From 7c24b9795867f08351bd5852a2aa3afddc824f36 Mon Sep 17 00:00:00 2001 From: maverikou Date: Sat, 7 Mar 2015 20:36:21 +0200 Subject: [PATCH 1/8] Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks. --- Marlin/Marlin.h | 6 + Marlin/Marlin_main.cpp | 341 ++++++++++++++++-- .../delta/Configuration.h | 80 +++- .../delta/Configuration_adv.h | 20 +- Marlin/planner.cpp | 2 +- Marlin/planner.h | 6 +- 6 files changed, 425 insertions(+), 30 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 2a54ac5932..5cefc724b4 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -189,12 +189,18 @@ void ClearToSend(); void get_coordinates(); #ifdef DELTA void calculate_delta(float cartesian[3]); + #ifdef ENABLE_AUTO_BED_LEVELING + extern int delta_grid_spacing[2]; + void adjust_delta(float cartesian[3]); + #endif extern float delta[3]; +void prepare_move_raw(); #endif #ifdef SCARA void calculate_delta(float cartesian[3]); void calculate_SCARA_forward_Transform(float f_scara[3]); #endif +void reset_bed_level(); void prepare_move(); void kill(); void Stop(); diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index b3c1702a56..06f02afcdb 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -346,6 +346,9 @@ int fanSpeed = 0; float delta_diagonal_rod = DELTA_DIAGONAL_ROD; float delta_diagonal_rod_2 = sq(delta_diagonal_rod); float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; + #ifdef ENABLE_AUTO_BED_LEVELING + float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS]; + #endif #endif #ifdef SCARA @@ -1058,6 +1061,8 @@ static void axis_is_at_home(int axis) { #ifdef ENABLE_AUTO_BED_LEVELING #ifdef AUTO_BED_LEVELING_GRID + +#ifndef DELTA static void set_bed_level_equation_lsq(double *plane_equation_coefficients) { vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1); @@ -1080,6 +1085,7 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients) plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); } +#endif #else // not AUTO_BED_LEVELING_GRID @@ -1113,6 +1119,27 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float #endif // AUTO_BED_LEVELING_GRID static void run_z_probe() { + #ifdef DELTA + + float start_z = current_position[Z_AXIS]; + long start_steps = st_get_position(Z_AXIS); + + // move down slowly until you find the bed + feedrate = homing_feedrate[Z_AXIS] / 4; + destination[Z_AXIS] = -10; + prepare_move_raw(); + st_synchronize(); + endstops_hit_on_purpose(); + + // we have to let the planner know where we are right now as it is not where we said to go. + long stop_steps = st_get_position(Z_AXIS); + float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS]; + current_position[Z_AXIS] = mm; + calculate_delta(current_position); + plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); + + #else + plan_bed_level_matrix.set_to_identity(); feedrate = homing_feedrate[Z_AXIS]; @@ -1139,11 +1166,25 @@ static void run_z_probe() { current_position[Z_AXIS] = st_get_position_mm(Z_AXIS); // make sure the planner knows where we are as it may be a bit different than we last said to move to plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + + #endif } static void do_blocking_move_to(float x, float y, float z) { float oldFeedRate = feedrate; +#ifdef DELTA + + feedrate = XY_TRAVEL_SPEED; + + destination[X_AXIS] = x; + destination[Y_AXIS] = y; + destination[Z_AXIS] = z; + prepare_move_raw(); + st_synchronize(); + +#else + feedrate = homing_feedrate[Z_AXIS]; current_position[Z_AXIS] = z; @@ -1157,6 +1198,8 @@ static void do_blocking_move_to(float x, float y, float z) { plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder); st_synchronize(); +#endif + feedrate = oldFeedRate; } @@ -1196,7 +1239,40 @@ static void engage_z_probe() { servos[servo_endstops[Z_AXIS]].detach(); #endif } + #elif defined(Z_PROBE_ALLEN_KEY) + feedrate = homing_feedrate[X_AXIS]; + + // Move to the start position to initiate deployment + destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X; + destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y; + destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z; + prepare_move_raw(); + + // Home X to touch the belt + feedrate = homing_feedrate[X_AXIS]/10; + destination[X_AXIS] = 0; + prepare_move_raw(); + + // Home Y for safety + feedrate = homing_feedrate[X_AXIS]/2; + destination[Y_AXIS] = 0; + prepare_move_raw(); + + st_synchronize(); + + bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); + if (z_min_endstop) + { + if (!Stopped) + { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Z-Probe failed to engage!"); + LCD_ALERTMESSAGEPGM("Err: ZPROBE"); + } + Stop(); + } #endif + } static void retract_z_probe() { @@ -1212,7 +1288,49 @@ static void retract_z_probe() { servos[servo_endstops[Z_AXIS]].detach(); #endif } + #elif defined(Z_PROBE_ALLEN_KEY) + // Move up for safety + feedrate = homing_feedrate[X_AXIS]; + destination[Z_AXIS] = current_position[Z_AXIS] + 20; + prepare_move_raw(); + + // Move to the start position to initiate retraction + destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X; + destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y; + destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z; + prepare_move_raw(); + + // Move the nozzle down to push the probe into retracted position + feedrate = homing_feedrate[Z_AXIS]/10; + destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH; + prepare_move_raw(); + + // Move up for safety + feedrate = homing_feedrate[Z_AXIS]/2; + destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2; + prepare_move_raw(); + + // Home XY for safety + feedrate = homing_feedrate[X_AXIS]/2; + destination[X_AXIS] = 0; + destination[Y_AXIS] = 0; + prepare_move_raw(); + + st_synchronize(); + + bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); + if (!z_min_endstop) + { + if (!Stopped) + { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Z-Probe failed to retract!"); + LCD_ALERTMESSAGEPGM("Err: ZPROBE"); + } + Stop(); + } #endif + } enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract }; @@ -1223,14 +1341,14 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); - #ifndef Z_PROBE_SLED + #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) if (retract_action & ProbeEngage) engage_z_probe(); #endif run_z_probe(); float measured_z = current_position[Z_AXIS]; - #ifndef Z_PROBE_SLED + #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) if (retract_action & ProbeRetract) retract_z_probe(); #endif @@ -1247,6 +1365,62 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti return measured_z; } +#ifdef DELTA +static void extrapolate_one_point(int x, int y, int xdir, int ydir) { + if (bed_level[x][y] != 0.0) { + return; // Don't overwrite good values. + } + float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y]; // Left to right. + float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2]; // Front to back. + float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2]; // Diagonal. + float median = c; // Median is robust (ignores outliers). + if (a < b) { + if (b < c) median = b; + if (c < a) median = a; + } else { // b <= a + if (c < b) median = b; + if (a < c) median = a; + } + bed_level[x][y] = median; +} + +// Fill in the unprobed points (corners of circular print surface) +// using linear extrapolation, away from the center. +static void extrapolate_unprobed_bed_level() { + int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2; + for (int y = 0; y <= half; y++) { + for (int x = 0; x <= half; x++) { + if (x + y < 3) continue; + extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0); + extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0); + extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0); + extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0); + } + } +} + +// Print calibration results for plotting or manual frame adjustment. +static void print_bed_level() { + for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) { + for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) { + SERIAL_PROTOCOL_F(bed_level[x][y], 2); + SERIAL_PROTOCOLPGM(" "); + } + SERIAL_ECHOLN(""); + } +} + +// Reset calibration results to zero. +void reset_bed_level() { + for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) { + for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) { + bed_level[x][y] = 0.0; + } + } +} + +#endif // DELTA + #endif // ENABLE_AUTO_BED_LEVELING static void homeaxis(int axis) { @@ -1523,7 +1697,11 @@ inline void gcode_G4() { */ inline void gcode_G28() { #ifdef ENABLE_AUTO_BED_LEVELING - plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data) + #ifdef DELTA + reset_bed_level(); + #else + plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data) + #endif #endif saved_feedrate = feedrate; @@ -1804,6 +1982,7 @@ inline void gcode_G28() { * Parameters With AUTO_BED_LEVELING_GRID: * * P Set the size of the grid that will be probed (P x P points). + * Not supported by non-linear delta printer bed leveling. * Example: "G29 P4" * * V Set the verbose level (0-4). Example: "G29 V3" @@ -1811,6 +1990,7 @@ inline void gcode_G28() { * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. * This is useful for manual bed leveling and finding flaws in the bed (to * assist with part placement). + * Not supported by non-linear delta printer bed leveling. * * F Set the Front limit of the probing grid * B Set the Back limit of the probing grid @@ -1856,16 +2036,21 @@ inline void gcode_G28() { #ifdef AUTO_BED_LEVELING_GRID + #ifndef DELTA bool topo_flag = verbose_level > 2 || code_seen('T') || code_seen('t'); + #endif if (verbose_level > 0) SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n"); - int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : AUTO_BED_LEVELING_GRID_POINTS; - if (auto_bed_leveling_grid_points < 2 || auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS) { - SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n"); - return; - } + int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS; + #ifndef DELTA + if (code_seen('P')) auto_bed_leveling_grid_points = code_value_long(); + if (auto_bed_leveling_grid_points < 2 || auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS) { + SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n"); + return; + } + #endif int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION, right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION, @@ -1905,20 +2090,27 @@ inline void gcode_G28() { #ifdef Z_PROBE_SLED dock_sled(false); // engage (un-dock) the probe + #elif not defined(SERVO_ENDSTOPS) + engage_z_probe(); #endif st_synchronize(); + #ifdef DELTA + reset_bed_level(); + #else // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly //vector_3 corrected_position = plan_get_position_mm(); //corrected_position.debug("position before G29"); plan_bed_level_matrix.set_to_identity(); vector_3 uncorrected_position = plan_get_position(); - //uncorrected_position.debug("position durring G29"); + //uncorrected_position.debug("position during G29"); current_position[X_AXIS] = uncorrected_position.x; current_position[Y_AXIS] = uncorrected_position.y; current_position[Z_AXIS] = uncorrected_position.z; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + #endif + setup_for_endstop_move(); feedrate = homing_feedrate[Z_AXIS]; @@ -1926,9 +2118,10 @@ inline void gcode_G28() { #ifdef AUTO_BED_LEVELING_GRID // probe at the points of a lattice grid - int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1); - int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1); + const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1); + const int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1); + #ifndef DELTA // solve the plane equation ax + by + d = z // A is the matrix with rows [x y 1] for all the probed points // B is the vector of the Z positions @@ -1941,26 +2134,60 @@ inline void gcode_G28() { eqnBVector[abl2], // "B" vector of Z points mean = 0.0; + #else + delta_grid_spacing[0] = xGridSpacing; + delta_grid_spacing[1] = yGridSpacing; + + float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER; + if (code_seen(axis_codes[Z_AXIS])) { + z_offset += code_value(); + } + #endif + int probePointCounter = 0; bool zig = true; - for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) { - int xProbe, xInc; + for (int yCount=0; yCount < auto_bed_leveling_grid_points; yCount++) + { + double yProbe = front_probe_bed_position + yGridSpacing * yCount; + int xStart, xStop, xInc; if (zig) - xProbe = left_probe_bed_position, xInc = xGridSpacing; + { + xStart = 0; + xStop = auto_bed_leveling_grid_points; + xInc = 1; + zig = false; + } else - xProbe = right_probe_bed_position, xInc = -xGridSpacing; + { + xStart = auto_bed_leveling_grid_points - 1; + xStop = -1; + xInc = -1; + zig = true; + } + #ifndef DELTA // If topo_flag is set then don't zig-zag. Just scan in one direction. // This gets the probe points in more readable order. if (!topo_flag) zig = !zig; + #endif + + for (int xCount=xStart; xCount != xStop; xCount += xInc) + { + double xProbe = left_probe_bed_position + xGridSpacing * xCount; - for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) { // raise extruder float measured_z, z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS; + #ifdef DELTA + // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer. + float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe); + if (distance_from_center > DELTA_PROBABLE_RADIUS) + continue; + #endif //DELTA + // Enhanced G29 - Do not retract servo between probes ProbeAction act; if (enhanced_g29) { @@ -1976,22 +2203,24 @@ inline void gcode_G28() { measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level); + #ifndef DELTA mean += measured_z; eqnBVector[probePointCounter] = measured_z; eqnAMatrix[probePointCounter + 0 * abl2] = xProbe; eqnAMatrix[probePointCounter + 1 * abl2] = yProbe; eqnAMatrix[probePointCounter + 2 * abl2] = 1; + #else + bed_level[xCount][yCount] = measured_z + z_offset; + #endif probePointCounter++; - xProbe += xInc; - } //xProbe - } //yProbe clean_up_after_endstop_move(); + #ifndef DELTA // solve lsq problem double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector); @@ -2053,6 +2282,10 @@ inline void gcode_G28() { set_bed_level_equation_lsq(plane_equation_coefficients); free(plane_equation_coefficients); + #else + extrapolate_unprobed_bed_level(); + print_bed_level(); + #endif #else // !AUTO_BED_LEVELING_GRID @@ -2075,11 +2308,13 @@ inline void gcode_G28() { #endif // !AUTO_BED_LEVELING_GRID + do_blocking_move_to(MANUAL_X_HOME_POS, MANUAL_Y_HOME_POS, Z_RAISE_AFTER_PROBING); st_synchronize(); if (verbose_level > 0) plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); + #ifndef DELTA // Correct the Z height difference from z-probe position and hotend tip position. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. // When the bed is uneven, this height must be corrected. @@ -2091,10 +2326,13 @@ inline void gcode_G28() { apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + #endif - #ifdef Z_PROBE_SLED - dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel - #endif + #ifdef Z_PROBE_SLED + dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel + #elif not defined(SERVO_ENDSTOPS) + retract_z_probe(); + #endif } #ifndef Z_PROBE_SLED @@ -4920,7 +5158,64 @@ void calculate_delta(float cartesian[3]) SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]); */ } -#endif + +#ifdef ENABLE_AUTO_BED_LEVELING +// Adjust print surface height by linear interpolation over the bed_level array. +int delta_grid_spacing[2] = { 0, 0 }; +void adjust_delta(float cartesian[3]) +{ + if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) + return; // G29 not done + + int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2; + float grid_x = max(0.001-half, min(half-0.001, cartesian[X_AXIS] / delta_grid_spacing[0])); + float grid_y = max(0.001-half, min(half-0.001, cartesian[Y_AXIS] / delta_grid_spacing[1])); + int floor_x = floor(grid_x); + int floor_y = floor(grid_y); + float ratio_x = grid_x - floor_x; + float ratio_y = grid_y - floor_y; + float z1 = bed_level[floor_x+half][floor_y+half]; + float z2 = bed_level[floor_x+half][floor_y+half+1]; + float z3 = bed_level[floor_x+half+1][floor_y+half]; + float z4 = bed_level[floor_x+half+1][floor_y+half+1]; + float left = (1-ratio_y)*z1 + ratio_y*z2; + float right = (1-ratio_y)*z3 + ratio_y*z4; + float offset = (1-ratio_x)*left + ratio_x*right; + + delta[X_AXIS] += offset; + delta[Y_AXIS] += offset; + delta[Z_AXIS] += offset; + + /* + SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x); + SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y); + SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x); + SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y); + SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x); + SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y); + SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1); + SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2); + SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3); + SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4); + SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left); + SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right); + SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset); + */ +} +#endif //ENABLE_AUTO_BED_LEVELING + +void prepare_move_raw() +{ + previous_millis_cmd = millis(); + calculate_delta(destination); + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], + destination[E_AXIS], feedrate*feedmultiply/60/100.0, + active_extruder); + for(int8_t i=0; i < NUM_AXIS; i++) { + current_position[i] = destination[i]; + } +} +#endif //DELTA void prepare_move() { diff --git a/Marlin/example_configurations/delta/Configuration.h b/Marlin/example_configurations/delta/Configuration.h index 35f7e81b2f..05e4b36a12 100644 --- a/Marlin/example_configurations/delta/Configuration.h +++ b/Marlin/example_configurations/delta/Configuration.h @@ -110,6 +110,9 @@ Here are some standard links for getting your machine calibrated: // Effective horizontal distance bridged by diagonal push rods. #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET) +// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). +#define DELTA_PRINTABLE_RADIUS 90 + //=========================================================================== //============================= Thermal Settings ============================ @@ -361,8 +364,7 @@ const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop. const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop. //#define DISABLE_MAX_ENDSTOPS -// Deltas never have min endstops -#define DISABLE_MIN_ENDSTOPS +#define DISABLE_MIN_ENDSTOPS // Deltas only use min endstops for probing // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 #define X_ENABLE_ON 0 @@ -413,8 +415,80 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of //============================= Bed Auto Leveling =========================== //=========================================================================== -//Bed Auto Leveling is still not compatible with Delta Kinematics +//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line) +// Z-Probe Repeatability test is not supported in Deltas yet. +#ifdef ENABLE_AUTO_BED_LEVELING + + // Deltas only support grid mode + #define AUTO_BED_LEVELING_GRID + + #define DELTA_PROBABLE_RADIUS (DELTA_PRINTABLE_RADIUS - 10) + #define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS + #define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS + #define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS + #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS + + // Non-linear bed leveling will be used. + // Compensate by interpolating between the nearest four Z probe values for each point. + // Useful for deltas where the print surface may appear like a bowl or dome shape. + // Works best with ACCURATE_BED_LEVELING_POINTS 5 or higher. + #define AUTO_BED_LEVELING_GRID_POINTS 9 + + // Offsets to the probe relative to the extruder tip (Hotend - Probe) + // X and Y offsets must be integers + #define X_PROBE_OFFSET_FROM_EXTRUDER 0 // -left +right + #define Y_PROBE_OFFSET_FROM_EXTRUDER -10 // -front +behind + #define Z_PROBE_OFFSET_FROM_EXTRUDER -3.5 // -below (always!) + + #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. + // Be sure you have this distance over your Z_MAX_POS in case + + #define XY_TRAVEL_SPEED 4000 // X and Y axis travel speed between probes, in mm/min + + #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. + #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + #define Z_RAISE_AFTER_PROBING 50 //How much the extruder will be raised after the last probing point. + + // Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe + // Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN. + //#define Z_PROBE_ALLEN_KEY + #ifdef Z_PROBE_ALLEN_KEY + #define Z_PROBE_ALLEN_KEY_DEPLOY_X 30 + #define Z_PROBE_ALLEN_KEY_DEPLOY_Y DELTA_PRINTABLE_RADIUS + #define Z_PROBE_ALLEN_KEY_DEPLOY_Z 100 + + #define Z_PROBE_ALLEN_KEY_RETRACT_X -64 + #define Z_PROBE_ALLEN_KEY_RETRACT_Y 56 + #define Z_PROBE_ALLEN_KEY_RETRACT_Z 23 + #define Z_PROBE_ALLEN_KEY_RETRACT_DEPTH 20 + #endif + + //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk + //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it. + // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile. + +// #define PROBE_SERVO_DEACTIVATION_DELAY 300 + + +//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing, +//it is highly recommended you let this Z_SAFE_HOMING enabled!!! + + #define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area. + // When defined, it will: + // - Allow Z homing only after X and Y homing AND stepper drivers still enabled + // - If stepper drivers timeout, it will need X and Y homing again before Z homing + // - Position the probe in a defined XY point before Z Homing when homing all axis (G28) + // - Block Z homing only when the probe is outside bed area. + + #ifdef Z_SAFE_HOMING + + #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28) + #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28) + + #endif + +#endif // ENABLE_AUTO_BED_LEVELING diff --git a/Marlin/example_configurations/delta/Configuration_adv.h b/Marlin/example_configurations/delta/Configuration_adv.h index 9b49bfe1ec..91dfb9a06a 100644 --- a/Marlin/example_configurations/delta/Configuration_adv.h +++ b/Marlin/example_configurations/delta/Configuration_adv.h @@ -455,9 +455,27 @@ const unsigned int dropsegments=5; //everything with less than this number of st //=========================================================================== #if defined (ENABLE_AUTO_BED_LEVELING) && defined (DELTA) - #error "Bed Auto Leveling is still not compatible with Delta Kinematics." + + #if not defined(AUTO_BED_LEVELING_GRID) + #error "Only Grid Bed Auto Leveling is supported on Deltas." + #endif + + #if defined(Z_PROBE_SLED) + #error "You cannot use Z_PROBE_SLED together with DELTA." + #endif + + #if defined(Z_PROBE_REPEATABILITY_TEST) + #error "Z-probe repeatability test is not supported on Deltas yet." + #endif + #endif +#if defined(Z_PROBE_ALLEN_KEY) + #if !defined(AUTO_BED_LEVELING_GRID) || !defined(DELTA) + #error "Invalid use of Z_PROBE_ALLEN_KEY." + #endif +#endif + #if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT #error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1" #endif diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index cee1981bc0..351616c8e0 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -1057,7 +1057,7 @@ Having the real displacement of the head, we can calculate the total movement le st_wake_up(); } -#ifdef ENABLE_AUTO_BED_LEVELING +#if defined(ENABLE_AUTO_BED_LEVELING) && not defined(DELTA) vector_3 plan_get_position() { vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS)); diff --git a/Marlin/planner.h b/Marlin/planner.h index 0952b9dd34..7670087ce4 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -85,8 +85,10 @@ void plan_init(); #ifdef ENABLE_AUTO_BED_LEVELING void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder); -// Get the position applying the bed level matrix if enabled -vector_3 plan_get_position(); + #ifndef DELTA + // Get the position applying the bed level matrix if enabled + vector_3 plan_get_position(); + #endif #else void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder); #endif // ENABLE_AUTO_BED_LEVELING From 39d255608d35a7a2fab75f59b3c2b333a77d0d48 Mon Sep 17 00:00:00 2001 From: maverikou Date: Sat, 7 Mar 2015 20:53:23 +0200 Subject: [PATCH 2/8] Test an extra delta configuration with auto bed leveling code paths --- .travis.yml | 8 +- .../delta/{ => generic}/Configuration.h | 2 +- .../delta/{ => generic}/Configuration_adv.h | 0 .../delta/kossel_mini/Configuration.h | 874 ++++++++++++++++++ .../delta/kossel_mini/Configuration_adv.h | 546 +++++++++++ 5 files changed, 1427 insertions(+), 3 deletions(-) rename Marlin/example_configurations/delta/{ => generic}/Configuration.h (99%) rename Marlin/example_configurations/delta/{ => generic}/Configuration_adv.h (100%) create mode 100644 Marlin/example_configurations/delta/kossel_mini/Configuration.h create mode 100644 Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h diff --git a/.travis.yml b/.travis.yml index 8a378c7871..32dd508c67 100644 --- a/.travis.yml +++ b/.travis.yml @@ -138,8 +138,12 @@ script: - rm -rf .build/ - ino build -m mega2560 ######## Example Configurations ############## - # Delta Config - - cp Marlin/example_configurations/delta/Configuration* Marlin/ + # Delta Config (generic) + - cp Marlin/example_configurations/delta/generic/Configuration* Marlin/ + - rm -rf .build/ + - ino build -m mega2560 + # Delta Config (Mini Kossel) + - cp Marlin/example_configurations/delta/kossel_mini/Configuration* Marlin/ - rm -rf .build/ - ino build -m mega2560 # Makibox Config need to check board type for Teensy++ 2.0 diff --git a/Marlin/example_configurations/delta/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h similarity index 99% rename from Marlin/example_configurations/delta/Configuration.h rename to Marlin/example_configurations/delta/generic/Configuration.h index 05e4b36a12..f9ecf255c2 100644 --- a/Marlin/example_configurations/delta/Configuration.h +++ b/Marlin/example_configurations/delta/generic/Configuration.h @@ -1,4 +1,4 @@ -#ifndef CONFIGURATION_H +#ifndef CONFIGURATION_H #define CONFIGURATION_H #include "boards.h" diff --git a/Marlin/example_configurations/delta/Configuration_adv.h b/Marlin/example_configurations/delta/generic/Configuration_adv.h similarity index 100% rename from Marlin/example_configurations/delta/Configuration_adv.h rename to Marlin/example_configurations/delta/generic/Configuration_adv.h diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h new file mode 100644 index 0000000000..34e6a6ce4c --- /dev/null +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h @@ -0,0 +1,874 @@ +#ifndef CONFIGURATION_H +#define CONFIGURATION_H + +#include "boards.h" + +//=========================================================================== +//============================= Getting Started ============================= +//=========================================================================== +/* +Here are some standard links for getting your machine calibrated: + * http://reprap.org/wiki/Calibration + * http://youtu.be/wAL9d7FgInk + * http://calculator.josefprusa.cz + * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide + * http://www.thingiverse.com/thing:5573 + * https://sites.google.com/site/repraplogphase/calibration-of-your-reprap + * http://www.thingiverse.com/thing:298812 +*/ + +// This configuration file contains the basic settings. +// Advanced settings can be found in Configuration_adv.h +// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration + +//=========================================================================== +//============================= DELTA Printer =============================== +//=========================================================================== +// For a Delta printer replace the configuration files with the files in the +// example_configurations/delta directory. +// + +//=========================================================================== +//============================= SCARA Printer =============================== +//=========================================================================== +// For a Delta printer replace the configuration files with the files in the +// example_configurations/SCARA directory. +// + +// User-specified version info of this build to display in [Pronterface, etc] terminal window during +// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this +// build by the user have been successfully uploaded into firmware. +#define STRING_VERSION "1.0.2" +#define STRING_URL "reprap.org" +#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time +#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes. +#define STRING_SPLASH_LINE1 "v" STRING_VERSION // will be shown during bootup in line 1 +//#define STRING_SPLASH_LINE2 STRING_VERSION_CONFIG_H // will be shown during bootup in line2 + +// SERIAL_PORT selects which serial port should be used for communication with the host. +// This allows the connection of wireless adapters (for instance) to non-default port pins. +// Serial port 0 is still used by the Arduino bootloader regardless of this setting. +#define SERIAL_PORT 0 + +// This determines the communication speed of the printer +#define BAUDRATE 250000 + +// This enables the serial port associated to the Bluetooth interface +//#define BTENABLED // Enable BT interface on AT90USB devices + +// The following define selects which electronics board you have. +// Please choose the name from boards.h that matches your setup +#ifndef MOTHERBOARD + #define MOTHERBOARD BOARD_RAMPS_13_EFB +#endif + +// Define this to set a custom name for your generic Mendel, +#define CUSTOM_MENDEL_NAME "Mini Kossel" + +// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines) +// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4) +// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000" + +// This defines the number of extruders +#define EXTRUDERS 1 + +//// The following define selects which power supply you have. Please choose the one that matches your setup +// 1 = ATX +// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC) + +#define POWER_SUPPLY 1 + +// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it. +// #define PS_DEFAULT_OFF + + +//=========================================================================== +//============================== Delta Settings ============================= +//=========================================================================== +// Enable DELTA kinematics and most of the default configuration for Deltas +#define DELTA + +// Make delta curves from many straight lines (linear interpolation). +// This is a trade-off between visible corners (not enough segments) +// and processor overload (too many expensive sqrt calls). +#define DELTA_SEGMENTS_PER_SECOND 200 + +// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them + +// Center-to-center distance of the holes in the diagonal push rods. +#define DELTA_DIAGONAL_ROD 215.0 // mm + +// Horizontal offset from middle of printer to smooth rod center. +#define DELTA_SMOOTH_ROD_OFFSET 145.0 // mm + +// Horizontal offset of the universal joints on the end effector. +#define DELTA_EFFECTOR_OFFSET 19.9 // mm + +// Horizontal offset of the universal joints on the carriages. +#define DELTA_CARRIAGE_OFFSET 19.5 // mm + + +// Horizontal distance bridged by diagonal push rods when effector is centered. +#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET) + +// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). +#define DELTA_PRINTABLE_RADIUS 90 + + +//=========================================================================== +//============================= Thermal Settings ============================ +//=========================================================================== +// +//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table +// +//// Temperature sensor settings: +// -2 is thermocouple with MAX6675 (only for sensor 0) +// -1 is thermocouple with AD595 +// 0 is not used +// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup) +// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup) +// 3 is Mendel-parts thermistor (4.7k pullup) +// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !! +// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup) +// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup) +// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup) +// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup) +// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) +// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup) +// 10 is 100k RS thermistor 198-961 (4.7k pullup) +// 11 is 100k beta 3950 1% thermistor (4.7k pullup) +// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed) +// 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE" +// 20 is the PT100 circuit found in the Ultimainboard V2.x +// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950 +// +// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k +// (but gives greater accuracy and more stable PID) +// 51 is 100k thermistor - EPCOS (1k pullup) +// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup) +// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup) +// +// 1047 is Pt1000 with 4k7 pullup +// 1010 is Pt1000 with 1k pullup (non standard) +// 147 is Pt100 with 4k7 pullup +// 110 is Pt100 with 1k pullup (non standard) +// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. +// Use it for Testing or Development purposes. NEVER for production machine. +// #define DUMMY_THERMISTOR_998_VALUE 25 +// #define DUMMY_THERMISTOR_999_VALUE 100 + +#define TEMP_SENSOR_0 7 +#define TEMP_SENSOR_1 0 +#define TEMP_SENSOR_2 0 +#define TEMP_SENSOR_3 0 +#define TEMP_SENSOR_BED 11 + +// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted. +//#define TEMP_SENSOR_1_AS_REDUNDANT +#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 5 + +// Actual temperature must be close to target for this long before M109 returns success +#define TEMP_RESIDENCY_TIME 10 // (seconds) +#define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one +#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early. + +// The minimal temperature defines the temperature below which the heater will not be enabled It is used +// to check that the wiring to the thermistor is not broken. +// Otherwise this would lead to the heater being powered on all the time. +#define HEATER_0_MINTEMP 5 +#define HEATER_1_MINTEMP 5 +#define HEATER_2_MINTEMP 5 +#define HEATER_3_MINTEMP 5 +#define BED_MINTEMP 5 + +// When temperature exceeds max temp, your heater will be switched off. +// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure! +// You should use MINTEMP for thermistor short/failure protection. +#define HEATER_0_MAXTEMP 275 +#define HEATER_1_MAXTEMP 275 +#define HEATER_2_MAXTEMP 275 +#define HEATER_3_MAXTEMP 275 +#define BED_MAXTEMP 150 + +// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the +// average current. The value should be an integer and the heat bed will be turned on for 1 interval of +// HEATER_BED_DUTY_CYCLE_DIVIDER intervals. +//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4 + +// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS +//#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R +//#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R + +//=========================================================================== +//============================= PID Settings ================================ +//=========================================================================== +// PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning + +// Comment the following line to disable PID and enable bang-bang. +#define PIDTEMP +#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current +#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current +#ifdef PIDTEMP + //#define PID_DEBUG // Sends debug data to the serial port. + //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX + //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay + //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders) + // Set/get with gcode: M301 E[extruder number, 0-2] + #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature + // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. + #define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term + #define K1 0.95 //smoothing factor within the PID + #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine + +// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it +// Ultimaker + #define DEFAULT_Kp 22.2 + #define DEFAULT_Ki 1.08 + #define DEFAULT_Kd 114 + +// MakerGear +// #define DEFAULT_Kp 7.0 +// #define DEFAULT_Ki 0.1 +// #define DEFAULT_Kd 12 + +// Mendel Parts V9 on 12V +// #define DEFAULT_Kp 63.0 +// #define DEFAULT_Ki 2.25 +// #define DEFAULT_Kd 440 +#endif // PIDTEMP + +//=========================================================================== +//============================= PID > Bed Temperature Control =============== +//=========================================================================== +// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis +// +// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder. +// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz, +// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating. +// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater. +// If your configuration is significantly different than this and you don't understand the issues involved, you probably +// shouldn't use bed PID until someone else verifies your hardware works. +// If this is enabled, find your own PID constants below. +//#define PIDTEMPBED +// +//#define BED_LIMIT_SWITCHING + +// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option. +// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis) +// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did, +// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED) +#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current + +#ifdef PIDTEMPBED +//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) +//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10) + #define DEFAULT_bedKp 10.00 + #define DEFAULT_bedKi .023 + #define DEFAULT_bedKd 305.4 + +//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) +//from pidautotune +// #define DEFAULT_bedKp 97.1 +// #define DEFAULT_bedKi 1.41 +// #define DEFAULT_bedKd 1675.16 + +// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles. +#endif // PIDTEMPBED + + +//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit +//can be software-disabled for whatever purposes by +#define PREVENT_DANGEROUS_EXTRUDE +//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately. +#define PREVENT_LENGTHY_EXTRUDE + +#define EXTRUDE_MINTEMP 170 +#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. + +//=========================================================================== +//============================= Thermal Runaway Protection ================== +//=========================================================================== +/* +This is a feature to protect your printer from burn up in flames if it has +a thermistor coming off place (this happened to a friend of mine recently and +motivated me writing this feature). + +The issue: If a thermistor come off, it will read a lower temperature than actual. +The system will turn the heater on forever, burning up the filament and anything +else around. + +After the temperature reaches the target for the first time, this feature will +start measuring for how long the current temperature stays below the target +minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS). + +If it stays longer than _PERIOD, it means the thermistor temperature +cannot catch up with the target, so something *may be* wrong. Then, to be on the +safe side, the system will he halt. + +Bear in mind the count down will just start AFTER the first time the +thermistor temperature is over the target, so you will have no problem if +your extruder heater takes 2 minutes to hit the target on heating. + +*/ +// If you want to enable this feature for all your extruder heaters, +// uncomment the 2 defines below: + +// Parameters for all extruder heaters +//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds +//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius + +// If you want to enable this feature for your bed heater, +// uncomment the 2 defines below: + +// Parameters for the bed heater +//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds +//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius + + +//=========================================================================== +//============================= Mechanical Settings ========================= +//=========================================================================== + +// Uncomment this option to enable CoreXY kinematics +// #define COREXY + +// Enable this option for Toshiba steppers +// #define CONFIG_STEPPERS_TOSHIBA + +// coarse Endstop Settings +#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors + +#ifndef ENDSTOPPULLUPS + // fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined + // #define ENDSTOPPULLUP_XMAX + // #define ENDSTOPPULLUP_YMAX + // #define ENDSTOPPULLUP_ZMAX + // #define ENDSTOPPULLUP_XMIN + // #define ENDSTOPPULLUP_YMIN + // #define ENDSTOPPULLUP_ZMIN +#endif + +#ifdef ENDSTOPPULLUPS + #define ENDSTOPPULLUP_XMAX + #define ENDSTOPPULLUP_YMAX + #define ENDSTOPPULLUP_ZMAX + #define ENDSTOPPULLUP_XMIN + #define ENDSTOPPULLUP_YMIN + #define ENDSTOPPULLUP_ZMIN +#endif + +// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. +const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. +const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. +const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. +const bool X_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. +const bool Y_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. +const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. +//#define DISABLE_MAX_ENDSTOPS +//#define DISABLE_MIN_ENDSTOPS // Deltas only use min endstops for probing + +// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 +#define X_ENABLE_ON 0 +#define Y_ENABLE_ON 0 +#define Z_ENABLE_ON 0 +#define E_ENABLE_ON 0 // For all extruders + +// Disables axis when it's not being used. +#define DISABLE_X false +#define DISABLE_Y false +#define DISABLE_Z false +#define DISABLE_E false // For all extruders +#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled + +#define INVERT_X_DIR false // DELTA does not invert +#define INVERT_Y_DIR false +#define INVERT_Z_DIR false + +#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E3_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false + +// ENDSTOP SETTINGS: +// Sets direction of endstops when homing; 1=MAX, -1=MIN +// deltas always home to max +#define X_HOME_DIR 1 +#define Y_HOME_DIR 1 +#define Z_HOME_DIR 1 + +#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS. +#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below. + +// Travel limits after homing (units are in mm) +#define X_MAX_POS DELTA_PRINTABLE_RADIUS +#define X_MIN_POS -DELTA_PRINTABLE_RADIUS +#define Y_MAX_POS DELTA_PRINTABLE_RADIUS +#define Y_MIN_POS -DELTA_PRINTABLE_RADIUS +#define Z_MAX_POS MANUAL_Z_HOME_POS +#define Z_MIN_POS 0 + +#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS) +#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS) +#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS) + + +//=========================================================================== +//============================= Bed Auto Leveling =========================== +//=========================================================================== + +#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line) +// Z-Probe Repeatability test is not supported in Deltas yet. + +#ifdef ENABLE_AUTO_BED_LEVELING + + // Deltas only support grid mode + #define AUTO_BED_LEVELING_GRID + + #define DELTA_PROBABLE_RADIUS (DELTA_PRINTABLE_RADIUS - 10) + #define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS + #define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS + #define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS + #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS + + // Non-linear bed leveling will be used. + // Compensate by interpolating between the nearest four Z probe values for each point. + // Useful for deltas where the print surface may appear like a bowl or dome shape. + // Works best with ACCURATE_BED_LEVELING_POINTS 5 or higher. + #define AUTO_BED_LEVELING_GRID_POINTS 9 + + // Offsets to the probe relative to the extruder tip (Hotend - Probe) + // X and Y offsets must be integers + #define X_PROBE_OFFSET_FROM_EXTRUDER 0 // -left +right + #define Y_PROBE_OFFSET_FROM_EXTRUDER -10 // -front +behind + #define Z_PROBE_OFFSET_FROM_EXTRUDER -3.5 // -below (always!) + + #define Z_RAISE_BEFORE_HOMING 15 // (in mm) Raise Z before homing (G28) for Probe Clearance. + // Be sure you have this distance over your Z_MAX_POS in case + + #define XY_TRAVEL_SPEED 4000 // X and Y axis travel speed between probes, in mm/min + + #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. + #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + #define Z_RAISE_AFTER_PROBING 50 //How much the extruder will be raised after the last probing point. + + // Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe + // Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN. + #define Z_PROBE_ALLEN_KEY + #ifdef Z_PROBE_ALLEN_KEY + #define Z_PROBE_ALLEN_KEY_DEPLOY_X 30 + #define Z_PROBE_ALLEN_KEY_DEPLOY_Y DELTA_PRINTABLE_RADIUS + #define Z_PROBE_ALLEN_KEY_DEPLOY_Z 100 + + #define Z_PROBE_ALLEN_KEY_RETRACT_X -64 + #define Z_PROBE_ALLEN_KEY_RETRACT_Y 56 + #define Z_PROBE_ALLEN_KEY_RETRACT_Z 23 + #define Z_PROBE_ALLEN_KEY_RETRACT_DEPTH 20 + #endif + + //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk + //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it. + // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile. + +// #define PROBE_SERVO_DEACTIVATION_DELAY 300 + + +//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing, +//it is highly recommended you let this Z_SAFE_HOMING enabled!!! + + #define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area. + // When defined, it will: + // - Allow Z homing only after X and Y homing AND stepper drivers still enabled + // - If stepper drivers timeout, it will need X and Y homing again before Z homing + // - Position the probe in a defined XY point before Z Homing when homing all axis (G28) + // - Block Z homing only when the probe is outside bed area. + + #ifdef Z_SAFE_HOMING + + #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28) + #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28) + + #endif + +#endif // ENABLE_AUTO_BED_LEVELING + + + +// The position of the homing switches +#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used +#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0) + +//Manual homing switch locations: +// For deltabots this means top and center of the Cartesian print volume. +#define MANUAL_X_HOME_POS 0 +#define MANUAL_Y_HOME_POS 0 +#define MANUAL_Z_HOME_POS 250 // For delta: Distance between nozzle and print surface after homing. + +//// MOVEMENT SETTINGS +#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E + +// delta homing speeds must be the same on xyz +#define HOMING_FEEDRATE {200*60, 200*60, 200*60, 0} // set the homing speeds (mm/min) + +// default settings +// delta speeds must be the same on xyz +#define DEFAULT_AXIS_STEPS_PER_UNIT {80, 80, 80, 760*1.1} // default steps per unit for Kossel (GT2, 20 tooth) +#define DEFAULT_MAX_FEEDRATE {500, 500, 500, 25} // (mm/sec) +#define DEFAULT_MAX_ACCELERATION {9000,9000,9000,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. + +#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves +#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts + +// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). +// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder). +// For the other hotends it is their distance from the extruder 0 hotend. +// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis +// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis + +// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously) +#define DEFAULT_XYJERK 20.0 // (mm/sec) +#define DEFAULT_ZJERK 20.0 // (mm/sec) Must be same as XY for delta +#define DEFAULT_EJERK 5.0 // (mm/sec) + + +//============================================================================= +//============================= Additional Features =========================== +//============================================================================= + +// Custom M code points +#define CUSTOM_M_CODES +#ifdef CUSTOM_M_CODES + #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851 + #define Z_PROBE_OFFSET_RANGE_MIN -15 + #define Z_PROBE_OFFSET_RANGE_MAX -5 +#endif + + +// EEPROM +// The microcontroller can store settings in the EEPROM, e.g. max velocity... +// M500 - stores parameters in EEPROM +// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. +//define this to enable EEPROM support +//#define EEPROM_SETTINGS +//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out: +// please keep turned on if you can. +//#define EEPROM_CHITCHAT + +// Preheat Constants +#define PLA_PREHEAT_HOTEND_TEMP 180 +#define PLA_PREHEAT_HPB_TEMP 70 +#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + +#define ABS_PREHEAT_HOTEND_TEMP 240 +#define ABS_PREHEAT_HPB_TEMP 100 +#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + +//==============================LCD and SD support============================= + +// Define your display language below. Replace (en) with your language code and uncomment. +// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu +// See also language.h +//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en) + +// Character based displays can have different extended charsets. +#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°" +//#define DISPLAY_CHARSET_HD44780_WESTERN // "ÄäÖöÜüß²³°" if you see a '~' instead of a 'arrow_right' at the right of submenuitems - this is the right one. + +//#define ULTRA_LCD //general LCD support, also 16x2 +//#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family) +//#define SDSUPPORT // Enable SD Card Support in Hardware Console +//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error) +//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication +//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder +//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking +//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store. +//#define ULTIPANEL //the UltiPanel as on Thingiverse +//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click +//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click + +// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3) +// http://reprap.org/wiki/PanelOne +#define PANEL_ONE + +// The MaKr3d Makr-Panel with graphic controller and SD support +// http://reprap.org/wiki/MaKr3d_MaKrPanel +//#define MAKRPANEL + +// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD +// http://panucatt.com +// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib +//#define VIKI2 +//#define miniVIKI + +// The RepRapDiscount Smart Controller (white PCB) +// http://reprap.org/wiki/RepRapDiscount_Smart_Controller +//#define REPRAP_DISCOUNT_SMART_CONTROLLER + +// The GADGETS3D G3D LCD/SD Controller (blue PCB) +// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel +//#define G3D_PANEL + +// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB) +// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller +// +// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib +//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER + +// The RepRapWorld REPRAPWORLD_KEYPAD v1.1 +// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626 +//#define REPRAPWORLD_KEYPAD +//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click + +// The Elefu RA Board Control Panel +// http://www.elefu.com/index.php?route=product/product&product_id=53 +// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C +//#define RA_CONTROL_PANEL + +// Delta calibration menu +// uncomment to add three points calibration menu option. +// See http://minow.blogspot.com/index.html#4918805519571907051 +// If needed, adjust the X, Y, Z calibration coordinates +// in ultralcd.cpp@lcd_delta_calibrate_menu() +// #define DELTA_CALIBRATION_MENU + +//automatic expansion +#if defined (MAKRPANEL) + #define DOGLCD + #define SDSUPPORT + #define ULTIPANEL + #define NEWPANEL + #define DEFAULT_LCD_CONTRAST 17 +#endif + +#if defined(miniVIKI) || defined(VIKI2) + #define ULTRA_LCD //general LCD support, also 16x2 + #define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family) + #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store. + + #ifdef miniVIKI + #define DEFAULT_LCD_CONTRAST 95 + #else + #define DEFAULT_LCD_CONTRAST 40 + #endif + + #define ENCODER_PULSES_PER_STEP 4 + #define ENCODER_STEPS_PER_MENU_ITEM 1 +#endif + +#if defined (PANEL_ONE) + #define SDSUPPORT + #define ULTIMAKERCONTROLLER +#endif + +#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER) + #define DOGLCD + #define U8GLIB_ST7920 + #define REPRAP_DISCOUNT_SMART_CONTROLLER +#endif + +#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL) + #define ULTIPANEL + #define NEWPANEL +#endif + +#if defined(REPRAPWORLD_KEYPAD) + #define NEWPANEL + #define ULTIPANEL +#endif +#if defined(RA_CONTROL_PANEL) + #define ULTIPANEL + #define NEWPANEL + #define LCD_I2C_TYPE_PCA8574 + #define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander +#endif + +//I2C PANELS + +//#define LCD_I2C_SAINSMART_YWROBOT +#ifdef LCD_I2C_SAINSMART_YWROBOT + // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home ) + // Make sure it is placed in the Arduino libraries directory. + #define LCD_I2C_TYPE_PCF8575 + #define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander + #define NEWPANEL + #define ULTIPANEL +#endif + +// PANELOLU2 LCD with status LEDs, separate encoder and click inputs +//#define LCD_I2C_PANELOLU2 +#ifdef LCD_I2C_PANELOLU2 + // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 ) + // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory. + // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file) + // Note: The PANELOLU2 encoder click input can either be directly connected to a pin + // (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1). + #define LCD_I2C_TYPE_MCP23017 + #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander + #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD + #define NEWPANEL + #define ULTIPANEL + + #ifndef ENCODER_PULSES_PER_STEP + #define ENCODER_PULSES_PER_STEP 4 + #endif + + #ifndef ENCODER_STEPS_PER_MENU_ITEM + #define ENCODER_STEPS_PER_MENU_ITEM 1 + #endif + + + #ifdef LCD_USE_I2C_BUZZER + #define LCD_FEEDBACK_FREQUENCY_HZ 1000 + #define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 + #endif + +#endif + +// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs +//#define LCD_I2C_VIKI +#ifdef LCD_I2C_VIKI + // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 ) + // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory. + // Note: The pause/stop/resume LCD button pin should be connected to the Arduino + // BTN_ENC pin (or set BTN_ENC to -1 if not used) + #define LCD_I2C_TYPE_MCP23017 + #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander + #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later) + #define NEWPANEL + #define ULTIPANEL +#endif + +// Shift register panels +// --------------------- +// 2 wire Non-latching LCD SR from: +// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection + +//#define SAV_3DLCD +#ifdef SAV_3DLCD + #define SR_LCD_2W_NL // Non latching 2 wire shiftregister + #define NEWPANEL + #define ULTIPANEL +#endif + + +#ifdef ULTIPANEL +// #define NEWPANEL //enable this if you have a click-encoder panel + #define SDSUPPORT + #define ULTRA_LCD + #ifdef DOGLCD // Change number of lines to match the DOG graphic display + #define LCD_WIDTH 22 + #define LCD_HEIGHT 5 + #else + #define LCD_WIDTH 20 + #define LCD_HEIGHT 4 + #endif +#else //no panel but just LCD + #ifdef ULTRA_LCD + #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display + #define LCD_WIDTH 22 + #define LCD_HEIGHT 5 + #else + #define LCD_WIDTH 16 + #define LCD_HEIGHT 2 + #endif + #endif +#endif + +// default LCD contrast for dogm-like LCD displays +#ifdef DOGLCD +# ifndef DEFAULT_LCD_CONTRAST +# define DEFAULT_LCD_CONTRAST 32 +# endif +#endif + +// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino +//#define FAST_PWM_FAN + +// Temperature status LEDs that display the hotend and bet temperature. +// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on. +// Otherwise the RED led is on. There is 1C hysteresis. +//#define TEMP_STAT_LEDS + +// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency +// which is not ass annoying as with the hardware PWM. On the other hand, if this frequency +// is too low, you should also increment SOFT_PWM_SCALE. +//#define FAN_SOFT_PWM + +// Incrementing this by 1 will double the software PWM frequency, +// affecting heaters, and the fan if FAN_SOFT_PWM is enabled. +// However, control resolution will be halved for each increment; +// at zero value, there are 128 effective control positions. +#define SOFT_PWM_SCALE 0 + +// M240 Triggers a camera by emulating a Canon RC-1 Remote +// Data from: http://www.doc-diy.net/photo/rc-1_hacked/ +// #define PHOTOGRAPH_PIN 23 + +// SF send wrong arc g-codes when using Arc Point as fillet procedure +//#define SF_ARC_FIX + +// Support for the BariCUDA Paste Extruder. +//#define BARICUDA + +//define BlinkM/CyzRgb Support +//#define BLINKM + +/*********************************************************************\ +* R/C SERVO support +* Sponsored by TrinityLabs, Reworked by codexmas +**********************************************************************/ + +// Number of servos +// +// If you select a configuration below, this will receive a default value and does not need to be set manually +// set it manually if you have more servos than extruders and wish to manually control some +// leaving it undefined or defining as 0 will disable the servo subsystem +// If unsure, leave commented / disabled +// +//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command + +// Servo Endstops +// +// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes. +// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500. +// +//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1 +//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles + +/**********************************************************************\ + * Support for a filament diameter sensor + * Also allows adjustment of diameter at print time (vs at slicing) + * Single extruder only at this point (extruder 0) + * + * Motherboards + * 34 - RAMPS1.4 - uses Analog input 5 on the AUX2 connector + * 81 - Printrboard - Uses Analog input 2 on the Exp1 connector (version B,C,D,E) + * 301 - Rambo - uses Analog input 3 + * Note may require analog pins to be defined for different motherboards + **********************************************************************/ +// Uncomment below to enable +//#define FILAMENT_SENSOR + +#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2) +#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel + +#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation +#define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm +#define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm +#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM) + +//defines used in the code +#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially + +//When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status. Status will appear for 5 sec. +//#define FILAMENT_LCD_DISPLAY + + + + + + +#include "Configuration_adv.h" +#include "thermistortables.h" + +#endif //__CONFIGURATION_H diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h new file mode 100644 index 0000000000..cb08c887cf --- /dev/null +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h @@ -0,0 +1,546 @@ +#ifndef CONFIGURATION_ADV_H +#define CONFIGURATION_ADV_H + +//=========================================================================== +//=============================Thermal Settings ============================ +//=========================================================================== + +#ifdef BED_LIMIT_SWITCHING + #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS +#endif +#define BED_CHECK_INTERVAL 5000 //ms between checks in bang-bang control + +//// Heating sanity check: +// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature +// If the temperature has not increased at the end of that period, the target temperature is set to zero. +// It can be reset with another M104/M109. This check is also only triggered if the target temperature and the current temperature +// differ by at least 2x WATCH_TEMP_INCREASE +//#define WATCH_TEMP_PERIOD 40000 //40 seconds +//#define WATCH_TEMP_INCREASE 10 //Heat up at least 10 degree in 20 seconds + +#ifdef PIDTEMP + // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed. + // if Kc is choosen well, the additional required power due to increased melting should be compensated. + #define PID_ADD_EXTRUSION_RATE + #ifdef PID_ADD_EXTRUSION_RATE + #define DEFAULT_Kc (1) //heatingpower=Kc*(e_speed) + #endif +#endif + + +//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode. +//The maximum buffered steps/sec of the extruder motor are called "se". +//You enter the autotemp mode by a M109 S T F +// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp +// you exit the value by any M109 without F* +// Also, if the temperature is set to a value +// Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results +// as long as it supports dual x-carriages. (M605 S0) +// Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so +// that additional slicer support is not required. (M605 S1) +// Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all +// actions of the first x-carriage. This allows the printer to print 2 arbitrary items at +// once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm]) + +// This is the default power-up mode which can be later using M605. +#define DEFAULT_DUAL_X_CARRIAGE_MODE 0 + +// Default settings in "Auto-park Mode" +#define TOOLCHANGE_PARK_ZLIFT 0.2 // the distance to raise Z axis when parking an extruder +#define TOOLCHANGE_UNPARK_ZLIFT 1 // the distance to raise Z axis when unparking an extruder + +// Default x offset in duplication mode (typically set to half print bed width) +#define DEFAULT_DUPLICATION_X_OFFSET 100 + +#endif //DUAL_X_CARRIAGE + +//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again: +#define X_HOME_RETRACT_MM 5 +#define Y_HOME_RETRACT_MM 5 +#define Z_HOME_RETRACT_MM 5 // deltas need the same for all three axis + +//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially. + +#define AXIS_RELATIVE_MODES {false, false, false, false} + +#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step) + +//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step. +#define INVERT_X_STEP_PIN false +#define INVERT_Y_STEP_PIN false +#define INVERT_Z_STEP_PIN false +#define INVERT_E_STEP_PIN false + +//default stepper release if idle. Set to 0 to deactivate. +#define DEFAULT_STEPPER_DEACTIVE_TIME 60 + +#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate +#define DEFAULT_MINTRAVELFEEDRATE 0.0 + +// Feedrates for manual moves along X, Y, Z, E from panel +#ifdef ULTIPANEL +#define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60} // set the speeds for manual moves (mm/min) +#endif + +// minimum time in microseconds that a movement needs to take if the buffer is emptied. +#define DEFAULT_MINSEGMENTTIME 20000 + +// If defined the movements slow down when the look ahead buffer is only half full +//#define SLOWDOWN + +// Frequency limit +// See nophead's blog for more info +// Not working O +//#define XY_FREQUENCY_LIMIT 15 + +// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end +// of the buffer and all stops. This should not be much greater than zero and should only be changed +// if unwanted behavior is observed on a user's machine when running at very slow speeds. +#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec) + +// MS1 MS2 Stepper Driver Microstepping mode table +#define MICROSTEP1 LOW,LOW +#define MICROSTEP2 HIGH,LOW +#define MICROSTEP4 LOW,HIGH +#define MICROSTEP8 HIGH,HIGH +#define MICROSTEP16 HIGH,HIGH + +// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU. +#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16] + +// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards) +#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A) + +// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro +//#define DIGIPOT_I2C +// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8 +#define DIGIPOT_I2C_NUM_CHANNELS 8 +// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS +#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} + +//=========================================================================== +//=============================Additional Features=========================== +//=========================================================================== + +#define ENCODER_RATE_MULTIPLIER // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly +#define ENCODER_10X_STEPS_PER_SEC 75 // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value +#define ENCODER_100X_STEPS_PER_SEC 160 // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value +//#define ENCODER_RATE_MULTIPLIER_DEBUG // If defined, output the encoder steps per second value + +//#define CHDK 4 //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/ +#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again + +#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers? +#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place. + +#define SDCARD_RATHERRECENTFIRST //reverse file order of sd card menu display. Its sorted practically after the filesystem block order. +// if a file is deleted, it frees a block. hence, the order is not purely cronological. To still have auto0.g accessible, there is again the option to do that. +// using: +//#define MENU_ADDAUTOSTART + +// Show a progress bar on the LCD when printing from SD +//#define LCD_PROGRESS_BAR + +#ifdef LCD_PROGRESS_BAR + // Amount of time (ms) to show the bar + #define PROGRESS_BAR_BAR_TIME 2000 + // Amount of time (ms) to show the status message + #define PROGRESS_BAR_MSG_TIME 2000 + // Amount of time (ms) to retain the status message (0=forever) + #define PROGRESS_MSG_EXPIRE 0 + // Enable this to show messages for MSG_TIME then hide them + //#define PROGRESS_MSG_ONCE +#endif + +// The hardware watchdog should reset the Microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation. +//#define USE_WATCHDOG + +#ifdef USE_WATCHDOG +// If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on. +// The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset. +// However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled. +//#define WATCHDOG_RESET_MANUAL +#endif + +// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled. +//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED + +// Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process +// it can e.g. be used to change z-positions in the print startup phase in realtime +// does not respect endstops! +//#define BABYSTEPPING +#ifdef BABYSTEPPING + #define BABYSTEP_XY //not only z, but also XY in the menu. more clutter, more functions + #define BABYSTEP_INVERT_Z false //true for inverse movements in Z + #define BABYSTEP_Z_MULTIPLICATOR 2 //faster z movements + + #ifdef COREXY + #error BABYSTEPPING not implemented for COREXY yet. + #endif + + #ifdef DELTA + #ifdef BABYSTEP_XY + #error BABYSTEPPING only implemented for Z axis on deltabots. + #endif + #endif +#endif + +// extruder advance constant (s2/mm3) +// +// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K * cubic mm per second ^ 2 +// +// hooke's law says: force = k * distance +// Bernoulli's principle says: v ^ 2 / 2 + g . h + pressure / density = constant +// so: v ^ 2 is proportional to number of steps we advance the extruder +//#define ADVANCE + +#ifdef ADVANCE + #define EXTRUDER_ADVANCE_K .0 + + #define D_FILAMENT 2.85 + #define STEPS_MM_E 836 + #define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159) + #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA) + +#endif // ADVANCE + +// Arc interpretation settings: +#define MM_PER_ARC_SEGMENT 1 +#define N_ARC_CORRECTION 25 + +const unsigned int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement + +// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted +// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT +// in the pins.h file. When using a push button pulling the pin to ground this will need inverted. This setting should +// be commented out otherwise +#define SDCARDDETECTINVERTED + +#ifdef ULTIPANEL + #undef SDCARDDETECTINVERTED +#endif + +// Power Signal Control Definitions +// By default use ATX definition +#ifndef POWER_SUPPLY + #define POWER_SUPPLY 1 +#endif +// 1 = ATX +#if (POWER_SUPPLY == 1) + #define PS_ON_AWAKE LOW + #define PS_ON_ASLEEP HIGH +#endif +// 2 = X-Box 360 203W +#if (POWER_SUPPLY == 2) + #define PS_ON_AWAKE HIGH + #define PS_ON_ASLEEP LOW +#endif + +// Control heater 0 and heater 1 in parallel. +//#define HEATERS_PARALLEL + +//=========================================================================== +//=============================Buffers ============================ +//=========================================================================== + +// The number of linear motions that can be in the plan at any give time. +// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering. +#if defined SDSUPPORT + #define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller +#else + #define BLOCK_BUFFER_SIZE 16 // maximize block buffer +#endif + + +//The ASCII buffer for recieving from the serial: +#define MAX_CMD_SIZE 96 +#define BUFSIZE 4 + + +// Firmware based and LCD controled retract +// M207 and M208 can be used to define parameters for the retraction. +// The retraction can be called by the slicer using G10 and G11 +// until then, intended retractions can be detected by moves that only extrude and the direction. +// the moves are than replaced by the firmware controlled ones. + +// #define FWRETRACT //ONLY PARTIALLY TESTED +#ifdef FWRETRACT + #define MIN_RETRACT 0.1 //minimum extruded mm to accept a automatic gcode retraction attempt + #define RETRACT_LENGTH 3 //default retract length (positive mm) + #define RETRACT_LENGTH_SWAP 13 //default swap retract length (positive mm), for extruder change + #define RETRACT_FEEDRATE 45 //default feedrate for retracting (mm/s) + #define RETRACT_ZLIFT 0 //default retract Z-lift + #define RETRACT_RECOVER_LENGTH 0 //default additional recover length (mm, added to retract length when recovering) + #define RETRACT_RECOVER_LENGTH_SWAP 0 //default additional swap recover length (mm, added to retract length when recovering from extruder change) + #define RETRACT_RECOVER_FEEDRATE 8 //default feedrate for recovering from retraction (mm/s) +#endif + +//adds support for experimental filament exchange support M600; requires display +#ifdef ULTIPANEL + #define FILAMENTCHANGEENABLE + #ifdef FILAMENTCHANGEENABLE + #define FILAMENTCHANGE_XPOS 3 + #define FILAMENTCHANGE_YPOS 3 + #define FILAMENTCHANGE_ZADD 10 + #define FILAMENTCHANGE_FIRSTRETRACT -2 + #define FILAMENTCHANGE_FINALRETRACT -100 + #endif +#endif + +#ifdef FILAMENTCHANGEENABLE + #ifdef EXTRUDER_RUNOUT_PREVENT + #error EXTRUDER_RUNOUT_PREVENT currently incompatible with FILAMENTCHANGE + #endif +#endif + +//=========================================================================== +//============================= Define Defines ============================ +//=========================================================================== + +#if defined (ENABLE_AUTO_BED_LEVELING) && defined (DELTA) + + #if not defined(AUTO_BED_LEVELING_GRID) + #error "Only Grid Bed Auto Leveling is supported on Deltas." + #endif + + #if defined(Z_PROBE_SLED) + #error "You cannot use Z_PROBE_SLED together with DELTA." + #endif + + #if defined(Z_PROBE_REPEATABILITY_TEST) + #error "Z-probe repeatability test is not supported on Deltas yet." + #endif + +#endif + +#if defined(Z_PROBE_ALLEN_KEY) + #if !defined(AUTO_BED_LEVELING_GRID) || !defined(DELTA) + #error "Invalid use of Z_PROBE_ALLEN_KEY." + #endif +#endif + +#if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT + #error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1" +#endif + +#if EXTRUDERS > 1 && defined HEATERS_PARALLEL + #error "You cannot use HEATERS_PARALLEL if EXTRUDERS > 1" +#endif + +#if TEMP_SENSOR_0 > 0 + #define THERMISTORHEATER_0 TEMP_SENSOR_0 + #define HEATER_0_USES_THERMISTOR +#endif +#if TEMP_SENSOR_1 > 0 + #define THERMISTORHEATER_1 TEMP_SENSOR_1 + #define HEATER_1_USES_THERMISTOR +#endif +#if TEMP_SENSOR_2 > 0 + #define THERMISTORHEATER_2 TEMP_SENSOR_2 + #define HEATER_2_USES_THERMISTOR +#endif +#if TEMP_SENSOR_3 > 0 + #define THERMISTORHEATER_3 TEMP_SENSOR_3 + #define HEATER_3_USES_THERMISTOR +#endif +#if TEMP_SENSOR_BED > 0 + #define THERMISTORBED TEMP_SENSOR_BED + #define BED_USES_THERMISTOR +#endif +#if TEMP_SENSOR_0 == -1 + #define HEATER_0_USES_AD595 +#endif +#if TEMP_SENSOR_1 == -1 + #define HEATER_1_USES_AD595 +#endif +#if TEMP_SENSOR_2 == -1 + #define HEATER_2_USES_AD595 +#endif +#if TEMP_SENSOR_3 == -1 + #define HEATER_3_USES_AD595 +#endif +#if TEMP_SENSOR_BED == -1 + #define BED_USES_AD595 +#endif +#if TEMP_SENSOR_0 == -2 + #define HEATER_0_USES_MAX6675 +#endif +#if TEMP_SENSOR_0 == 0 + #undef HEATER_0_MINTEMP + #undef HEATER_0_MAXTEMP +#endif +#if TEMP_SENSOR_1 == 0 + #undef HEATER_1_MINTEMP + #undef HEATER_1_MAXTEMP +#endif +#if TEMP_SENSOR_2 == 0 + #undef HEATER_2_MINTEMP + #undef HEATER_2_MAXTEMP +#endif +#if TEMP_SENSOR_3 == 0 + #undef HEATER_3_MINTEMP + #undef HEATER_3_MAXTEMP +#endif +#if TEMP_SENSOR_BED == 0 + #undef BED_MINTEMP + #undef BED_MAXTEMP +#endif + + +#endif //__CONFIGURATION_ADV_H From e6862700af1863838521f5642b158580da91567a Mon Sep 17 00:00:00 2001 From: maverikou Date: Sat, 7 Mar 2015 20:55:30 +0200 Subject: [PATCH 3/8] Add Z_RAISE_AFTER_PROBING to all config files --- Marlin/Configuration.h | 1 + Marlin/example_configurations/Hephestos/Configuration.h | 1 + Marlin/example_configurations/K8200/Configuration.h | 1 + Marlin/example_configurations/SCARA/Configuration.h | 1 + Marlin/example_configurations/WITBOX/Configuration.h | 1 + Marlin/example_configurations/makibox/Configuration.h | 1 + Marlin/example_configurations/tvrrug/Round2/Configuration.h | 1 + 7 files changed, 7 insertions(+) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index f3723de18c..88b689d4bf 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -440,6 +440,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + #define Z_RAISE_AFTER_PROBING 15 //How much the extruder will be raised after the last probing point. //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like. diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h index 57d0753d95..0fe54d443f 100644 --- a/Marlin/example_configurations/Hephestos/Configuration.h +++ b/Marlin/example_configurations/Hephestos/Configuration.h @@ -446,6 +446,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + #define Z_RAISE_AFTER_PROBING 15 //How much the extruder will be raised after the last probing point. //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like. diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h index de07642697..97ca9c07d7 100644 --- a/Marlin/example_configurations/K8200/Configuration.h +++ b/Marlin/example_configurations/K8200/Configuration.h @@ -451,6 +451,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + #define Z_RAISE_AFTER_PROBING 15 //How much the extruder will be raised after the last probing point. //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like. diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h index f29a9103d3..857eb96ff5 100644 --- a/Marlin/example_configurations/SCARA/Configuration.h +++ b/Marlin/example_configurations/SCARA/Configuration.h @@ -475,6 +475,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + #define Z_RAISE_AFTER_PROBING 15 //How much the extruder will be raised after the last probing point. //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like. diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h index 4e9c748c89..ddb0ed0b31 100644 --- a/Marlin/example_configurations/WITBOX/Configuration.h +++ b/Marlin/example_configurations/WITBOX/Configuration.h @@ -445,6 +445,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + #define Z_RAISE_AFTER_PROBING 15 //How much the extruder will be raised after the last probing point. //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like. diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h index 5fd92f4397..bcecc877e2 100644 --- a/Marlin/example_configurations/makibox/Configuration.h +++ b/Marlin/example_configurations/makibox/Configuration.h @@ -443,6 +443,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + #define Z_RAISE_AFTER_PROBING 15 //How much the extruder will be raised after the last probing point. //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like. diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h index 21c589d718..507b068a70 100644 --- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h +++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h @@ -445,6 +445,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points + #define Z_RAISE_AFTER_PROBING 15 //How much the extruder will be raised after the last probing point. //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like. From 0d593ab7c1d9f9d22008f9f27b640069aeb5c4b6 Mon Sep 17 00:00:00 2001 From: maverikou Date: Sun, 8 Mar 2015 09:41:31 +0200 Subject: [PATCH 4/8] Fix debug message --- Marlin/Marlin_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 06f02afcdb..712043787a 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -2311,10 +2311,10 @@ inline void gcode_G28() { do_blocking_move_to(MANUAL_X_HOME_POS, MANUAL_Y_HOME_POS, Z_RAISE_AFTER_PROBING); st_synchronize(); + #ifndef DELTA if (verbose_level > 0) plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); - #ifndef DELTA // Correct the Z height difference from z-probe position and hotend tip position. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. // When the bed is uneven, this height must be corrected. From 424c747fb30b8e0cf4e99f4c6e4a28c3ca6f1125 Mon Sep 17 00:00:00 2001 From: maverikou Date: Sun, 8 Mar 2015 09:57:38 +0200 Subject: [PATCH 5/8] Enable M401 and M402 for deltas with allen key z-probes. --- Marlin/Marlin_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 712043787a..4d3ed93e9e 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -4083,7 +4083,7 @@ inline void gcode_M303() { */ inline void gcode_M400() { st_synchronize(); } -#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED) +#if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED) /** * M401: Engage Z Servo endstop if available @@ -4940,7 +4940,7 @@ void process_commands() { gcode_M400(); break; - #if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED) + #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED) case 401: gcode_M401(); break; From 3570447ded59e6a018ccbc20845226914c0ede70 Mon Sep 17 00:00:00 2001 From: maverikou Date: Mon, 16 Mar 2015 08:35:49 +0200 Subject: [PATCH 6/8] Fix Z_RAISE_AFTER_PROBING --- Marlin/Marlin_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index c170689561..5ad45ef2ec 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -2339,7 +2339,7 @@ inline void gcode_G28() { #endif // !AUTO_BED_LEVELING_GRID - do_blocking_move_to(MANUAL_X_HOME_POS, MANUAL_Y_HOME_POS, Z_RAISE_AFTER_PROBING); + do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING); st_synchronize(); #ifndef DELTA From b8ae3feb9eae0ee9729bdac7e32609e790988a9d Mon Sep 17 00:00:00 2001 From: maverikou Date: Mon, 16 Mar 2015 09:03:15 +0200 Subject: [PATCH 7/8] Update test --- Marlin/example_configurations/delta/kossel_mini/Configuration.h | 1 + 1 file changed, 1 insertion(+) diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h index 34e6a6ce4c..c9cd12303c 100644 --- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h @@ -517,6 +517,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o #define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves #define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts +#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder). From e93eb3e8d3ddc434424964d46bd33371b83b9293 Mon Sep 17 00:00:00 2001 From: maverikou Date: Mon, 16 Mar 2015 09:16:00 +0200 Subject: [PATCH 8/8] Update test --- .../example_configurations/delta/kossel_mini/Configuration.h | 4 +++- .../delta/kossel_mini/Configuration_adv.h | 1 + 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h index c9cd12303c..22db0e955a 100644 --- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h @@ -428,7 +428,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o #define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS #define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS #define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS - #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS + #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS + + #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this // Non-linear bed leveling will be used. // Compensate by interpolating between the nearest four Z probe values for each point. diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h index cb08c887cf..76ff183099 100644 --- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h @@ -214,6 +214,7 @@ #define X_HOME_RETRACT_MM 5 #define Y_HOME_RETRACT_MM 5 #define Z_HOME_RETRACT_MM 5 // deltas need the same for all three axis +#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate) //#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.