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Introduce line_to_axis_pos(axis_codes axis, float where, float feed_r…
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…ate = 0.0)

and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`.
`do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis.

The first common move for delta homing is like quick_home but for 3 towers.

Fix two warnings.
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@AnHardt
AnHardt committed Jul 19, 2016
1 parent 4611759 commit 11c075c
Showing 1 changed file with 44 additions and 37 deletions.
81 changes: 44 additions & 37 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1613,9 +1613,20 @@ inline float set_homing_bump_feedrate(AxisEnum axis) {
inline void line_to_current_position() {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
}

inline void line_to_z(float zPosition) {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
}

inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
float old_feedrate_mm_m = feedrate_mm_m;
current_position[axis] = where;
feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis];
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
stepper.synchronize(); // The lost one
feedrate_mm_m = old_feedrate_mm_m;
}

//
// line_to_destination
// Move the planner, not necessarily synced with current_position
Expand Down Expand Up @@ -1708,11 +1719,6 @@ static void do_blocking_move_to(float x, float y, float z, float fr_mm_m = 0.0)
feedrate_mm_m = old_feedrate_mm_m;
}

inline void do_blocking_move_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
current_position[axis] = where;
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
}

inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
}
Expand Down Expand Up @@ -2425,19 +2431,17 @@ static void homeaxis(AxisEnum axis) {
#endif

// Move towards the endstop until an endstop is triggered
do_blocking_move_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir);

// Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();

// Move away from the endstop by the axis HOME_BUMP_MM
do_blocking_move_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);

// Slow down the feedrate for the next move
line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);

// Move slowly towards the endstop until triggered
do_blocking_move_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
Expand All @@ -2458,7 +2462,7 @@ static void homeaxis(AxisEnum axis) {
sync_plan_position();

// Move to the adjusted endstop height
do_blocking_move_to_z(adj, homing_feedrate_mm_m[axis]);
line_to_axis_pos(axis, adj);

if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
stepper.set_homing_flag(false);
Expand All @@ -2475,7 +2479,7 @@ static void homeaxis(AxisEnum axis) {
DEBUG_POS("", current_position);
}
#endif
do_blocking_move_to_axis_pos(axis, endstop_adj[axis], set_homing_bump_feedrate(axis));
line_to_axis_pos(axis, endstop_adj[axis]);
}
#endif

Expand Down Expand Up @@ -2825,10 +2829,28 @@ inline void gcode_G4() {
}
#endif

#if ENABLED(NOZZLE_PARK_FEATURE)
#include "nozzle.h"

/**
* G27: Park the nozzle
*/
inline void gcode_G27() {
// Don't allow nozzle parking without homing first
if (axis_unhomed_error(true, true, true)) { return; }
uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
Nozzle::park(z_action);
}
#endif // NOZZLE_PARK_FEATURE

#if ENABLED(QUICK_HOME)

static void quick_home_xy() {

// Pretend the current position is 0,0
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
sync_plan_position();

#if ENABLED(DUAL_X_CARRIAGE)
int x_axis_home_dir = x_home_dir(active_extruder);
extruder_duplication_enabled = false;
Expand All @@ -2839,30 +2861,16 @@ inline void gcode_G4() {
float mlx = max_length(X_AXIS),
mly = max_length(Y_AXIS),
mlratio = mlx > mly ? mly / mlx : mlx / mly,
fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1);
fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);

do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m);
endstops.hit_on_purpose(); // clear endstop hit flags
current_position[X_AXIS] = current_position[Y_AXIS] = 0;
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;

}

#endif // QUICK_HOME

#if ENABLED(NOZZLE_PARK_FEATURE)
#include "nozzle.h"

/**
* G27: Park the nozzle
*/
inline void gcode_G27() {
// Don't allow nozzle parking without homing first
if (axis_unhomed_error(true, true, true)) { return; }
uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
Nozzle::park(z_action);
}
#endif // NOZZLE_PARK_FEATURE

/**
* G28: Home all axes according to settings
*
Expand Down Expand Up @@ -2931,20 +2939,19 @@ inline void gcode_G28() {
*/

// Pretend the current position is 0,0,0
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
// This is like quick_home_xy() but for 3 towers.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
sync_plan_position();

// Move all carriages up together until the first endstop is hit.
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH);
feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS];
line_to_destination();
line_to_current_position();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;

// Destination reached
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];

// take care of back off and rehome now we are all at the top
// take care of back off and rehome. Now one carriage is at the top.
HOMEAXIS(X);
HOMEAXIS(Y);
HOMEAXIS(Z);
Expand Down Expand Up @@ -5325,7 +5332,7 @@ inline void gcode_M200() {
if (volumetric_enabled) {
filament_size[target_extruder] = code_value_linear_units();
// make sure all extruders have some sane value for the filament size
for (int i = 0; i < COUNT(filament_size); i++)
for (uint8_t i = 0; i < COUNT(filament_size); i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
}
Expand Down Expand Up @@ -8695,6 +8702,6 @@ float calculate_volumetric_multiplier(float diameter) {
}

void calculate_volumetric_multipliers() {
for (int i = 0; i < COUNT(filament_size); i++)
for (uint8_t i = 0; i < COUNT(filament_size); i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}

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