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[2.0.x] Use arc moves for G26 if enabled #10696

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Merged
thinkyhead merged 1 commit into from
May 11, 2018
Merged

[2.0.x] Use arc moves for G26 if enabled #10696

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92 changes: 87 additions & 5 deletions Marlin/src/gcode/bedlevel/G26.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,10 @@
#define G26_OK false
#define G26_ERR true

#if ENABLED(ARC_SUPPORT)
void plan_arc(const float (&cart)[XYZE], const float (&offset)[2], const uint8_t clockwise);
#endif

/**
* G26 Mesh Validation Tool
*
Expand Down Expand Up @@ -219,9 +223,9 @@ mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {

void G26_line_to_destination(const float &feed_rate) {
const float save_feedrate = feedrate_mm_s;
feedrate_mm_s = feed_rate; // use specified feed rate
feedrate_mm_s = feed_rate;
prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_SEGMENTED
feedrate_mm_s = save_feedrate; // restore global feed rate
feedrate_mm_s = save_feedrate;
}

void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
Expand Down Expand Up @@ -729,6 +733,8 @@ void GcodeSuite::G26() {

//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));

#if DISABLED(ARC_SUPPORT)

/**
* Pre-generate radius offset values at 30 degree intervals to reduce CPU load.
*/
Expand All @@ -745,6 +751,8 @@ void GcodeSuite::G26() {
for (uint8_t i = 0; i < A_CNT; i++)
trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * A_INT));

#endif // !ARC_SUPPORT

mesh_index_pair location;
do {
location = g26_continue_with_closest
Expand All @@ -762,6 +770,77 @@ void GcodeSuite::G26() {
// which is always drawn counter-clockwise.
const uint8_t xi = location.x_index, yi = location.y_index;
const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1;

#if ENABLED(ARC_SUPPORT)

#define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * PI * (quarters) / 2)
float sx = circle_x + INTERSECTION_CIRCLE_RADIUS, // default to full circle
ex = circle_x + INTERSECTION_CIRCLE_RADIUS,
sy = circle_y, ey = circle_y,
arc_length = ARC_LENGTH(4);

// Figure out where to start and end the arc - we always print counterclockwise
if (xi == 0) { // left edge
sx = f ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x;
ex = b ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x;
sy = f ? circle_y : circle_y - INTERSECTION_CIRCLE_RADIUS;
ey = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS;
arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
}
else if (r) { // right edge
sx = b ? circle_x - INTERSECTION_CIRCLE_RADIUS : circle_x;
ex = f ? circle_x - INTERSECTION_CIRCLE_RADIUS : circle_x;
sy = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS;
ey = f ? circle_y : circle_y - INTERSECTION_CIRCLE_RADIUS;
arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
}
else if (f) {
sx = circle_x + INTERSECTION_CIRCLE_RADIUS;
ex = circle_x - INTERSECTION_CIRCLE_RADIUS;
sy = ey = circle_y;
arc_length = ARC_LENGTH(2);
}
else if (b) {
sx = circle_x - INTERSECTION_CIRCLE_RADIUS;
ex = circle_x + INTERSECTION_CIRCLE_RADIUS;
sy = ey = circle_y;
arc_length = ARC_LENGTH(2);
}
const float arc_offset[2] = {
circle_x - sx,
circle_y - sy
};

const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual circle
dy_s = current_position[Y_AXIS] - sy,
dist_start = HYPOT2(dx_s, dy_s);
const float endpoint[XYZE] = {
ex, ey,
g26_layer_height,
current_position[E_AXIS] + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
};

if (dist_start > 2.0) {
retract_filament(destination);
//todo: parameterize the bump height with a define
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
move_to(sx, sy, g26_layer_height + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
}

move_to(sx, sy, g26_layer_height, 0.0); // Get to the starting point with no extrusion / un-Z bump

recover_filament(destination);
const float save_feedrate = feedrate_mm_s;
feedrate_mm_s = PLANNER_XY_FEEDRATE() / 10.0;
plan_arc(endpoint, arc_offset, false); // Draw a counter-clockwise arc
feedrate_mm_s = save_feedrate;
set_destination_from_current();
#if ENABLED(NEWPANEL)
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
#endif

#else // !ARC_SUPPORT

int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00)
if (xi == 0) { // Left edge? Just right half.
start_ind = f ? 0 : -3; // 03:00 to 12:00 for front-left
Expand Down Expand Up @@ -801,14 +880,17 @@ void GcodeSuite::G26() {
ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
#endif


print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height);
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
}
if (look_for_lines_to_connect())
goto LEAVE;

#endif // !ARC_SUPPORT

if (look_for_lines_to_connect()) goto LEAVE;
}

SERIAL_FLUSH(); // Prevent host M105 buffer overrun.

} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);

LEAVE:
Expand Down