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Autocalibration Updates
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Changes to allow adjustment of individual tower positions based on probe
points
Changes to autocalibration function (automatic adjustment scaling)
Fixed bowed movements when probing
Various bug fixes/updates
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@RichCattell
RichCattell committed Feb 14, 2014
1 parent 5a844ce commit ca5d636
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Showing 2 changed files with 87 additions and 65 deletions.
2 changes: 1 addition & 1 deletion Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,7 @@
#define Z_PROBE_RETRACT_START_LOCATION {49, 84, 20, 0} // X, Y, Z, E start location for z-probe retract sequence
#define Z_PROBE_RETRACT_END_LOCATION {49, 84, 1, 0} // X, Y, Z, E end location for z-probe retract sequence

#define AUTOLEVEL_GRID 25 // Distance between autolevel Z probing points, should be less than print surface radius/3.
#define AUTOLEVEL_GRID 24 // Distance between autolevel Z probing points, should be less than print surface radius/3.
//===========================================================================
//=============================Thermal Settings ============================
//===========================================================================
Expand Down
150 changes: 86 additions & 64 deletions Marlin_main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -925,6 +925,7 @@ void retract_z_probe() {
destination[X_AXIS] = z_probe_retract_start_location[X_AXIS];
destination[Y_AXIS] = z_probe_retract_start_location[Y_AXIS];
destination[Z_AXIS] = z_probe_retract_start_location[Z_AXIS];
prepare_move();
prepare_move_raw();

// Move the nozzle below the print surface to push the probe up.
Expand Down Expand Up @@ -982,12 +983,21 @@ float z_probe() {
}

void calibrate_print_surface(float z_offset) {
for (int y = 3; y >= -3; y--) {
//Zero the array
for (int y = 0; y >=6; y++)
{
for (int x = 0; x >=6; y++)
{
bed_level[x][y] = 0.0;
}
}
for (int y = -3; y <= 3; y++) {
int dir = y % 2 ? -1 : 1;
for (int x = -3*dir; x != 4*dir; x += dir) {
if (x*x + y*y < 11) {
destination[X_AXIS] = AUTOLEVEL_GRID * x + z_probe_offset[X_AXIS];// - z_probe_offset[X_AXIS];
destination[Y_AXIS] = AUTOLEVEL_GRID * y + z_probe_offset[Y_AXIS];// - z_probe_offset[Y_AXIS];
destination[X_AXIS] = AUTOLEVEL_GRID * x - z_probe_offset[X_AXIS];
destination[Y_AXIS] = AUTOLEVEL_GRID * y - z_probe_offset[Y_AXIS];
prepare_move();
bed_level[x+3][y+3] = z_probe() + z_offset;
} else {
bed_level[x+3][y+3] = 0.0;
Expand Down Expand Up @@ -1015,16 +1025,16 @@ float probe_bed(float x, float y)
{
//Probe bed at specified location and return z height of bed
float probe_bed_z;
feedrate = homing_feedrate[Z_AXIS] * 10;
// feedrate = homing_feedrate[Z_AXIS];
destination[X_AXIS] = x - z_probe_offset[X_AXIS];
destination[Y_AXIS] = y - z_probe_offset[Y_AXIS];
destination[Z_AXIS] = bed_level_c + 6 - z_probe_offset[Z_AXIS]; //was 8
prepare_move_raw();
destination[Z_AXIS] = bed_level_c - z_probe_offset[Z_AXIS] + 3;
prepare_move();
st_synchronize();
probe_bed_z = z_probe() + z_probe_offset[Z_AXIS];
destination[Z_AXIS] = destination[Z_AXIS] + 5; //was 5
prepare_move_raw();
st_synchronize();
//destination[Z_AXIS] = destination[Z_AXIS] + 5; //was 5
//prepare_move();
//st_synchronize();

/*
SERIAL_ECHO("Bed Z-Height at X:");
Expand Down Expand Up @@ -1380,7 +1390,7 @@ void process_commands()
{
SERIAL_ECHOLN("Current bed level array values:");
SERIAL_ECHOLN("");
for (int y = 0; y < 7; y++)
for (int y = 6; y >= 0; y--)
{
for (int x = 0; x < 7; x++)
{
Expand All @@ -1398,6 +1408,7 @@ void process_commands()
deploy_z_probe();
calibrate_print_surface(z_probe_offset[Z_AXIS] +
(code_seen(axis_codes[Z_AXIS]) ? code_value() : 0.0));

retract_z_probe();

feedrate = saved_feedrate;
Expand Down Expand Up @@ -1448,10 +1459,10 @@ void process_commands()
SERIAL_ECHO(", ");
SERIAL_ECHO(saved_position[Z_AXIS]);
SERIAL_ECHOLN("]");
retract_z_probe();
break;
}



saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
Expand All @@ -1465,18 +1476,18 @@ void process_commands()
SERIAL_ECHOLN("mm (will not be adjusted)");
}
}
//Zero the bedlevel array in case this affects bed probing
for (int y = 0; y >=6; y++)
{
for (int x = 0; x >=6; y++)
{
bed_level[x][y] = 0.0;
}
}

home_delta_axis();
deploy_z_probe();

//Move to safe start position (to avoid crashing into bed)
destination[X_AXIS] = -z_probe_offset[X_AXIS];
destination[Y_AXIS] = -z_probe_offset[Y_AXIS];
feedrate = homing_feedrate[X_AXIS];
destination[Z_AXIS] = bed_level_c + 8 - z_probe_offset[Z_AXIS];
prepare_move_raw();
st_synchronize();

deploy_z_probe();

//Probe all bed positions and show report
calibration_report();

Expand All @@ -1491,14 +1502,15 @@ void process_commands()
float adj_xa, adj_ya, adj_xc;
float adj_r = 0, adj_dr = 0;
float adj_r_mul = 1, adj_dr_mul = 1;
float adj_prev_mul;
boolean adj_r_done, adj_dr_done;
boolean adj_dr_allowed = true;

if (code_seen('D'))
{
//If delta rod length is specified in G30A G-Code command.. fix at this value and do not allow adjustment
//Fix diagonal rod at specified length (do not adjust)
delta_diagonal_rod = code_value();
adj_dr_allowed = false;
adj_dr_allowed = true;
}

do {
Expand All @@ -1512,7 +1524,7 @@ void process_commands()
set_delta_constants();
SERIAL_ECHOPAIR("Adjusting Z-Height to: ", max_pos[Z_AXIS]);
SERIAL_ECHOLN(" mm..");
bed_level_c = 45; // Safe distance for changed z-height (to avoid crashing into bed on next probe)
//bed_level_c = 45; // Safe distance for changed z-height (to avoid crashing into bed on next probe)
}
else
{
Expand All @@ -1538,25 +1550,25 @@ void process_commands()
adj_xc = bed_level_ox - bed_level_oy;

//Determine which parameters require adjustment
if ((bed_level_c >= adj_r_target - ac_prec/4) and (bed_level_c <= adj_r_target + ac_prec/4)) adj_r_done = true; else adj_r_done = false;
//if (bed_level_c == adj_r_target) adj_r_done = true; else adj_r_done = false;
if ((adj_dr_target >= adj_r_target - ac_prec/4) and (adj_dr_target <= adj_r_target + ac_prec/4)) adj_dr_done = true; else adj_dr_done = false;
//if (adj_dr_target == adj_r_target) adj_dr_done = true; else adj_dr_done = false;

if ((adj_r_done == false) or (adj_dr_done == false) or (adj_ya != 0) or (adj_xc != 0))
if (bed_level_c == adj_r_target) adj_r_done = true; else adj_r_done = false;
if (adj_dr_target == adj_r_target) adj_dr_done = true; else adj_dr_done = false;

//if ((adj_r_done == false) or (adj_dr_done == false) or (adj_ya != 0) or (adj_xc != 0))
if ((adj_r_done == false) or (adj_dr_done == false) or (adj_xa != 0) or (adj_ya != 0) or (adj_xc != 0))
{
//delta geometry adjustment required
SERIAL_ECHOLN("Adjusting Delta Geometry..");

//set inital direction and magnitude for delta radius & diagonal rod adjustment
if (adj_r == 0)
{
if (adj_r_target > bed_level_c) adj_r = 1.0; else adj_r = -1.0;
if (adj_r_target > bed_level_c) adj_r = 0.1; else adj_r = -0.1;
adj_r_mul = 1;
}

if (adj_dr == 0)
{
if (adj_r_target > adj_dr_target) adj_dr = 1.0; else adj_dr = -1.0;
if (adj_r_target > adj_dr_target) adj_dr = 0.1; else adj_dr = -0.1;
adj_dr_mul = 1;
}

Expand All @@ -1566,8 +1578,8 @@ void process_commands()
saved_adj_dr_target = adj_dr_target;

//Apply adjustments
delta_radius += adj_r * adj_r_mul;
if (adj_dr_allowed == true) delta_diagonal_rod += adj_dr * adj_dr_mul;
if (adj_r_done == false) delta_radius += adj_r * adj_r_mul;
if ((adj_dr_allowed == true) and (adj_dr_done == false)) delta_diagonal_rod += adj_dr * adj_dr_mul;
tower_adj[0] += adj_xa;
tower_adj[1] += adj_ya;
tower_adj[2] += adj_xc;
Expand All @@ -1590,40 +1602,49 @@ void process_commands()
//tower z position adjust
adj_xc = bed_level_ox - bed_level_oy;


//Modify multipliers based on previous adjustments
if (saved_adj_r_target != 0)
{
adj_r_target_delta = abs(abs(bed_level_c - adj_r_target) - abs(saved_bed_level_c - saved_adj_r_target));
adj_r_mul = 1; //abs(adj_r / adj_r_target_delta);
//SERIAL_ECHOPAIR("adj_r = ", adj_r);
//SERIAL_ECHOPAIR("adj_r_target_delta = ", adj_r_target_delta);
//SERIAL_ECHOPAIR("adj_r_mul = ", adj_r_mul);
}
adj_prev_mul = abs((saved_bed_level_c - saved_adj_r_target) / (adj_r_mul*adj_r));
adj_r_target_delta = abs(bed_level_c - adj_r_target);
adj_r_mul = adj_r_target_delta * adj_prev_mul;
/*
SERIAL_ECHOPAIR("adj_r = ", adj_r);
SERIAL_ECHOPAIR("adj_prev_mul = ", adj_prev_mul);
SERIAL_ECHOPAIR("adj_r_target_delta = ", adj_r_target_delta);
SERIAL_ECHOPAIR("adj_r_mul = ", adj_r_mul);
*/
if (adj_r_mul > 8) adj_r_mul = 8;
}

if (saved_adj_dr_target != 0)
{
adj_dr_target_delta = abs(abs(adj_r_target - adj_dr_target) - abs(saved_adj_r_target - saved_adj_dr_target));
adj_dr_mul = 1; //abs(adj_dr / adj_dr_target_delta);
//SERIAL_ECHOPAIR("adj_dr = ", adj_dr);
//SERIAL_ECHOPAIR("adj_dr_target_delta = ", adj_dr_target_delta);
//SERIAL_ECHOPAIR("adj_dr_mul = ", adj_dr_mul);
adj_prev_mul = abs((saved_adj_r_target - saved_adj_dr_target) / (adj_dr_mul*adj_dr));
adj_dr_target_delta = abs(adj_r_target - adj_dr_target);
adj_dr_mul = adj_dr_target_delta * adj_prev_mul;
/*
SERIAL_ECHOPAIR("adj_dr = ", adj_dr);
SERIAL_ECHOPAIR("adj_prev_mul = ", adj_prev_mul);
SERIAL_ECHOPAIR("adj_dr_target_delta = ", adj_dr_target_delta);
SERIAL_ECHOPAIR("adj_dr_mul = ", adj_dr_mul);
*/
if (adj_dr_mul > 8) adj_dr_mul = 8;
}


if (((adj_r > 0) and (bed_level_c > adj_r_target)) or ((adj_r < 0) and (bed_level_c < adj_r_target)))
{
//overshot target .. reverse and scale down adj var
if (abs(adj_r) > 0.0001) adj_r = adj_r / 10;
//overshot target .. reverse
adj_r = -adj_r;
//adj_r_mul = 1;
}

if (((adj_dr > 0) and (adj_dr_target > adj_r_target)) or ((adj_dr < 0) and (adj_dr_target < adj_r_target)))
{
//overshot target .. reverse and scale down adj var
if (abs(adj_dr) > 0.0001) adj_dr = adj_dr / 10;
//overshot target .. reverse
adj_dr = -adj_dr;
//adj_dr_mul = 1;
}


if ((bed_level_c >= adj_r_target - ac_prec) and (bed_level_c <= adj_r_target + ac_prec)) adj_r_done = true; else adj_r_done = false;
if ((adj_dr_target >= adj_r_target - ac_prec) and (adj_dr_target <= adj_r_target + ac_prec)) adj_dr_done = true; else adj_dr_done = false;
Expand Down Expand Up @@ -1656,24 +1677,24 @@ void process_commands()
SERIAL_ECHOPAIR("Adjusting tower positions: X(", adj_xa);
SERIAL_ECHOPAIR(") Y(", adj_ya);
SERIAL_ECHOPAIR(") Z(", adj_xc);
SERIAL_ECHOLN(")...");
SERIAL_ECHOLN(")");
}
if (adj_r_done == false)
{
SERIAL_ECHOPAIR("Adjusting Delta Radius (",delta_radius);
SERIAL_ECHOLN(")...");
SERIAL_ECHOLN(")");
}

if (adj_dr_done == false)
{
SERIAL_ECHOPAIR("Adjusting Diag Rod Length (",delta_diagonal_rod);
SERIAL_ECHOLN(")...");
SERIAL_ECHOLN(")");
}

} while((adj_r_done == false) or (adj_dr_done = false));// or (adj_ya != 0) or (adj_xc != 0));

} while((adj_r_done == false) or (adj_dr_done == false));// or (adj_ya != 0) or (adj_xc != 0));

if (abs(adj_r) < 0.001) adj_r = adj_r * 10;

if (abs(adj_dr) < 0.001) adj_dr = adj_dr * 10;
//if (abs(adj_r) < 0.001) adj_r = adj_r * 10;
//if (abs(adj_dr) < 0.001) adj_dr = adj_dr * 10;
}
else
{
Expand Down Expand Up @@ -3141,15 +3162,15 @@ void clamp_to_software_endstops(float target[3])
#ifdef DELTA
void calculate_delta(float cartesian[3])
{
delta_tmp[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- sq(delta_tower1_x-cartesian[X_AXIS])
- sq(delta_tower1_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta_tmp[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- sq(delta_tower2_x-cartesian[X_AXIS])
- sq(delta_tower2_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta_tmp[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- sq(delta_tower3_x-cartesian[X_AXIS])
- sq(delta_tower3_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
Expand All @@ -3164,13 +3185,14 @@ void calculate_delta(float cartesian[3])
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
*/

/*
if ((delta_tmp[X_AXIS] > 0) and (delta_tmp[Y_AXIS] > 0) and (delta_tmp[Z_AXIS] > 0))
{
delta[X_AXIS] = delta_tmp[X_AXIS];
delta[Y_AXIS] = delta_tmp[Y_AXIS];
delta[Z_AXIS] = delta_tmp[Z_AXIS];
} else SERIAL_ECHOLN("ERROR: Invalid delta coordinates!");
*/
}


Expand Down

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