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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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41
Marlin/src/gcode/calibrate/G34_M422.cpp
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@@ -45,8 +45,17 @@
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
float z_auto_align_xpos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_X,
z_auto_align_ypos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_Y;
// Sanity-check
constexpr xy_pos_t sanity_arr_z_align[] = Z_STEPPER_ALIGN_XY;
static_assert(COUNT(sanity_arr_z_align) == Z_STEPPER_COUNT,
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
"Z_STEPPER_ALIGN_XY requires three {X,Y} entries (Z, Z2, and Z3)."
#else
"Z_STEPPER_ALIGN_XY requires two {X,Y} entries (Z and Z2)."
#endif
);
xy_pos_t z_auto_align_pos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_XY;
inline void set_all_z_lock(const bool lock) {
stepper.set_z_lock(lock);
@@ -123,11 +132,11 @@ void GcodeSuite::G34() {
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
SQRT(_MAX(HYPOT2(z_auto_align_xpos[0] - z_auto_align_ypos[0], z_auto_align_xpos[1] - z_auto_align_ypos[1]),
HYPOT2(z_auto_align_xpos[1] - z_auto_align_ypos[1], z_auto_align_xpos[2] - z_auto_align_ypos[2]),
HYPOT2(z_auto_align_xpos[2] - z_auto_align_ypos[2], z_auto_align_xpos[0] - z_auto_align_ypos[0])))
SQRT(_MAX(HYPOT2(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y),
HYPOT2(z_auto_align_pos[1].x - z_auto_align_pos[1].y, z_auto_align_pos[2].x - z_auto_align_pos[2].y),
HYPOT2(z_auto_align_pos[2].x - z_auto_align_pos[2].y, z_auto_align_pos[0].x - z_auto_align_pos[0].y)))
#else
HYPOT(z_auto_align_xpos[0] - z_auto_align_ypos[0], z_auto_align_xpos[1] - z_auto_align_ypos[1])
HYPOT(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y)
#endif
);
@@ -135,7 +144,7 @@ void GcodeSuite::G34() {
if (!all_axes_known()) home_all_axes();
// Move the Z coordinate realm towards the positive - dirty trick
current_position[Z_AXIS] -= z_probe * 0.5;
current_position.z -= z_probe * 0.5f;
float last_z_align_move[Z_STEPPER_COUNT] = ARRAY_N(Z_STEPPER_COUNT, 10000.0f, 10000.0f, 10000.0f),
z_measured[Z_STEPPER_COUNT] = { 0 },
@@ -162,7 +171,7 @@ void GcodeSuite::G34() {
if (iteration == 0 || izstepper > 0) do_blocking_move_to_z(z_probe);
// Probe a Z height for each stepper.
const float z_probed_height = probe_at_point(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], raise_after, 0, true);
const float z_probed_height = probe_at_point(z_auto_align_pos[zstepper], raise_after, 0, true);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed.");
err_break = true;
@@ -240,7 +249,7 @@ void GcodeSuite::G34() {
}
// Do a move to correct part of the misalignment for the current stepper
do_blocking_move_to_z(amplification * z_align_move + current_position[Z_AXIS]);
do_blocking_move_to_z(amplification * z_align_move + current_position.z);
} // for (zstepper)
// Back to normal stepper operations
@@ -299,20 +308,22 @@ void GcodeSuite::M422() {
return;
}
const float x_pos = parser.floatval('X', z_auto_align_xpos[zstepper]);
if (!WITHIN(x_pos, X_MIN_POS, X_MAX_POS)) {
const xy_pos_t pos = {
parser.floatval('X', z_auto_align_pos[zstepper].x),
parser.floatval('Y', z_auto_align_pos[zstepper].y)
};
if (!WITHIN(pos.x, X_MIN_POS, X_MAX_POS)) {
SERIAL_ECHOLNPGM("?(X) out of bounds.");
return;
}
const float y_pos = parser.floatval('Y', z_auto_align_ypos[zstepper]);
if (!WITHIN(y_pos, Y_MIN_POS, Y_MAX_POS)) {
if (!WITHIN(pos.y, Y_MIN_POS, Y_MAX_POS)) {
SERIAL_ECHOLNPGM("?(Y) out of bounds.");
return;
}
z_auto_align_xpos[zstepper] = x_pos;
z_auto_align_ypos[zstepper] = y_pos;
z_auto_align_pos[zstepper] = pos;
}
#endif // Z_STEPPER_AUTO_ALIGN