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New feature: BED_SKEW_CORRECTION

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This commit is contained in:
Scott Lahteine 2017-11-04 19:21:41 -05:00
parent a8d83aec89
commit 172ce67344
10 changed files with 352 additions and 42 deletions
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108
Marlin/planner.cpp
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@ -124,6 +124,20 @@ float Planner::min_feedrate_mm_s,
#endif
#endif
#if ENABLED(SKEW_CORRECTION)
#if ENABLED(SKEW_CORRECTION_GCODE)
// Initialized by settings.load()
float Planner::xy_skew_factor;
#if ENABLED(SKEW_CORRECTION_FOR_Z)
float Planner::xz_skew_factor, Planner::yz_skew_factor;
#else
constexpr float Planner::xz_skew_factor, Planner::yz_skew_factor;
#endif
#else
constexpr float Planner::xy_skew_factor, Planner::xz_skew_factor, Planner::yz_skew_factor;
#endif
#endif
#if ENABLED(AUTOTEMP)
float Planner::autotemp_max = 250,
Planner::autotemp_min = 210,
@ -554,6 +568,19 @@ void Planner::calculate_volumetric_multipliers() {
*/
void Planner::apply_leveling(float &rx, float &ry, float &rz) {
#if ENABLED(SKEW_CORRECTION)
if (WITHIN(rx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(ry, Y_MIN_POS + 1, Y_MAX_POS)) {
const float tempry = ry - (rz * planner.yz_skew_factor),
temprx = rx - (ry * planner.xy_skew_factor) - (rz * (planner.xz_skew_factor - (planner.xy_skew_factor * planner.yz_skew_factor)));
if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
rx = temprx;
ry = tempry;
}
else
SERIAL_ECHOLN(MSG_SKEW_WARN);
}
#endif
if (!leveling_active) return;
#if ABL_PLANAR
@ -600,45 +627,56 @@ void Planner::calculate_volumetric_multipliers() {
void Planner::unapply_leveling(float raw[XYZ]) {
if (!leveling_active) return;
#if ABL_PLANAR
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
float dx = raw[X_AXIS] - (X_TILT_FULCRUM),
dy = raw[Y_AXIS] - (Y_TILT_FULCRUM);
apply_rotation_xyz(inverse, dx, dy, raw[Z_AXIS]);
raw[X_AXIS] = dx + X_TILT_FULCRUM;
raw[Y_AXIS] = dy + Y_TILT_FULCRUM;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]);
#else
constexpr float fade_scaling_factor = 1.0;
#endif
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]);
if (!fade_scaling_factor) return;
#elif HAS_MESH
constexpr float fade_scaling_factor = 1.0;
#endif
if (leveling_active && fade_scaling_factor) {
raw[Z_AXIS] -= (
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]) * fade_scaling_factor
#elif ENABLED(MESH_BED_LEVELING)
mbl.get_z(raw[X_AXIS], raw[Y_AXIS]
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, fade_scaling_factor
#endif
)
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_z_offset(raw) * fade_scaling_factor
#else
0
#endif
);
#if ABL_PLANAR
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
float dx = raw[X_AXIS] - (X_TILT_FULCRUM),
dy = raw[Y_AXIS] - (Y_TILT_FULCRUM);
apply_rotation_xyz(inverse, dx, dy, raw[Z_AXIS]);
raw[X_AXIS] = dx + X_TILT_FULCRUM;
raw[Y_AXIS] = dy + Y_TILT_FULCRUM;
#else // !ABL_PLANAR
raw[Z_AXIS] -= (
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]) * fade_scaling_factor
#elif ENABLED(MESH_BED_LEVELING)
mbl.get_z(raw[X_AXIS], raw[Y_AXIS]
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, fade_scaling_factor
#endif
)
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_z_offset(raw) * fade_scaling_factor
#else
0
#endif
);
#endif // !ABL_PLANAR
}
#if ENABLED(SKEW_CORRECTION)
if (WITHIN(raw[X_AXIS], X_MIN_POS, X_MAX_POS) && WITHIN(raw[Y_AXIS], Y_MIN_POS, Y_MAX_POS)) {
const float temprx = raw[X_AXIS] + raw[Y_AXIS] * planner.xy_skew_factor + raw[Z_AXIS] * planner.xz_skew_factor,
tempry = raw[Y_AXIS] + raw[Z_AXIS] * planner.yz_skew_factor;
if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
raw[X_AXIS] = temprx;
raw[Y_AXIS] = tempry;
}
}
#endif
}