(segments_per_second);
#if ENABLED(DELTA)
_FIELD_TEST(delta_height);
EEPROM_WRITE(delta_height); // 1 float
EEPROM_WRITE(delta_endstop_adj); // 3 floats
EEPROM_WRITE(delta_radius); // 1 float
EEPROM_WRITE(delta_diagonal_rod); // 1 float
EEPROM_WRITE(segments_per_second); // 1 float
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats
#elif HAS_EXTRA_ENDSTOPS
_FIELD_TEST(x2_endstop_adj);
// Write dual endstops in X, Y, Z order. Unused = 0.0
dummyf = 0;
EEPROM_WRITE(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
EEPROM_WRITE(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_WRITE(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_WRITE(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_WRITE(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
#endif
#endif
}
#endif
//
// Extra Endstops offsets
//
#if HAS_EXTRA_ENDSTOPS
{
_FIELD_TEST(x2_endstop_adj);
// Write dual endstops in X, Y, Z order. Unused = 0.0
dummyf = 0;
EEPROM_WRITE(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
EEPROM_WRITE(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_WRITE(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_WRITE(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_WRITE(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
#endif
}
#endif
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
EEPROM_WRITE(z_stepper_align.xy);
@ -1724,42 +1735,46 @@ void MarlinSettings::postprocess() {
}
//
// DELTA Geometry or Dual Endstops offsets
// Kinematic Segments-per-second
//
#if IS_KINEMATIC
{
EEPROM_READ(segments_per_second);
#if ENABLED(DELTA)
_FIELD_TEST(delta_height);
EEPROM_READ(delta_height); // 1 float
EEPROM_READ(delta_endstop_adj); // 3 floats
EEPROM_READ(delta_radius); // 1 float
EEPROM_READ(delta_diagonal_rod); // 1 float
EEPROM_READ(segments_per_second); // 1 float
EEPROM_READ(delta_tower_angle_trim); // 3 floats
EEPROM_READ(delta_diagonal_rod_trim); // 3 floats
#elif HAS_EXTRA_ENDSTOPS
_FIELD_TEST(x2_endstop_adj);
EEPROM_READ(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
EEPROM_READ(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_READ(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_READ(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_READ(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
#endif
#endif
}
#endif
//
// Extra Endstops offsets
//
#if HAS_EXTRA_ENDSTOPS
{
_FIELD_TEST(x2_endstop_adj);
EEPROM_READ(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
EEPROM_READ(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_READ(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_READ(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_READ(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
#endif
}
#endif
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
EEPROM_READ(z_stepper_align.xy);
@ -2721,20 +2736,30 @@ void MarlinSettings::reset() {
//#endif
//
// Endstop Adjustments
// Kinematic settings
//
#if ENABLED(DELTA)
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_height = DELTA_HEIGHT;
delta_endstop_adj = adj;
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_tower_angle_trim = dta;
delta_diagonal_rod_trim = ddr;
#if IS_KINEMATIC
segments_per_second = (
TERN_(DELTA, DELTA_SEGMENTS_PER_SECOND)
TERN_(IS_SCARA, SCARA_SEGMENTS_PER_SECOND)
TERN_(POLARGRAPH, POLAR_SEGMENTS_PER_SECOND)
);
#if ENABLED(DELTA)
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_height = DELTA_HEIGHT;
delta_endstop_adj = adj;
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_tower_angle_trim = dta;
delta_diagonal_rod_trim = ddr;
#endif
#endif
//
// Endstop Adjustments
//
#if ENABLED(X_DUAL_ENDSTOPS)
#ifndef X2_ENDSTOP_ADJUSTMENT
#define X2_ENDSTOP_ADJUSTMENT 0
@ -3137,7 +3162,7 @@ void MarlinSettings::reset() {
TERN_(EDITABLE_SERVO_ANGLES, gcode.M281_report(forReplay));
//
// Delta / SCARA Kinematics
// Kinematic Settings
//
TERN_(IS_KINEMATIC, gcode.M665_report(forReplay));

27
Marlin/src/pins/ramps/pins_RUMBA.h
View file

@ -47,12 +47,27 @@
//
// Limit Switches
//
#define X_MIN_PIN 37
#define X_MAX_PIN 36
#define Y_MIN_PIN 35
#define Y_MAX_PIN 34
#define Z_MIN_PIN 33
#define Z_MAX_PIN 32
#ifndef X_MIN_PIN
#define X_MIN_PIN 37
#endif
#ifndef X_MIN_PIN
#define X_MIN_PIN 37
#endif
#ifndef X_MAX_PIN
#define X_MAX_PIN 36
#endif
#ifndef Y_MIN_PIN
#define Y_MIN_PIN 35
#endif
#ifndef Y_MAX_PIN
#define Y_MAX_PIN 34
#endif
#ifndef Z_MIN_PIN
#define Z_MIN_PIN 33
#endif
#ifndef Z_MAX_PIN
#define Z_MAX_PIN 32
#endif
//
// Z Probe (when not Z_MIN_PIN)

1
buildroot/tests/mega1280
View file

@ -46,6 +46,7 @@ exec_test $1 $2 "RAMPS | DELTA | RRD LCD | DELTA_AUTO_CALIBRATION | DELTA_CALIBR
#
# Delta Config (generic) + ABL bilinear + BLTOUCH
#
use_example_configs delta/generic
opt_set LCD_LANGUAGE cz \
Z_MIN_PROBE_ENDSTOP_INVERTING false \

10
buildroot/tests/mega2560
View file

@ -182,7 +182,7 @@ opt_set MOTHERBOARD BOARD_RAMPS_14_EFB EXTRUDERS 0 LCD_LANGUAGE en TEMP_SENSOR_C
opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS EEPROM_BOOT_SILENT EEPROM_AUTO_INIT \
LASER_FEATURE AIR_EVACUATION AIR_EVACUATION_PIN AIR_ASSIST AIR_ASSIST_PIN LASER_COOLANT_FLOW_METER MEATPACK_ON_SERIAL_PORT_1
exec_test $1 $2 "REPRAP MEGA2560 RAMPS | Laser Feature | Air Evacuation | Air Assist | Cooler | Flowmeter | 12864 LCD | meatpack | SERIAL_PORT_2 " "$3"
exec_test $1 $2 "MEGA2560 RAMPS | Laser Feature | Air Evacuation | Air Assist | Cooler | Flowmeter | 12864 LCD | meatpack | SERIAL_PORT_2 " "$3"
#
# Test Laser features with 44780 LCD
@ -197,7 +197,7 @@ opt_set MOTHERBOARD BOARD_RAMPS_14_EFB EXTRUDERS 0 LCD_LANGUAGE en TEMP_SENSOR_C
opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS EEPROM_BOOT_SILENT EEPROM_AUTO_INIT \
LASER_FEATURE AIR_EVACUATION AIR_EVACUATION_PIN AIR_ASSIST AIR_ASSIST_PIN LASER_COOLANT_FLOW_METER I2C_AMMETER
exec_test $1 $2 "REPRAP MEGA2560 RAMPS | Laser Feature | Air Evacuation | Air Assist | Cooler | Flowmeter | 44780 LCD " "$3"
exec_test $1 $2 "MEGA2560 RAMPS | Laser Feature | Air Evacuation | Air Assist | Cooler | Flowmeter | 44780 LCD " "$3"
#
# Test redundant temperature sensors + MAX TC
@ -210,6 +210,12 @@ opt_set MOTHERBOARD BOARD_RAMPS_14_EFB EXTRUDERS 1 \
exec_test $1 $2 "MEGA2560 RAMPS | Redundant temperature sensor | 2x MAX6675" "$3"
#
# Polargraph Config
#
use_example_configs Polargraph
exec_test $1 $2 "RUMBA | POLARGRAPH | RRD LCD" "$3"
#
# Language files test with REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
#

1
ini/features.ini
View file

@ -219,6 +219,7 @@ NEED_LSF = src_filter=+<src/libs/least_squares_fit
NOZZLE_PARK_FEATURE = src_filter=+<src/libs/nozzle.cpp> +<src/gcode/feature/pause/G27.cpp>
NOZZLE_CLEAN_FEATURE = src_filter=+<src/libs/nozzle.cpp> +<src/gcode/feature/clean>
DELTA = src_filter=+<src/module/delta.cpp> +<src/gcode/calibrate/M666.cpp>
POLARGRAPH = src_filter=+<src/module/polargraph.cpp>
BEZIER_CURVE_SUPPORT = src_filter=+<src/module/planner_bezier.cpp> +<src/gcode/motion/G5.cpp>
PRINTCOUNTER = src_filter=+<src/module/printcounter.cpp>
HAS_BED_PROBE = src_filter=+<src/module/probe.cpp> +<src/gcode/probe/G30.cpp> +<src/gcode/probe/M401_M402.cpp> +<src/gcode/probe/M851.cpp>

4
platformio.ini
View file

@ -158,6 +158,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
-<src/gcode/calibrate/M48.cpp>
-<src/gcode/calibrate/M100.cpp>
-<src/gcode/calibrate/M425.cpp>
-<src/gcode/calibrate/M665.cpp>
-<src/gcode/calibrate/M666.cpp>
-<src/gcode/calibrate/M852.cpp>
-<src/gcode/control/M10-M11.cpp>
@ -239,9 +240,10 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
-<src/libs/nozzle.cpp> -<src/gcode/feature/clean>
-<src/module/delta.cpp>
-<src/module/planner_bezier.cpp>
-<src/module/polargraph.cpp>
-<src/module/printcounter.cpp>
-<src/module/probe.cpp>
-<src/module/scara.cpp> -<src/gcode/calibrate/M665.cpp>
-<src/module/scara.cpp>
-<src/module/servo.cpp> -<src/gcode/control/M280.cpp> -<src/gcode/config/M281.cpp> -<src/gcode/control/M282.cpp>
-<src/module/stepper/TMC26X.cpp>