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Autocalibration updates
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added autocalibration adj multiplier prediction
added G30A D parameter to fix Diag rod length
added G30A Diag rod warning message if adj > 1mm
added xa adjustment
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@RichCattell
RichCattell committed Feb 11, 2014
1 parent 3063f12 commit dbc811a
Showing 1 changed file with 53 additions and 7 deletions.
60 changes: 53 additions & 7 deletions Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1462,10 +1462,24 @@ void process_commands()
iterations = 100; //Maximum number of iterations
int loopcount = 1;
float adj_r_target, adj_dr_target;
float adj_ya, adj_xc;
float adj_r_target_delta = 0, adj_dr_target_delta = 0;
float saved_bed_level_c, saved_adj_r_target, saved_adj_dr_target;
float saved_delta_diagonal_rod = delta_diagonal_rod;
float adj_xa =0 , adj_ya = 0, adj_xc = 0;
float adj_r = 0, adj_dr = 0;
float adj_r_mul = 1, adj_dr_mul = 1;
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
delta_diagonal_rod = code_value();
adj_dr_allowed = false;
SERIAL_ECHOPAIR("Using diagional rod length: ", delta_diagonal_rod);
SERIAL_ECHOLN("mm (will not be adjusted)");
}

do {
SERIAL_ECHO("Iteration: ");
SERIAL_ECHO(loopcount);
Expand Down Expand Up @@ -1495,6 +1509,7 @@ void process_commands()

adj_r_target = (bed_level_x + bed_level_y + bed_level_z) / 3;
adj_dr_target = (bed_level_ox + bed_level_oy + bed_level_oz) / 3;
adj_xa = ((bed_level_oy + bed_level_x)/2) - ((bed_level_ox + bed_level_y)/2);
adj_ya = bed_level_oz - ((bed_level_ox + bed_level_oy)/2);
adj_xc = bed_level_oy - bed_level_ox;

Expand All @@ -1513,16 +1528,23 @@ void process_commands()
if (adj_r == 0)
{
if (adj_r_target > bed_level_c) adj_r = 1.0; else adj_r = -1.0;
adj_r_mul = 1;
}
if (adj_dr == 0)
{
if (adj_r_target > adj_dr_target) adj_dr = 1.0; else adj_dr = -1.0;
adj_dr_mul = 1;
}

do {
saved_bed_level_c = bed_level_c;
saved_adj_r_target = adj_r_target;
saved_adj_dr_target = adj_dr_target;

//Apply adjustments
delta_radius += adj_r;
delta_diagonal_rod += adj_dr;
delta_radius += adj_r * adj_r_mul;
if (adj_dr_allowed == true) delta_diagonal_rod += adj_dr * adj_dr_mul;
tower_adj[0] -= adj_xa;
tower_adj[1] -= adj_ya;
tower_adj[2] -= adj_xc;
set_delta_constants();
Expand All @@ -1540,18 +1562,33 @@ void process_commands()
adj_ya = bed_level_oz - ((bed_level_ox + bed_level_oy)/2);
adj_xc = bed_level_oy - bed_level_ox;

//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 = abs(adj_r / adj_r_target_delta);
}
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 = abs(adj_dr / adj_dr_target_delta);
}


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 magnitude
//overshot target .. reverse and scale down adj var
if (abs(adj_r) > 0.0001) adj_r = adj_r /10;
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 magnitude
//overshot target .. reverse and scale down adj var
if (abs(adj_dr) > 0.0001) adj_dr = adj_dr /10;
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;
Expand All @@ -1570,6 +1607,7 @@ void process_commands()
SERIAL_ECHO(" diagrod:");
SERIAL_PROTOCOL_F(delta_diagonal_rod, 4);
SERIAL_ECHOLN("");
SERIAL_ECHOPAIR("xa adj:",adj_xa);
SERIAL_ECHOPAIR("ya adj:",adj_ya);
SERIAL_ECHOPAIR("xc adj:",adj_xc);
SERIAL_ECHO("Radius Adj Complete: ");
Expand Down Expand Up @@ -1609,9 +1647,17 @@ void process_commands()

SERIAL_ECHOLN("Auto Calibration Complete");
SERIAL_ECHOLN("Issue M500 Command to save calibration settings to EPROM (if enabled)");

if ((abs(delta_diagonal_rod - saved_delta_diagonal_rod) > 1) and (adj_dr_allowed == true))
{
SERIAL_ECHOLN("");
SERIAL_ECHOPAIR("WARNING: The length of diagonal rods specified (", saved_delta_diagonal_rod);
SERIAL_ECHOLN(" mm) appears to be incorrect");
SERIAL_ECHOLN("If you have measured your rods and you believe that this value is correct, this could indicate");
SERIAL_ECHOLN("excessive twisting movement of carriages and/or loose screws/joints on carriages or end effector");
}
}


retract_z_probe();

//Restore saved variables
Expand Down

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