sravan/Marlin-Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

✨ Polar Kinematics (#25214)

Browse Source
This commit is contained in:
kadir ilkimen
2023-01-11 06:29:38 +02:00
committed by Scott Lahteine
parent 33e5aad364
commit 7717beb793
32 changed files with 376 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files

65
Marlin/Configuration.h
View File

@@ -915,7 +915,7 @@
#endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0 // (mm)
#define PRINTABLE_RADIUS 140.0 // (mm)
// Maximum reachable area
#define DELTA_MAX_RADIUS 140.0 // (mm)
@@ -969,7 +969,7 @@
#if ENABLED(MORGAN_SCARA)
//#define DEBUG_SCARA_KINEMATICS
#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
@@ -1004,7 +1004,7 @@
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
@@ -1014,6 +1014,59 @@
#define PSI_HOMING_OFFSET 0
#endif
// @section polar
/**
* POLAR Kinematics
* developed by Kadir ilkimen for PolarBear CNC and babyBear
* https://github.com/kadirilkimen/Polar-Bear-Cnc-Machine
* https://github.com/kadirilkimen/babyBear-3D-printer
*
* A polar machine can have different configurations.
* This kinematics is only compatible with the following configuration:
* X : Independent linear
* Y or B : Polar
* Z : Independent linear
*
* For example, PolarBear has CoreXZ plus Polar Y or B.
*
* Motion problem for Polar axis near center / origin:
*
* 3D printing:
* Movements very close to the center of the polar axis take more time than others.
* This brief delay results in more material deposition due to the pressure in the nozzle.
*
* Current Kinematics and feedrate scaling deals with this by making the movement as fast
* as possible. It works for slow movements but doesn't work well with fast ones. A more
* complicated extrusion compensation must be implemented.
*
* Ideally, it should estimate that a long rotation near the center is ahead and will cause
* unwanted deposition. Therefore it can compensate the extrusion beforehand.
*
* Laser cutting:
* Same thing would be a problem for laser engraving too. As it spends time rotating at the
* center point, more likely it will burn more material than it should. Therefore similar
* compensation would be implemented for laser-cutting operations.
*
* Milling:
* This shouldn't be a problem for cutting/milling operations.
*/
//#define POLAR
#if ENABLED(POLAR)
#define DEFAULT_SEGMENTS_PER_SECOND 180 // If movement is choppy try lowering this value
#define PRINTABLE_RADIUS 82.0f // (mm) Maximum travel of X axis
// Movements fall inside POLAR_FAST_RADIUS are assigned the highest possible feedrate
// to compensate unwanted deposition related to the near-origin motion problem.
#define POLAR_FAST_RADIUS 3.0f // (mm)
// Radius which is unreachable by the tool.
// Needed if the tool is not perfectly aligned to the center of the polar axis.
#define POLAR_CENTER_OFFSET 0.0f // (mm)
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
#endif
// @section machine
// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
@@ -1420,13 +1473,13 @@
// 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
// if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
#define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, PRINTABLE_RADIUS, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, PRINTABLE_RADIUS, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
#define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (PRINTABLE_RADIUS) * 0.75, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position

2
Marlin/src/MarlinCore.cpp
View File

@@ -168,6 +168,8 @@
#include "module/polargraph.h"
#elif IS_SCARA
#include "module/scara.h"
#elif ENABLED(POLAR)
#include "module/polar.h"
#endif
#if HAS_LEVELING

1
Marlin/src/core/language.h
View File

@@ -279,6 +279,7 @@
#define STR_S_SEG_PER_SEC "S<seg-per-sec>"
#define STR_DELTA_SETTINGS "Delta (L<diagonal-rod> R<radius> H<height> S<seg-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
#define STR_SCARA_SETTINGS "SCARA"
#define STR_POLAR_SETTINGS "Polar"
#define STR_POLARGRAPH_SETTINGS "Polargraph"
#define STR_SCARA_P_T_Z "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
#define STR_ENDSTOP_ADJUSTMENT "Endstop adjustment"

32
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View File

@@ -334,16 +334,14 @@
#else // UBL_SEGMENTED
#if IS_SCARA
#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
#elif ENABLED(DELTA)
#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
#elif ENABLED(POLARGRAPH)
#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
#define SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
#elif IS_KINEMATIC
#define SEGMENT_MIN_LENGTH 0.10 // (mm) Still subject to DEFAULT_SEGMENTS_PER_SECOND
#else // CARTESIAN
#ifdef LEVELED_SEGMENT_LENGTH
#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
#define SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
#else
#define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation)
#define SEGMENT_MIN_LENGTH 1.00 // (mm) Similar to G2/G3 arc segmentation
#endif
#endif
@@ -361,23 +359,23 @@
const xyze_pos_t total = destination - current_position;
const float cart_xy_mm_2 = HYPOT2(total.x, total.y),
cart_xy_mm = SQRT(cart_xy_mm_2); // Total XY distance
cart_xy_mm = SQRT(cart_xy_mm_2); // Total XY distance
#if IS_KINEMATIC
const float seconds = cart_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate
uint16_t segments = LROUND(segments_per_second * seconds), // Preferred number of segments for distance @ feedrate
seglimit = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments)
const float seconds = cart_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate
uint16_t segments = LROUND(segments_per_second * seconds), // Preferred number of segments for distance @ feedrate
seglimit = LROUND(cart_xy_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments)
#else
uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
#endif
NOLESS(segments, 1U); // Must have at least one segment
const float inv_segments = 1.0f / segments; // Reciprocal to save calculation
NOLESS(segments, 1U); // Must have at least one segment
const float inv_segments = 1.0f / segments; // Reciprocal to save calculation
// Add hints to help optimize the move
PlannerHints hints(SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments); // Length of each segment
#if ENABLED(SCARA_FEEDRATE_SCALING)
PlannerHints hints(SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments); // Length of each segment
#if ENABLED(FEEDRATE_SCALING)
hints.inv_duration = scaled_fr_mm_s / hints.millimeters;
#endif

4
Marlin/src/gcode/calibrate/G33.cpp
View File

@@ -407,12 +407,12 @@ void GcodeSuite::G33() {
towers_set = !parser.seen_test('T');
// The calibration radius is set to a calculated value
float dcr = probe_at_offset ? DELTA_PRINTABLE_RADIUS : DELTA_PRINTABLE_RADIUS - PROBING_MARGIN;
float dcr = probe_at_offset ? PRINTABLE_RADIUS : PRINTABLE_RADIUS - PROBING_MARGIN;
#if HAS_PROBE_XY_OFFSET
const float total_offset = HYPOT(probe.offset_xy.x, probe.offset_xy.y);
dcr -= probe_at_offset ? _MAX(total_offset, PROBING_MARGIN) : total_offset;
#endif
NOMORE(dcr, DELTA_PRINTABLE_RADIUS);
NOMORE(dcr, PRINTABLE_RADIUS);
if (parser.seenval('R')) dcr -= _MAX(parser.value_float(), 0.0f);
TERN_(HAS_DELTA_SENSORLESS_PROBING, dcr *= sensorless_radius_factor);

4
Marlin/src/gcode/calibrate/M48.cpp
View File

@@ -162,8 +162,8 @@ void GcodeSuite::M48() {
float angle = random(0, 360);
const float radius = random(
#if ENABLED(DELTA)
int(0.1250000000 * (DELTA_PRINTABLE_RADIUS)),
int(0.3333333333 * (DELTA_PRINTABLE_RADIUS))
int(0.1250000000 * (PRINTABLE_RADIUS)),
int(0.3333333333 * (PRINTABLE_RADIUS))
#else
int(5), int(0.125 * _MIN(X_BED_SIZE, Y_BED_SIZE))
#endif

19
Marlin/src/gcode/calibrate/M665.cpp
View File

@@ -181,6 +181,25 @@
);
}
#elif ENABLED(POLAR)
#include "../../module/polar.h"
/**
* M665: Set POLAR settings
* Parameters:
* S[segments] - Segments-per-second
*/
void GcodeSuite::M665() {
if (!parser.seen_any()) return M665_report();
if (parser.seenval('S')) segments_per_second = parser.value_float();
}
void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
report_heading_etc(forReplay, F(STR_POLAR_SETTINGS));
SERIAL_ECHOLNPGM_P(PSTR(" M665 S"), segments_per_second);
}
#endif
#endif // IS_KINEMATIC

2
Marlin/src/gcode/gcode.h
View File

@@ -335,7 +335,7 @@
#include "../feature/encoder_i2c.h"
#endif
#if IS_SCARA || defined(G0_FEEDRATE)
#if EITHER(IS_SCARA, POLAR) || defined(G0_FEEDRATE)
#define HAS_FAST_MOVES 1
#endif

2
Marlin/src/gcode/host/M114.cpp
View File

@@ -71,7 +71,7 @@
#if IS_KINEMATIC
// Kinematics applied to the leveled position
SERIAL_ECHOPGM(TERN(IS_SCARA, "ScaraK: ", "DeltaK: "));
SERIAL_ECHOPGM(TERN(POLAR, "Polar", TERN(IS_SCARA, "Scara", "Delta")) "K: " );
inverse_kinematics(leveled); // writes delta[]
report_linear_axis_pos(delta);
#endif

1
Marlin/src/gcode/host/M360.cpp
View File

@@ -161,6 +161,7 @@ void GcodeSuite::M360() {
SERIAL_ECHOLNPGM(
TERN_(DELTA, "Delta")
TERN_(IS_SCARA, "SCARA")
TERN_(POLAR, "Polar")
TERN_(IS_CORE, "Core")
TERN_(MARKFORGED_XY, "MarkForgedXY")
TERN_(MARKFORGED_YX, "MarkForgedYX")

2
Marlin/src/gcode/motion/G0_G1.cpp
View File

@@ -106,7 +106,7 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
#endif // FWRETRACT
#if IS_SCARA
#if EITHER(IS_SCARA, POLAR)
fast_move ? prepare_fast_move_to_destination() : prepare_line_to_destination();
#else
prepare_line_to_destination();

2
Marlin/src/gcode/motion/G2_G3.cpp
View File

@@ -218,7 +218,7 @@ void plan_arc(
// Add hints to help optimize the move
PlannerHints hints;
#if ENABLED(SCARA_FEEDRATE_SCALING)
#if ENABLED(FEEDRATE_SCALING)
hints.inv_duration = (scaled_fr_mm_s / flat_mm) * segments;
#endif

2
Marlin/src/inc/Conditionals_LCD.h
View File

@@ -1406,7 +1406,7 @@
#if ANY(MORGAN_SCARA, MP_SCARA, AXEL_TPARA)
#define IS_SCARA 1
#define IS_KINEMATIC 1
#elif EITHER(DELTA, POLARGRAPH)
#elif ANY(DELTA, POLARGRAPH, POLAR)
#define IS_KINEMATIC 1
#else
#define IS_CARTESIAN 1

14
Marlin/src/inc/Conditionals_post.h
View File

@@ -267,6 +267,7 @@
*/
#if IS_KINEMATIC
#undef LCD_BED_TRAMMING
#undef SLOWDOWN
#endif
/**
@@ -274,12 +275,11 @@
* Printable radius assumes joints can fully extend
*/
#if IS_SCARA
#undef SLOWDOWN
#if ENABLED(AXEL_TPARA)
#define SCARA_PRINTABLE_RADIUS (TPARA_LINKAGE_1 + TPARA_LINKAGE_2)
#define PRINTABLE_RADIUS (TPARA_LINKAGE_1 + TPARA_LINKAGE_2)
#else
#define QUICK_HOME
#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
#define PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
#endif
#endif
@@ -378,7 +378,6 @@
*/
#if ENABLED(DELTA)
#undef Z_SAFE_HOMING
#undef SLOWDOWN
#endif
#ifndef MESH_INSET
@@ -3083,7 +3082,10 @@
/**
* Only constrain Z on DELTA / SCARA machines
*/
#if IS_KINEMATIC
#if ENABLED(POLAR)
#undef MIN_SOFTWARE_ENDSTOP_Y
#undef MAX_SOFTWARE_ENDSTOP_Y
#elif IS_KINEMATIC
#undef MIN_SOFTWARE_ENDSTOP_X
#undef MIN_SOFTWARE_ENDSTOP_Y
#undef MAX_SOFTWARE_ENDSTOP_X
@@ -3154,7 +3156,7 @@
#if EITHER(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL)
#if IS_KINEMATIC
// Probing points may be verified at compile time within the radius
// using static_assert(HYPOT2(X2-X1,Y2-Y1)<=sq(DELTA_PRINTABLE_RADIUS),"bad probe point!")
// using static_assert(HYPOT2(X2-X1,Y2-Y1)<=sq(PRINTABLE_RADIUS),"bad probe point!")
// so that may be added to SanityCheck.h in the future.
#define _MESH_MIN_X (X_MIN_BED + MESH_INSET)
#define _MESH_MIN_Y (Y_MIN_BED + MESH_INSET)

23
Marlin/src/inc/SanityCheck.h
View File

@@ -658,6 +658,12 @@
#error "(POLAR|DELTA|SCARA|TPARA)_SEGMENTS_PER_SECOND is now DEFAULT_SEGMENTS_PER_SECOND."
#elif ANY(DGUS_LCD_UI_ORIGIN, DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_HIPRECY, DGUS_LCD_UI_MKS, DGUS_LCD_UI_RELOADED) && !defined(DGUS_LCD_UI)
#error "DGUS_LCD_UI_[TYPE] is now set using DGUS_LCD_UI TYPE."
#elif defined(DELTA_PRINTABLE_RADIUS)
#error "DELTA_PRINTABLE_RADIUS is now PRINTABLE_RADIUS."
#elif defined(SCARA_PRINTABLE_RADIUS)
#error "SCARA_PRINTABLE_RADIUS is now PRINTABLE_RADIUS."
#elif defined(SCARA_FEEDRATE_SCALING)
#error "SCARA_FEEDRATE_SCALING is now FEEDRATE_SCALING."
#endif
// L64xx stepper drivers have been removed
@@ -1371,6 +1377,13 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#endif
#endif
/**
* POLAR warnings
*/
#if BOTH(POLAR, S_CURVE_ACCELERATION)
#warning "POLAR Kinematics may not work well with S_CURVE_ACCELERATION."
#endif
/**
* Special tool-changing options
*/
@@ -1666,8 +1679,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
/**
* Allow only one kinematic type to be defined
*/
#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, FOAMCUTTER_XYUV)
#error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, or FOAMCUTTER_XYUV."
#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, FOAMCUTTER_XYUV, POLAR)
#error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, FOAMCUTTER_XYUV, or POLAR."
#endif
/**
@@ -1695,7 +1708,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
* Junction deviation is incompatible with kinematic systems.
*/
#if HAS_JUNCTION_DEVIATION && IS_KINEMATIC
#error "CLASSIC_JERK is required for DELTA and SCARA."
#error "CLASSIC_JERK is required for DELTA, SCARA, and POLAR."
#endif
/**
@@ -1913,7 +1926,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
static_assert(PROBING_MARGIN_RIGHT >= 0, "PROBING_MARGIN_RIGHT must be >= 0.");
#endif
#define _MARGIN(A) TERN(IS_SCARA, SCARA_PRINTABLE_RADIUS, TERN(DELTA, DELTA_PRINTABLE_RADIUS, ((A##_BED_SIZE) / 2)))
#define _MARGIN(A) TERN(IS_KINEMATIC, PRINTABLE_RADIUS, ((A##_BED_SIZE) / 2))
static_assert(PROBING_MARGIN < _MARGIN(X), "PROBING_MARGIN is too large.");
static_assert(PROBING_MARGIN_BACK < _MARGIN(Y), "PROBING_MARGIN_BACK is too large.");
static_assert(PROBING_MARGIN_FRONT < _MARGIN(Y), "PROBING_MARGIN_FRONT is too large.");
@@ -2004,6 +2017,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#if IS_SCARA
#error "AUTO_BED_LEVELING_UBL does not yet support SCARA printers."
#elif ENABLED(POLAR)
#error "AUTO_BED_LEVELING_UBL does not yet support POLAR printers."
#elif DISABLED(EEPROM_SETTINGS)
#error "AUTO_BED_LEVELING_UBL requires EEPROM_SETTINGS."
#elif !WITHIN(GRID_MAX_POINTS_X, 3, 15) || !WITHIN(GRID_MAX_POINTS_Y, 3, 15)

4
Marlin/src/lcd/e3v2/proui/dwinui.cpp
View File

@@ -281,7 +281,7 @@ void DWINUI::Draw_FillCircle(uint16_t bcolor, uint16_t x,uint16_t y,uint8_t r) {
// color2 : End color
uint16_t DWINUI::ColorInt(int16_t val, int16_t minv, int16_t maxv, uint16_t color1, uint16_t color2) {
uint8_t B, G, R;
const float n = (float)(val - minv) / (maxv - minv);
const float n = float(val - minv) / (maxv - minv);
R = (1 - n) * GetRColor(color1) + n * GetRColor(color2);
G = (1 - n) * GetGColor(color1) + n * GetGColor(color2);
B = (1 - n) * GetBColor(color1) + n * GetBColor(color2);
@@ -296,7 +296,7 @@ uint16_t DWINUI::RainbowInt(int16_t val, int16_t minv, int16_t maxv) {
uint8_t B, G, R;
const uint8_t maxB = 28, maxR = 28, maxG = 38;
const int16_t limv = _MAX(abs(minv), abs(maxv));
float n = minv >= 0 ? (float)(val - minv) / (maxv - minv) : (float)val / limv;
float n = minv >= 0 ? float(val - minv) / (maxv - minv) : (float)val / limv;
LIMIT(n, -1, 1);
if (n < 0) {
R = 0;

2
Marlin/src/lcd/extui/ui_api.cpp
View File

@@ -333,7 +333,7 @@ namespace ExtUI {
// This assumes the center is 0,0
#if ENABLED(DELTA)
if (axis != Z) {
max = SQRT(sq(float(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y - axis])); // (Y - axis) == the other axis
max = SQRT(sq(float(PRINTABLE_RADIUS)) - sq(current_position[Y - axis])); // (Y - axis) == the other axis
min = -max;
}
#endif

2
Marlin/src/lcd/menu/menu_delta_calibrate.cpp
View File

@@ -92,7 +92,7 @@ void _man_probe_pt(const xy_pos_t &xy) {
}
void _goto_tower_a(const_float_t a) {
float dcr = DELTA_PRINTABLE_RADIUS - PROBING_MARGIN;
float dcr = PRINTABLE_RADIUS - PROBING_MARGIN;
TERN_(HAS_PROBE_XY_OFFSET, dcr -= HYPOT(probe.offset_xy.x, probe.offset_xy.y));
TERN_(HAS_DELTA_SENSORLESS_PROBING, dcr *= sensorless_radius_factor);
xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };

2
Marlin/src/lcd/menu/menu_motion.cpp
View File

@@ -68,7 +68,7 @@ void lcd_move_axis(const AxisEnum axis) {
// This assumes the center is 0,0
#if ENABLED(DELTA)
if (axis != Z_AXIS) {
max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
max = SQRT(sq(float(PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
min = -max;
}
#endif

2
Marlin/src/lcd/tft/ui_1024x600.cpp
View File

@@ -734,7 +734,7 @@ static void moveAxis(const AxisEnum axis, const int8_t direction) {
// This assumes the center is 0,0
#if ENABLED(DELTA)
if (axis != Z_AXIS && axis != E_AXIS) {
max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
max = SQRT(sq(float(PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
min = -max;
}
#endif

2
Marlin/src/lcd/tft/ui_320x240.cpp
View File

@@ -714,7 +714,7 @@ static void moveAxis(const AxisEnum axis, const int8_t direction) {
// This assumes the center is 0,0
#if ENABLED(DELTA)
if (axis != Z_AXIS && axis != E_AXIS) {
max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
max = SQRT(sq(float(PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
min = -max;
}
#endif

2
Marlin/src/lcd/tft/ui_480x320.cpp
View File

@@ -715,7 +715,7 @@ static void moveAxis(const AxisEnum axis, const int8_t direction) {
// This assumes the center is 0,0
#if ENABLED(DELTA)
if (axis != Z_AXIS && axis != E_AXIS) {
max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
max = SQRT(sq(float(PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
min = -max;
}
#endif

2
Marlin/src/module/delta.cpp
View File

@@ -132,7 +132,7 @@ float delta_safe_distance_from_top() {
xyz_pos_t cartesian{0};
inverse_kinematics(cartesian);
const float centered_extent = delta.a;
cartesian.y = DELTA_PRINTABLE_RADIUS;
cartesian.y = PRINTABLE_RADIUS;
inverse_kinematics(cartesian);
return ABS(centered_extent - delta.a);
}

38
Marlin/src/module/motion.cpp
View File

@@ -38,6 +38,10 @@
#include "../lcd/marlinui.h"
#endif
#if ENABLED(POLAR)
#include "polar.h"
#endif
#if HAS_BED_PROBE
#include "probe.h"
#endif
@@ -145,11 +149,14 @@ xyz_pos_t cartes;
#if HAS_SOFTWARE_ENDSTOPS
float delta_max_radius, delta_max_radius_2;
#elif IS_SCARA
constexpr float delta_max_radius = SCARA_PRINTABLE_RADIUS,
delta_max_radius_2 = sq(SCARA_PRINTABLE_RADIUS);
constexpr float delta_max_radius = PRINTABLE_RADIUS,
delta_max_radius_2 = sq(PRINTABLE_RADIUS);
#elif ENABLED(POLAR)
constexpr float delta_max_radius = PRINTABLE_RADIUS,
delta_max_radius_2 = sq(PRINTABLE_RADIUS);
#else // DELTA
constexpr float delta_max_radius = DELTA_PRINTABLE_RADIUS,
delta_max_radius_2 = sq(DELTA_PRINTABLE_RADIUS);
constexpr float delta_max_radius = PRINTABLE_RADIUS,
delta_max_radius_2 = sq(PRINTABLE_RADIUS);
#endif
#endif
@@ -183,6 +190,7 @@ xyz_pos_t cartes;
inline void report_more_positions() {
stepper.report_positions();
TERN_(IS_SCARA, scara_report_positions());
TERN_(POLAR, polar_report_positions());
}
// Report the logical position for a given machine position
@@ -277,8 +285,7 @@ void report_current_position_projected() {
#endif
);
stepper.report_positions();
TERN_(IS_SCARA, scara_report_positions());
report_more_positions();
report_current_grblstate_moving();
}
@@ -308,7 +315,7 @@ void report_current_position_projected() {
#if ENABLED(DELTA)
can_reach = HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
can_reach = HYPOT2(rx, ry) <= sq(PRINTABLE_RADIUS - inset + fslop);
#elif ENABLED(AXEL_TPARA)
@@ -343,6 +350,8 @@ void report_current_position_projected() {
&& b < polargraph_max_belt_len + 1
);
#elif ENABLED(POLAR)
can_reach = HYPOT(rx, ry) <= PRINTABLE_RADIUS;
#endif
return can_reach;
@@ -426,6 +435,9 @@ void get_cartesian_from_steppers() {
OPTARG(AXEL_TPARA, planner.get_axis_position_degrees(C_AXIS))
);
cartes.z = planner.get_axis_position_mm(Z_AXIS);
#elif ENABLED(POLAR)
forward_kinematics(planner.get_axis_position_mm(X_AXIS), planner.get_axis_position_degrees(B_AXIS));
cartes.z = planner.get_axis_position_mm(Z_AXIS);
#else
NUM_AXIS_CODE(
cartes.x = planner.get_axis_position_mm(X_AXIS),
@@ -914,6 +926,8 @@ void restore_feedrate_and_scaling() {
#if BOTH(HAS_HOTEND_OFFSET, DELTA)
// The effector center position will be the target minus the hotend offset.
const xy_pos_t offs = hotend_offset[active_extruder];
#elif ENABLED(POLAR)
// For now, we don't limit POLAR
#else
// SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
constexpr xy_pos_t offs{0};
@@ -922,6 +936,8 @@ void restore_feedrate_and_scaling() {
#if ENABLED(POLARGRAPH)
LIMIT(target.x, draw_area_min.x, draw_area_max.x);
LIMIT(target.y, draw_area_min.y, draw_area_max.y);
#elif ENABLED(POLAR)
// Motion limits are as same as cartesian limits.
#else
if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) {
const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
@@ -1055,6 +1071,8 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
* and compare the difference.
*/
#define SCARA_MIN_SEGMENT_LENGTH 0.5f
#elif ENABLED(POLAR)
#define POLAR_MIN_SEGMENT_LENGTH 0.5f
#endif
/**
@@ -1107,6 +1125,8 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
// For SCARA enforce a minimum segment size
#if IS_SCARA
NOMORE(segments, cartesian_mm * RECIPROCAL(SCARA_MIN_SEGMENT_LENGTH));
#elif ENABLED(POLAR)
NOMORE(segments, cartesian_mm * RECIPROCAL(POLAR_MIN_SEGMENT_LENGTH));
#endif
// At least one segment is required
@@ -1118,7 +1138,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
// Add hints to help optimize the move
PlannerHints hints(cartesian_mm * inv_segments);
TERN_(SCARA_FEEDRATE_SCALING, hints.inv_duration = scaled_fr_mm_s / hints.millimeters);
TERN_(FEEDRATE_SCALING, hints.inv_duration = scaled_fr_mm_s / hints.millimeters);
/*
SERIAL_ECHOPGM("mm=", cartesian_mm);
@@ -1185,7 +1205,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
// Add hints to help optimize the move
PlannerHints hints(cartesian_mm * inv_segments);
TERN_(SCARA_FEEDRATE_SCALING, hints.inv_duration = scaled_fr_mm_s / hints.millimeters);
TERN_(FEEDRATE_SCALING, hints.inv_duration = scaled_fr_mm_s / hints.millimeters);
//SERIAL_ECHOPGM("mm=", cartesian_mm);
//SERIAL_ECHOLNPGM(" segments=", segments);

2
Marlin/src/module/motion.h
View File

@@ -32,6 +32,8 @@
#if IS_SCARA
#include "scara.h"
#elif ENABLED(POLAR)
#include "polar.h"
#endif
// Error margin to work around float imprecision

61
Marlin/src/module/planner.cpp
View File

@@ -3161,24 +3161,75 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s
? xyz_pos_t(cart_dist_mm).magnitude()
: TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z));
#if ENABLED(SCARA_FEEDRATE_SCALING)
#if DISABLED(FEEDRATE_SCALING)
const feedRate_t feedrate = fr_mm_s;
#elif IS_SCARA
// For SCARA scale the feedrate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
const float duration_recip = hints.inv_duration ?: fr_mm_s / ph.millimeters;
const xyz_pos_t diff = delta - position_float;
const feedRate_t feedrate = diff.magnitude() * duration_recip;
#else
const feedRate_t feedrate = fr_mm_s;
#endif
#elif ENABLED(POLAR)
/**
* Motion problem for Polar axis near center / origin:
*
* 3D printing:
* Movements very close to the center of the polar axis take more time than others.
* This brief delay results in more material deposition due to the pressure in the nozzle.
*
* Current Kinematics and feedrate scaling deals with this by making the movement as fast
* as possible. It works for slow movements but doesn't work well with fast ones. A more
* complicated extrusion compensation must be implemented.
*
* Ideally, it should estimate that a long rotation near the center is ahead and will cause
* unwanted deposition. Therefore it can compensate the extrusion beforehand.
*
* Laser cutting:
* Same thing would be a problem for laser engraving too. As it spends time rotating at the
* center point, more likely it will burn more material than it should. Therefore similar
* compensation would be implemented for laser-cutting operations.
*
* Milling:
* This shouldn't be a problem for cutting/milling operations.
*/
feedRate_t calculated_feedrate = fr_mm_s;
const xyz_pos_t diff = delta - position_float;
if (!NEAR_ZERO(diff.b)) {
if (delta.a <= POLAR_FAST_RADIUS )
calculated_feedrate = settings.max_feedrate_mm_s[Y_AXIS];
else {
// Normalized vector of movement
const float diffBLength = ABS((2.0f * PI * diff.a) * (diff.b / 360.0f)),
diffTheta = DEGREES(ATAN2(diff.a, diffBLength)),
normalizedTheta = 1.0f - (ABS(diffTheta > 90.0f ? 180.0f - diffTheta : diffTheta) / 90.0f);
// Normalized position along the radius
const float radiusRatio = PRINTABLE_RADIUS/delta.a;
calculated_feedrate += (fr_mm_s * radiusRatio * normalizedTheta);
}
}
const feedRate_t feedrate = calculated_feedrate;
#endif // POLAR && FEEDRATE_SCALING
TERN_(HAS_EXTRUDERS, delta.e = machine.e);
if (buffer_segment(delta OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), feedrate, extruder, ph)) {
position_cart = cart;
return true;
}
return false;
#else
#else // !IS_KINEMATIC
return buffer_segment(machine, fr_mm_s, extruder, hints);
#endif
} // buffer_line()
#if ENABLED(DIRECT_STEPPING)

10
Marlin/src/module/planner.h
View File

@@ -50,6 +50,8 @@
#include "delta.h"
#elif ENABLED(POLARGRAPH)
#include "polargraph.h"
#elif ENABLED(POLAR)
#include "polar.h"
#endif
#if ABL_PLANAR
@@ -291,7 +293,7 @@ typedef struct PlannerBlock {
} block_t;
#if ANY(LIN_ADVANCE, SCARA_FEEDRATE_SCALING, GRADIENT_MIX, LCD_SHOW_E_TOTAL, POWER_LOSS_RECOVERY)
#if ANY(LIN_ADVANCE, FEEDRATE_SCALING, GRADIENT_MIX, LCD_SHOW_E_TOTAL, POWER_LOSS_RECOVERY)
#define HAS_POSITION_FLOAT 1
#endif
@@ -361,7 +363,7 @@ typedef struct {
struct PlannerHints {
float millimeters = 0.0; // Move Length, if known, else 0.
#if ENABLED(SCARA_FEEDRATE_SCALING)
#if ENABLED(FEEDRATE_SCALING)
float inv_duration = 0.0; // Reciprocal of the move duration, if known
#endif
#if ENABLED(HINTS_CURVE_RADIUS)
@@ -913,8 +915,8 @@ class Planner {
return out;
}
// SCARA AB axes are in degrees, not mm
#if IS_SCARA
// SCARA AB and Polar YB axes are in degrees, not mm
#if EITHER(IS_SCARA, POLAR)
FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); }
#endif

102
Marlin/src/module/polar.cpp Normal file
View File

@@ -0,0 +1,102 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* POLAR Kinematics
* developed by Kadir ilkimen for PolarBear CNC and babyBear
* https://github.com/kadirilkimen/Polar-Bear-Cnc-Machine
* https://github.com/kadirilkimen/babyBear-3D-printer
*
* A polar machine can have different configurations.
* This kinematics is only compatible with the following configuration:
* X : Independent linear
* Y or B : Polar
* Z : Independent linear
*
* For example, PolarBear has CoreXZ plus Polar Y or B.
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(POLAR)
#include "polar.h"
#include "motion.h"
#include "planner.h"
#include "../inc/MarlinConfig.h"
float segments_per_second = DEFAULT_SEGMENTS_PER_SECOND,
polar_center_offset = POLAR_CENTER_OFFSET;
float absoluteAngle(float a) {
if (a < 0.0) while (a < 0.0) a += 360.0;
else if (a > 360.0) while (a > 360.0) a -= 360.0;
return a;
}
void forward_kinematics(const_float_t r, const_float_t theta) {
const float absTheta = absoluteAngle(theta);
float radius = r;
if (polar_center_offset > 0.0) radius = SQRT( ABS( sq(r) - sq(-polar_center_offset) ) );
cartes.x = cos(RADIANS(absTheta))*radius;
cartes.y = sin(RADIANS(absTheta))*radius;
}
void inverse_kinematics(const xyz_pos_t &raw) {
const float x = raw.x, y = raw.y,
rawRadius = HYPOT(x,y),
posTheta = DEGREES(ATAN2(y, x));
static float current_polar_theta = 0;
float r = rawRadius,
theta = absoluteAngle(posTheta),
currentAbsTheta = absoluteAngle(current_polar_theta);
if (polar_center_offset > 0.0) {
const float offsetRadius = SQRT(ABS(sq(r) - sq(polar_center_offset)));
float offsetTheta = absoluteAngle(DEGREES(ATAN2(polar_center_offset, offsetRadius)));
theta = absoluteAngle(offsetTheta + theta);
}
const float deltaTheta = theta - currentAbsTheta;
if (ABS(deltaTheta) <= 180)
theta = current_polar_theta + deltaTheta;
else {
if (currentAbsTheta > 180) theta = current_polar_theta + 360 + deltaTheta;
else theta = current_polar_theta - (360 - deltaTheta);
}
current_polar_theta = theta;
delta.set(r, theta, raw.z);
}
void polar_report_positions() {
SERIAL_ECHOLNPGM("X: ", planner.get_axis_position_mm(X_AXIS),
" POLAR Theta:", planner.get_axis_position_degrees(B_AXIS),
" Z: ", planner.get_axis_position_mm(Z_AXIS)
);
}
#endif

36
Marlin/src/module/polar.h Normal file
View File

@@ -0,0 +1,36 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* polar.h - POLAR-specific functions
*/
#include "../core/types.h"
extern float segments_per_second;
float absoluteAngle(float a);
void forward_kinematics(const_float_t r, const_float_t theta);
void inverse_kinematics(const xyz_pos_t &raw);
void polar_report_positions();

6
Marlin/src/module/probe.h
View File

@@ -195,12 +195,8 @@ public:
#if HAS_BED_PROBE || HAS_LEVELING
#if IS_KINEMATIC
static constexpr float printable_radius = (
TERN_(DELTA, DELTA_PRINTABLE_RADIUS)
TERN_(IS_SCARA, SCARA_PRINTABLE_RADIUS)
);
static constexpr float probe_radius(const xy_pos_t &probe_offset_xy=offset_xy) {
return printable_radius - _MAX(PROBING_MARGIN, HYPOT(probe_offset_xy.x, probe_offset_xy.y));
return float(PRINTABLE_RADIUS) - _MAX(PROBING_MARGIN, HYPOT(probe_offset_xy.x, probe_offset_xy.y));
}
#endif

2
Marlin/src/module/stepper.cpp
View File

@@ -3212,7 +3212,7 @@ int32_t Stepper::triggered_position(const AxisEnum axis) {
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
#define SAYS_A 1
#endif
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA, POLAR)
#define SAYS_B 1
#endif
#if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA)

2
buildroot/share/sublime/MarlinFirmware.sublime-project
View File

@@ -11,7 +11,7 @@
".vscode"
],
"binary_file_patterns":
[ "*.psd", "*.png", "*.jpg", "*.jpeg", "*.bdf", "*.patch", "avrdude_5.*", "*.svg", "*.bin", "*.woff" ],
[ "*.psd", "*.png", "*.jpg", "*.jpeg", "*.bdf", "*.patch", "avrdude_5.*", "*.svg", "*.bin", "*.woff", "*.otf" ],
"file_exclude_patterns":
[
"Marlin/platformio.ini",