✨ Support for up to 9 axes (linear, rotary) (#23112)
Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
DerAndere
GitHub
@@ -85,10 +85,19 @@
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#if ALL(HAS_K_AXIS, CALIBRATION_MEASURE_KMIN, CALIBRATION_MEASURE_KMAX)
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#define HAS_K_CENTER 1
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#endif
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#if ALL(HAS_U_AXIS, CALIBRATION_MEASURE_UMIN, CALIBRATION_MEASURE_UMAX)
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#define HAS_U_CENTER 1
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#endif
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#if ALL(HAS_V_AXIS, CALIBRATION_MEASURE_VMIN, CALIBRATION_MEASURE_VMAX)
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#define HAS_V_CENTER 1
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#endif
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#if ALL(HAS_W_AXIS, CALIBRATION_MEASURE_WMIN, CALIBRATION_MEASURE_WMAX)
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#define HAS_W_CENTER 1
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#endif
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enum side_t : uint8_t {
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TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES,
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LIST_N(DOUBLE(SUB3(LINEAR_AXES)), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM)
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LIST_N(DOUBLE(SECONDARY_AXES), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM, UMINIMUM, UMAXIMUM, VMINIMUM, VMAXIMUM, WMINIMUM, WMAXIMUM)
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};
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static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER;
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@@ -282,6 +291,15 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
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#if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K)
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_PCASE(K);
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#endif
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#if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U)
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_PCASE(U);
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#endif
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#if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V)
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_PCASE(V);
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#endif
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#if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W)
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_PCASE(W);
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#endif
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default: return;
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}
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@@ -335,6 +353,12 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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TERN_(CALIBRATION_MEASURE_JMAX, probe_side(m, uncertainty, JMAXIMUM, probe_top_at_edge));
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TERN_(CALIBRATION_MEASURE_KMIN, probe_side(m, uncertainty, KMINIMUM, probe_top_at_edge));
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TERN_(CALIBRATION_MEASURE_KMAX, probe_side(m, uncertainty, KMAXIMUM, probe_top_at_edge));
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TERN_(CALIBRATION_MEASURE_UMIN, probe_side(m, uncertainty, UMINIMUM, probe_top_at_edge));
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TERN_(CALIBRATION_MEASURE_UMAX, probe_side(m, uncertainty, UMAXIMUM, probe_top_at_edge));
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TERN_(CALIBRATION_MEASURE_VMIN, probe_side(m, uncertainty, VMINIMUM, probe_top_at_edge));
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TERN_(CALIBRATION_MEASURE_VMAX, probe_side(m, uncertainty, VMAXIMUM, probe_top_at_edge));
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TERN_(CALIBRATION_MEASURE_WMIN, probe_side(m, uncertainty, WMINIMUM, probe_top_at_edge));
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TERN_(CALIBRATION_MEASURE_WMAX, probe_side(m, uncertainty, WMAXIMUM, probe_top_at_edge));
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// Compute the measured center of the calibration object.
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TERN_(HAS_X_CENTER, m.obj_center.x = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2);
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@@ -342,6 +366,9 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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TERN_(HAS_I_CENTER, m.obj_center.i = (m.obj_side[IMINIMUM] + m.obj_side[IMAXIMUM]) / 2);
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TERN_(HAS_J_CENTER, m.obj_center.j = (m.obj_side[JMINIMUM] + m.obj_side[JMAXIMUM]) / 2);
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TERN_(HAS_K_CENTER, m.obj_center.k = (m.obj_side[KMINIMUM] + m.obj_side[KMAXIMUM]) / 2);
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TERN_(HAS_U_CENTER, m.obj_center.u = (m.obj_side[UMINIMUM] + m.obj_side[UMAXIMUM]) / 2);
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TERN_(HAS_V_CENTER, m.obj_center.v = (m.obj_side[VMINIMUM] + m.obj_side[VMAXIMUM]) / 2);
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TERN_(HAS_W_CENTER, m.obj_center.w = (m.obj_side[WMINIMUM] + m.obj_side[WMAXIMUM]) / 2);
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// Compute the outside diameter of the nozzle at the height
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// at which it makes contact with the calibration object
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@@ -352,13 +379,16 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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// The difference between the known and the measured location
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// of the calibration object is the positional error
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LINEAR_AXIS_CODE(
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NUM_AXIS_CODE(
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m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x),
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m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y),
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m.pos_error.z = true_center.z - m.obj_center.z,
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m.pos_error.i = TERN0(HAS_I_CENTER, true_center.i - m.obj_center.i),
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m.pos_error.j = TERN0(HAS_J_CENTER, true_center.j - m.obj_center.j),
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m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k)
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m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k),
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m.pos_error.u = TERN0(HAS_U_CENTER, true_center.u - m.obj_center.u),
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m.pos_error.v = TERN0(HAS_V_CENTER, true_center.v - m.obj_center.v),
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m.pos_error.w = TERN0(HAS_W_CENTER, true_center.w - m.obj_center.w)
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);
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}
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@@ -406,6 +436,30 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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SERIAL_ECHOLNPGM(" " STR_K_MAX ": ", m.obj_side[KMAXIMUM]);
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#endif
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#endif
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#if HAS_U_AXIS
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#if ENABLED(CALIBRATION_MEASURE_UMIN)
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SERIAL_ECHOLNPAIR(" " STR_U_MIN ": ", m.obj_side[UMINIMUM]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_UMAX)
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SERIAL_ECHOLNPAIR(" " STR_U_MAX ": ", m.obj_side[UMAXIMUM]);
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#endif
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#endif
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#if HAS_V_AXIS
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#if ENABLED(CALIBRATION_MEASURE_VMIN)
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SERIAL_ECHOLNPAIR(" " STR_V_MIN ": ", m.obj_side[VMINIMUM]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_VMAX)
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SERIAL_ECHOLNPAIR(" " STR_V_MAX ": ", m.obj_side[VMAXIMUM]);
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#endif
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#endif
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#if HAS_W_AXIS
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#if ENABLED(CALIBRATION_MEASURE_WMIN)
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SERIAL_ECHOLNPAIR(" " STR_W_MIN ": ", m.obj_side[WMINIMUM]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_WMAX)
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SERIAL_ECHOLNPAIR(" " STR_W_MAX ": ", m.obj_side[WMAXIMUM]);
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#endif
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#endif
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SERIAL_EOL();
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}
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@@ -427,6 +481,15 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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#if HAS_K_CENTER
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SERIAL_ECHOLNPGM_P(SP_K_STR, m.obj_center.k);
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#endif
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#if HAS_U_CENTER
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SERIAL_ECHOLNPGM_P(SP_U_STR, m.obj_center.u);
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#endif
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#if HAS_V_CENTER
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SERIAL_ECHOLNPGM_P(SP_V_STR, m.obj_center.v);
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#endif
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#if HAS_W_CENTER
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SERIAL_ECHOLNPGM_P(SP_W_STR, m.obj_center.w);
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#endif
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SERIAL_EOL();
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}
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@@ -475,6 +538,30 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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SERIAL_ECHOLNPGM(" " STR_K_MAX ": ", m.backlash[KMAXIMUM]);
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#endif
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#endif
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#if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U)
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#if ENABLED(CALIBRATION_MEASURE_UMIN)
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SERIAL_ECHOLNPGM(" " STR_U_MIN ": ", m.backlash[UMINIMUM]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_UMAX)
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SERIAL_ECHOLNPGM(" " STR_U_MAX ": ", m.backlash[UMAXIMUM]);
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#endif
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#endif
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#if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V)
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#if ENABLED(CALIBRATION_MEASURE_VMIN)
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SERIAL_ECHOLNPGM(" " STR_V_MIN ": ", m.backlash[VMINIMUM]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_VMAX)
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SERIAL_ECHOLNPGM(" " STR_V_MAX ": ", m.backlash[VMAXIMUM]);
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#endif
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#endif
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#if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W)
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#if ENABLED(CALIBRATION_MEASURE_WMIN)
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SERIAL_ECHOLNPGM(" " STR_W_MIN ": ", m.backlash[WMINIMUM]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_WMAX)
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SERIAL_ECHOLNPGM(" " STR_W_MAX ": ", m.backlash[WMAXIMUM]);
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#endif
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#endif
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SERIAL_EOL();
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}
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@@ -498,7 +585,16 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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SERIAL_ECHOLNPGM_P(SP_J_STR, m.pos_error.j);
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#endif
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#if HAS_K_CENTER && AXIS_CAN_CALIBRATE(K)
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SERIAL_ECHOLNPGM_P(SP_Z_STR, m.pos_error.z);
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SERIAL_ECHOLNPGM_P(SP_K_STR, m.pos_error.k);
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#endif
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#if HAS_U_CENTER && AXIS_CAN_CALIBRATE(U)
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SERIAL_ECHOLNPGM_P(SP_U_STR, m.pos_error.u);
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#endif
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#if HAS_V_CENTER && AXIS_CAN_CALIBRATE(V)
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SERIAL_ECHOLNPGM_P(SP_V_STR, m.pos_error.v);
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#endif
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#if HAS_W_CENTER && AXIS_CAN_CALIBRATE(W)
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SERIAL_ECHOLNPGM_P(SP_W_STR, m.pos_error.w);
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#endif
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SERIAL_EOL();
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}
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@@ -587,6 +683,30 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
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backlash.set_distance_mm(K_AXIS, m.backlash[KMAXIMUM]);
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#endif
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#if HAS_U_CENTER
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backlash.distance_mm.u = (m.backlash[UMINIMUM] + m.backlash[UMAXIMUM]) / 2;
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#elif ENABLED(CALIBRATION_MEASURE_UMIN)
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backlash.distance_mm.u = m.backlash[UMINIMUM];
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#elif ENABLED(CALIBRATION_MEASURE_UMAX)
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backlash.distance_mm.u = m.backlash[UMAXIMUM];
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#endif
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#if HAS_V_CENTER
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backlash.distance_mm.v = (m.backlash[VMINIMUM] + m.backlash[VMAXIMUM]) / 2;
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#elif ENABLED(CALIBRATION_MEASURE_VMIN)
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backlash.distance_mm.v = m.backlash[VMINIMUM];
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#elif ENABLED(CALIBRATION_MEASURE_UMAX)
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backlash.distance_mm.v = m.backlash[VMAXIMUM];
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#endif
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#if HAS_W_CENTER
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backlash.distance_mm.w = (m.backlash[WMINIMUM] + m.backlash[WMAXIMUM]) / 2;
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#elif ENABLED(CALIBRATION_MEASURE_WMIN)
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backlash.distance_mm.w = m.backlash[WMINIMUM];
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#elif ENABLED(CALIBRATION_MEASURE_WMAX)
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backlash.distance_mm.w = m.backlash[WMAXIMUM];
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#endif
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#endif // BACKLASH_GCODE
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}
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@@ -597,9 +717,10 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
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// New scope for TEMPORARY_BACKLASH_CORRECTION
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TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
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TEMPORARY_BACKLASH_SMOOTHING(0.0f);
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const xyz_float_t move = LINEAR_AXIS_ARRAY(
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const xyz_float_t move = NUM_AXIS_ARRAY(
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AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3,
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AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3
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AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3,
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AXIS_CAN_CALIBRATE(U) * 3, AXIS_CAN_CALIBRATE(V) * 3, AXIS_CAN_CALIBRATE(W) * 3
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);
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current_position += move; calibration_move();
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current_position -= move; calibration_move();
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@@ -650,6 +771,9 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
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TERN_(HAS_I_CENTER, update_measurements(m, I_AXIS));
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TERN_(HAS_J_CENTER, update_measurements(m, J_AXIS));
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TERN_(HAS_K_CENTER, update_measurements(m, K_AXIS));
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TERN_(HAS_U_CENTER, update_measurements(m, U_AXIS));
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TERN_(HAS_V_CENTER, update_measurements(m, V_AXIS));
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TERN_(HAS_W_CENTER, update_measurements(m, W_AXIS));
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sync_plan_position();
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}
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