🚸 Optional X-Axis (#25418)
Co-authored-by: alextrical <35117191+alextrical@users.noreply.github.com> Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
ellensp
GitHub
@@ -203,22 +203,24 @@ inline void report_more_positions() {
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// Report the logical position for a given machine position
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inline void report_logical_position(const xyze_pos_t &rpos) {
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const xyze_pos_t lpos = rpos.asLogical();
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SERIAL_ECHOPGM_P(
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LIST_N(DOUBLE(NUM_AXES),
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X_LBL, lpos.x,
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SP_Y_LBL, lpos.y,
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SP_Z_LBL, lpos.z,
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SP_I_LBL, lpos.i,
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SP_J_LBL, lpos.j,
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SP_K_LBL, lpos.k,
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SP_U_LBL, lpos.u,
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SP_V_LBL, lpos.v,
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SP_W_LBL, lpos.w
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)
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#if HAS_EXTRUDERS
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, SP_E_LBL, lpos.e
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#endif
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);
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#if NUM_AXES
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SERIAL_ECHOPGM_P(
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LIST_N(DOUBLE(NUM_AXES),
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X_LBL, lpos.x,
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SP_Y_LBL, lpos.y,
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SP_Z_LBL, lpos.z,
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SP_I_LBL, lpos.i,
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SP_J_LBL, lpos.j,
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SP_K_LBL, lpos.k,
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SP_U_LBL, lpos.u,
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SP_V_LBL, lpos.v,
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SP_W_LBL, lpos.w
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)
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);
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#endif
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#if HAS_EXTRUDERS
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SERIAL_ECHOPGM_P(SP_E_LBL, lpos.e);
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#endif
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}
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// Report the real current position according to the steppers.
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@@ -367,7 +369,7 @@ void report_current_position_projected() {
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#else // CARTESIAN
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// Return true if the given position is within the machine bounds.
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bool position_is_reachable(const_float_t rx, const_float_t ry) {
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bool position_is_reachable(TERN_(HAS_X_AXIS, const_float_t rx) OPTARG(HAS_Y_AXIS, const_float_t ry)) {
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if (TERN0(HAS_Y_AXIS, !COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop))) return false;
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#if ENABLED(DUAL_X_CARRIAGE)
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if (active_extruder)
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@@ -375,7 +377,8 @@ void report_current_position_projected() {
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else
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return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
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#else
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return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
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if (TERN0(HAS_X_AXIS, !COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop))) return false;
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return true;
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#endif
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}
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@@ -567,7 +570,7 @@ void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/
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* - Delta may lower Z first to get into the free motion zone.
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* - Before returning, wait for the planner buffer to empty.
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*/
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void do_blocking_move_to(NUM_AXIS_ARGS(const_float_t), const_feedRate_t fr_mm_s/*=0.0f*/) {
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void do_blocking_move_to(NUM_AXIS_ARGS_(const_float_t) const_feedRate_t fr_mm_s/*=0.0f*/) {
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DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING));
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if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", NUM_AXIS_ARGS());
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@@ -642,7 +645,7 @@ void do_blocking_move_to(NUM_AXIS_ARGS(const_float_t), const_feedRate_t fr_mm_s/
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if (current_position.z < z) { current_position.z = z; line_to_current_position(z_feedrate); }
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#endif
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current_position.set(x OPTARG(HAS_Y_AXIS, y)); line_to_current_position(xy_feedrate);
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current_position.set(TERN_(HAS_X_AXIS, x) OPTARG(HAS_Y_AXIS, y)); line_to_current_position(xy_feedrate);
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#if SECONDARY_AXES
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secondary_axis_moves(SECONDARY_AXIS_LIST(i, j, k, u, v, w), fr_mm_s);
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@@ -659,30 +662,33 @@ void do_blocking_move_to(NUM_AXIS_ARGS(const_float_t), const_feedRate_t fr_mm_s/
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}
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void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(NUM_AXIS_LIST(raw.x, raw.y, current_position.z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w), fr_mm_s);
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do_blocking_move_to(NUM_AXIS_LIST_(raw.x, raw.y, current_position.z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w) fr_mm_s);
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}
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void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(NUM_AXIS_ELEM(raw), fr_mm_s);
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do_blocking_move_to(NUM_AXIS_ELEM_(raw) fr_mm_s);
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}
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void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(NUM_AXIS_ELEM(raw), fr_mm_s);
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}
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void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_blocking_move_to_x(", rx, ", ", fr_mm_s, ")");
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do_blocking_move_to(
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NUM_AXIS_LIST(rx, current_position.y, current_position.z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w),
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fr_mm_s
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);
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do_blocking_move_to(NUM_AXIS_ELEM_(raw) fr_mm_s);
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}
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#if HAS_X_AXIS
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void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_blocking_move_to_x(", rx, ", ", fr_mm_s, ")");
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do_blocking_move_to(
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NUM_AXIS_LIST_(rx, current_position.y, current_position.z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w)
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fr_mm_s
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);
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}
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#endif
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#if HAS_Y_AXIS
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void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_blocking_move_to_y(", ry, ", ", fr_mm_s, ")");
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do_blocking_move_to(
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NUM_AXIS_LIST(current_position.x, ry, current_position.z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w),
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NUM_AXIS_LIST_(current_position.x, ry, current_position.z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w)
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fr_mm_s
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);
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}
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@@ -701,7 +707,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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}
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void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(
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NUM_AXIS_LIST(raw.x, raw.y, raw.z, i, raw.j, raw.k, raw.u, raw.v, raw.w),
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NUM_AXIS_LIST_(raw.x, raw.y, raw.z, i, raw.j, raw.k, raw.u, raw.v, raw.w)
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fr_mm_s
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);
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}
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@@ -713,7 +719,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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}
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void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(
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NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, j, raw.k, raw.u, raw.v, raw.w),
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NUM_AXIS_LIST_(raw.x, raw.y, raw.z, raw.i, j, raw.k, raw.u, raw.v, raw.w)
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fr_mm_s
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);
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}
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@@ -725,7 +731,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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}
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void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(
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NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, k, raw.u, raw.v, raw.w),
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NUM_AXIS_LIST_(raw.x, raw.y, raw.z, raw.i, raw.j, k, raw.u, raw.v, raw.w)
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fr_mm_s
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);
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}
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@@ -737,7 +743,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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}
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void do_blocking_move_to_xyzijk_u(const xyze_pos_t &raw, const_float_t u, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(
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NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, u, raw.v, raw.w),
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NUM_AXIS_LIST_(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, u, raw.v, raw.w)
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fr_mm_s
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);
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}
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@@ -749,7 +755,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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}
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void do_blocking_move_to_xyzijku_v(const xyze_pos_t &raw, const_float_t v, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(
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NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, raw.u, v, raw.w),
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NUM_AXIS_LIST_(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, raw.u, v, raw.w)
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fr_mm_s
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);
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}
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@@ -761,7 +767,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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}
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void do_blocking_move_to_xyzijkuv_w(const xyze_pos_t &raw, const_float_t w, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(
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NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, raw.u, raw.v, w),
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NUM_AXIS_LIST_(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, raw.u, raw.v, w)
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fr_mm_s
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);
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}
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@@ -771,8 +777,8 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_blocking_move_to_xy(", rx, ", ", ry, ", ", fr_mm_s, ")");
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do_blocking_move_to(
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NUM_AXIS_LIST(rx, ry, current_position.z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w),
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NUM_AXIS_LIST_(rx, ry, current_position.z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w)
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fr_mm_s
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);
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}
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@@ -784,8 +790,8 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
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#if HAS_Z_AXIS
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void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s/*=0.0f*/) {
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do_blocking_move_to(
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NUM_AXIS_LIST(raw.x, raw.y, z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w),
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NUM_AXIS_LIST_(raw.x, raw.y, z, current_position.i, current_position.j, current_position.k,
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current_position.u, current_position.v, current_position.w)
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fr_mm_s
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);
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}
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@@ -966,14 +972,16 @@ void restore_feedrate_and_scaling() {
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#else
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if (axis_was_homed(X_AXIS)) {
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target.x, soft_endstop.min.x);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target.x, soft_endstop.max.x);
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#endif
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}
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#if HAS_X_AXIS
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if (axis_was_homed(X_AXIS)) {
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target.x, soft_endstop.min.x);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target.x, soft_endstop.max.x);
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#endif
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}
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#endif
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#if HAS_Y_AXIS
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if (axis_was_homed(Y_AXIS)) {
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@@ -1079,82 +1087,90 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
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* Get distance from displacements along axes and, if required, update move type.
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*/
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float get_move_distance(const xyze_pos_t &diff OPTARG(HAS_ROTATIONAL_AXES, bool &is_cartesian_move)) {
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if (!(NUM_AXIS_GANG(diff.x, || diff.y, /* skip z */, || diff.i, || diff.j, || diff.k, || diff.u, || diff.v, || diff.w)))
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return TERN0(HAS_Z_AXIS, ABS(diff.z));
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#if NUM_AXES
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#if ENABLED(ARTICULATED_ROBOT_ARM)
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if (!(NUM_AXIS_GANG(diff.x, || diff.y, /* skip z */, || diff.i, || diff.j, || diff.k, || diff.u, || diff.v, || diff.w)))
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return TERN0(HAS_Z_AXIS, ABS(diff.z));
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// For articulated robots, interpreting feedrate like LinuxCNC would require inverse kinematics. As a workaround, pretend that motors sit on n mutually orthogonal
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// axes and assume that we could think of distance as magnitude of an n-vector in an n-dimensional Euclidian space.
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const float distance_sqr = NUM_AXIS_GANG(
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sq(diff.x), + sq(diff.y), + sq(diff.z),
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+ sq(diff.i), + sq(diff.j), + sq(diff.k),
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+ sq(diff.u), + sq(diff.v), + sq(diff.w)
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);
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#if ENABLED(ARTICULATED_ROBOT_ARM)
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#elif ENABLED(FOAMCUTTER_XYUV)
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// For articulated robots, interpreting feedrate like LinuxCNC would require inverse kinematics. As a workaround, pretend that motors sit on n mutually orthogonal
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// axes and assume that we could think of distance as magnitude of an n-vector in an n-dimensional Euclidian space.
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const float distance_sqr = NUM_AXIS_GANG(
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sq(diff.x), + sq(diff.y), + sq(diff.z),
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+ sq(diff.i), + sq(diff.j), + sq(diff.k),
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+ sq(diff.u), + sq(diff.v), + sq(diff.w)
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);
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const float distance_sqr = (
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#if HAS_J_AXIS
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_MAX(sq(diff.x) + sq(diff.y), sq(diff.i) + sq(diff.j)) // Special 5 axis kinematics. Return the larger of plane X/Y or I/J
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#else
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sq(diff.x) + sq(diff.y) // Foamcutter with only two axes (XY)
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#elif ENABLED(FOAMCUTTER_XYUV)
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const float distance_sqr = (
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#if HAS_J_AXIS
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_MAX(sq(diff.x) + sq(diff.y), sq(diff.i) + sq(diff.j)) // Special 5 axis kinematics. Return the larger of plane X/Y or I/J
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#else
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sq(diff.x) + sq(diff.y) // Foamcutter with only two axes (XY)
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#endif
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);
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#else
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/**
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* Calculate distance for feedrate interpretation in accordance with NIST RS274NGC interpreter - version 3) and its default CANON_XYZ feed reference mode.
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* Assume:
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* - X, Y, Z are the primary linear axes;
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* - U, V, W are secondary linear axes;
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* - A, B, C are rotational axes.
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*
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* Then:
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* - dX, dY, dZ are the displacements of the primary linear axes;
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* - dU, dV, dW are the displacements of linear axes;
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* - dA, dB, dC are the displacements of rotational axes.
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*
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* The time it takes to execute a move command with feedrate F is t = D/F,
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* plus any time for acceleration and deceleration.
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* Here, D is the total distance, calculated as follows:
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*
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* D^2 = dX^2 + dY^2 + dZ^2
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* if D^2 == 0 (none of XYZ move but any secondary linear axes move, whether other axes are moved or not):
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* D^2 = dU^2 + dV^2 + dW^2
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* if D^2 == 0 (only rotational axes are moved):
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* D^2 = dA^2 + dB^2 + dC^2
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*/
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float distance_sqr = XYZ_GANG(sq(diff.x), + sq(diff.y), + sq(diff.z));
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#if SECONDARY_LINEAR_AXES
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if (UNEAR_ZERO(distance_sqr)) {
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// Move does not involve any primary linear axes (xyz) but might involve secondary linear axes
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distance_sqr = (
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SECONDARY_AXIS_GANG(
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IF_DISABLED(AXIS4_ROTATES, + sq(diff.i)),
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IF_DISABLED(AXIS5_ROTATES, + sq(diff.j)),
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IF_DISABLED(AXIS6_ROTATES, + sq(diff.k)),
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IF_DISABLED(AXIS7_ROTATES, + sq(diff.u)),
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IF_DISABLED(AXIS8_ROTATES, + sq(diff.v)),
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IF_DISABLED(AXIS9_ROTATES, + sq(diff.w))
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)
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);
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}
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#endif
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);
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#if HAS_ROTATIONAL_AXES
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if (UNEAR_ZERO(distance_sqr)) {
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// Move involves only rotational axes. Calculate angular distance in accordance with LinuxCNC
|
||||
is_cartesian_move = false;
|
||||
distance_sqr = ROTATIONAL_AXIS_GANG(sq(diff.i), + sq(diff.j), + sq(diff.k), + sq(diff.u), + sq(diff.v), + sq(diff.w));
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
return SQRT(distance_sqr);
|
||||
|
||||
#else
|
||||
|
||||
/**
|
||||
* Calculate distance for feedrate interpretation in accordance with NIST RS274NGC interpreter - version 3) and its default CANON_XYZ feed reference mode.
|
||||
* Assume:
|
||||
* - X, Y, Z are the primary linear axes;
|
||||
* - U, V, W are secondary linear axes;
|
||||
* - A, B, C are rotational axes.
|
||||
*
|
||||
* Then:
|
||||
* - dX, dY, dZ are the displacements of the primary linear axes;
|
||||
* - dU, dV, dW are the displacements of linear axes;
|
||||
* - dA, dB, dC are the displacements of rotational axes.
|
||||
*
|
||||
* The time it takes to execute a move command with feedrate F is t = D/F,
|
||||
* plus any time for acceleration and deceleration.
|
||||
* Here, D is the total distance, calculated as follows:
|
||||
*
|
||||
* D^2 = dX^2 + dY^2 + dZ^2
|
||||
* if D^2 == 0 (none of XYZ move but any secondary linear axes move, whether other axes are moved or not):
|
||||
* D^2 = dU^2 + dV^2 + dW^2
|
||||
* if D^2 == 0 (only rotational axes are moved):
|
||||
* D^2 = dA^2 + dB^2 + dC^2
|
||||
*/
|
||||
float distance_sqr = XYZ_GANG(sq(diff.x), + sq(diff.y), + sq(diff.z));
|
||||
|
||||
#if SECONDARY_LINEAR_AXES
|
||||
if (UNEAR_ZERO(distance_sqr)) {
|
||||
// Move does not involve any primary linear axes (xyz) but might involve secondary linear axes
|
||||
distance_sqr = (
|
||||
SECONDARY_AXIS_GANG(
|
||||
IF_DISABLED(AXIS4_ROTATES, + sq(diff.i)),
|
||||
IF_DISABLED(AXIS5_ROTATES, + sq(diff.j)),
|
||||
IF_DISABLED(AXIS6_ROTATES, + sq(diff.k)),
|
||||
IF_DISABLED(AXIS7_ROTATES, + sq(diff.u)),
|
||||
IF_DISABLED(AXIS8_ROTATES, + sq(diff.v)),
|
||||
IF_DISABLED(AXIS9_ROTATES, + sq(diff.w))
|
||||
)
|
||||
);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if HAS_ROTATIONAL_AXES
|
||||
if (UNEAR_ZERO(distance_sqr)) {
|
||||
// Move involves only rotational axes. Calculate angular distance in accordance with LinuxCNC
|
||||
is_cartesian_move = false;
|
||||
distance_sqr = ROTATIONAL_AXIS_GANG(sq(diff.i), + sq(diff.j), + sq(diff.k), + sq(diff.u), + sq(diff.v), + sq(diff.w));
|
||||
}
|
||||
#endif
|
||||
return 0;
|
||||
|
||||
#endif
|
||||
|
||||
return SQRT(distance_sqr);
|
||||
}
|
||||
|
||||
#if IS_KINEMATIC
|
||||
@@ -1702,7 +1718,9 @@ void prepare_line_to_destination() {
|
||||
|
||||
#if ENABLED(SPI_ENDSTOPS)
|
||||
switch (axis) {
|
||||
case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = true; break;
|
||||
#if HAS_X_AXIS
|
||||
case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = true; break;
|
||||
#endif
|
||||
#if HAS_Y_AXIS
|
||||
case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = true; break;
|
||||
#endif
|
||||
@@ -1796,7 +1814,9 @@ void prepare_line_to_destination() {
|
||||
|
||||
#if ENABLED(SPI_ENDSTOPS)
|
||||
switch (axis) {
|
||||
case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break;
|
||||
#if HAS_X_AXIS
|
||||
case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break;
|
||||
#endif
|
||||
#if HAS_Y_AXIS
|
||||
case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break;
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user