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@@ -37,35 +37,6 @@
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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-/**
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- * G33 - Delta '1-4-7-point' Auto-Calibration
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- * Calibrate height, endstops, delta radius, and tower angles.
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- *
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- * Parameters:
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- *
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- * Pn Number of probe points:
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- *
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- * P0 No probe. Normalize only.
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- * P1 Probe center and set height only.
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- * P2 Probe center and towers. Set height, endstops, and delta radius.
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- * P3 Probe all positions: center, towers and opposite towers. Set all.
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- * P4-P7 Probe all positions at different locations and average them.
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- *
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- * T0 Don't calibrate tower angle corrections
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- *
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- * Cn.nn Calibration precision; when omitted calibrates to maximum precision
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- *
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- * Fn Force to run at least n iterations and takes the best result
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- *
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- * Vn Verbose level:
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- *
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- * V0 Dry-run mode. Report settings and probe results. No calibration.
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- * V1 Report settings
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- * V2 Report settings and probe results
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- *
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- * E Engage the probe for each point
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- */
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-
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static void print_signed_float(const char * const prefix, const float &f) {
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SERIAL_PROTOCOLPGM(" ");
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serialprintPGM(prefix);
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@@ -77,21 +48,55 @@ static void print_signed_float(const char * const prefix, const float &f) {
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static void print_G33_settings(const bool end_stops, const bool tower_angles) {
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SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
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if (end_stops) {
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- print_signed_float(PSTR(" Ex"), delta_endstop_adj[A_AXIS]);
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+ print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
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print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
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print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
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- SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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}
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- SERIAL_EOL();
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+ if (end_stops && tower_angles) {
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+ SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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+ SERIAL_EOL();
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+ SERIAL_CHAR('.');
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+ SERIAL_PROTOCOL_SP(13);
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+ }
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if (tower_angles) {
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- SERIAL_PROTOCOLPGM(".Tower angle : ");
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print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
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print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
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print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
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+ }
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+ if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
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+ SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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+ }
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+ SERIAL_EOL();
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+}
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+
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+static void print_G33_results(const float z_at_pt[13], const bool tower_points, const bool opposite_points) {
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+ SERIAL_PROTOCOLPGM(". ");
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+ print_signed_float(PSTR("c"), z_at_pt[0]);
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+ if (tower_points) {
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+ print_signed_float(PSTR(" x"), z_at_pt[1]);
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+ print_signed_float(PSTR(" y"), z_at_pt[5]);
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+ print_signed_float(PSTR(" z"), z_at_pt[9]);
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+ }
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+ if (tower_points && opposite_points) {
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SERIAL_EOL();
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+ SERIAL_CHAR('.');
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+ SERIAL_PROTOCOL_SP(13);
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}
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+ if (opposite_points) {
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+ print_signed_float(PSTR("yz"), z_at_pt[7]);
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+ print_signed_float(PSTR("zx"), z_at_pt[11]);
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+ print_signed_float(PSTR("xy"), z_at_pt[3]);
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+ }
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+ SERIAL_EOL();
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}
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+/**
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+ * After G33:
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+ * - Move to the print ceiling (DELTA_HOME_TO_SAFE_ZONE only)
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+ * - Stow the probe
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+ * - Restore endstops state
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+ * - Select the old tool, if needed
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+ */
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static void G33_cleanup(
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#if HOTENDS > 1
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const uint8_t old_tool_index
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@@ -107,6 +112,216 @@ static void G33_cleanup(
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#endif
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}
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+static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
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+ const bool _0p_calibration = probe_points == 0,
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+ _1p_calibration = probe_points == 1,
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+ _4p_calibration = probe_points == 2,
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+ _4p_opposite_points = _4p_calibration && !towers_set,
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+ _7p_calibration = probe_points >= 3 || probe_points == 0,
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+ _7p_half_circle = probe_points == 3,
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+ _7p_double_circle = probe_points == 5,
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+ _7p_triple_circle = probe_points == 6,
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+ _7p_quadruple_circle = probe_points == 7,
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+ _7p_intermed_points = probe_points >= 4,
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+ _7p_multi_circle = probe_points >= 5;
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+
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+ #if DISABLED(PROBE_MANUALLY)
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+ const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
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+ dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
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+ #endif
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+
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+ for (uint8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] = 0.0;
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+
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+ if (!_0p_calibration) {
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+
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+ if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
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+ #if ENABLED(PROBE_MANUALLY)
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+ z_at_pt[0] += lcd_probe_pt(0, 0);
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+ #else
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+ z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
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+ #endif
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+ }
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+
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+ if (_7p_calibration) { // probe extra center points
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+ for (int8_t axis = _7p_multi_circle ? COUNT(z_at_pt) - 2 : COUNT(z_at_pt) - 4; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
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+ const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
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+ #if ENABLED(PROBE_MANUALLY)
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+ z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
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+ #else
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+ z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
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+ #endif
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+ }
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+ z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
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+ }
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+
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+ if (!_1p_calibration) { // probe the radius
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+ bool zig_zag = true;
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+ const uint8_t start = _4p_opposite_points ? 3 : 1,
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+ step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
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+ for (uint8_t axis = start; axis < COUNT(z_at_pt); axis += step) {
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+ const float zigadd = (zig_zag ? 0.5 : 0.0),
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+ offset_circles = _7p_quadruple_circle ? zigadd + 1.0 :
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+ _7p_triple_circle ? zigadd + 0.5 :
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+ _7p_double_circle ? zigadd : 0;
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+ for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
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+ const float a = RADIANS(180 + 30 * axis),
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+ r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
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+ #if ENABLED(PROBE_MANUALLY)
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+ z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
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+ #else
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+ z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
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+ #endif
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+ }
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+ zig_zag = !zig_zag;
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+ z_at_pt[axis] /= (2 * offset_circles + 1);
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+ }
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+ }
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+
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+ if (_7p_intermed_points) // average intermediates to tower and opposites
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+ for (uint8_t axis = 1; axis < COUNT(z_at_pt); axis += 2)
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+ z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
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+
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+ float S1 = z_at_pt[0],
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+ S2 = sq(z_at_pt[0]);
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+ int16_t N = 1;
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+ if (!_1p_calibration) // std dev from zero plane
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+ for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < COUNT(z_at_pt); axis += (_4p_calibration ? 4 : 2)) {
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+ S1 += z_at_pt[axis];
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+ S2 += sq(z_at_pt[axis]);
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+ N++;
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+ }
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+ return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
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+ }
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+
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+ return 0.00001;
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+}
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+
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+#if DISABLED(PROBE_MANUALLY)
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+
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+ static void G33_auto_tune() {
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+ float z_at_pt[13] = { 0.0 },
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+ z_at_pt_base[13] = { 0.0 },
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+ z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
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+
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+ #define ZP(N,I) ((N) * z_at_pt[I])
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+ #define Z06(I) ZP(6, I)
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+ #define Z03(I) ZP(3, I)
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+ #define Z02(I) ZP(2, I)
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+ #define Z01(I) ZP(1, I)
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+ #define Z32(I) ZP(3/2, I)
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+
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+ SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
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+ SERIAL_EOL();
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+ probe_G33_points(z_at_pt_base, 3, true, false);
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+ print_G33_results(z_at_pt_base, true, true);
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+
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+ LOOP_XYZ(axis) {
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+ delta_endstop_adj[axis] -= 1.0;
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+
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+ endstops.enable(true);
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+ if (!home_delta()) return;
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+ endstops.not_homing();
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+
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+ SERIAL_PROTOCOLPGM("Tuning E");
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+ SERIAL_CHAR(tolower(axis_codes[axis]));
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+ SERIAL_EOL();
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+
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+ probe_G33_points(z_at_pt, 3, true, false);
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+ for (int8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] -= z_at_pt_base[i];
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+ print_G33_results(z_at_pt, true, true);
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+ delta_endstop_adj[axis] += 1.0;
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+ switch (axis) {
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+ case A_AXIS :
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+ h_fac += 4.0 / (Z03(0) +Z01(1) +Z32(11) +Z32(3)); // Offset by X-tower end-stop
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+ break;
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+ case B_AXIS :
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+ h_fac += 4.0 / (Z03(0) +Z01(5) +Z32(7) +Z32(3)); // Offset by Y-tower end-stop
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+ break;
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+ case C_AXIS :
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+ h_fac += 4.0 / (Z03(0) +Z01(9) +Z32(7) +Z32(11) ); // Offset by Z-tower end-stop
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+ break;
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+ }
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+ }
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+ h_fac /= 3.0;
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+ h_fac *= norm; // Normalize to 1.02 for Kossel mini
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+
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+ for (int8_t zig_zag = -1; zig_zag < 2; zig_zag += 2) {
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+ delta_radius += 1.0 * zig_zag;
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+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
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+
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+ endstops.enable(true);
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+ if (!home_delta()) return;
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+ endstops.not_homing();
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+
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+ SERIAL_PROTOCOLPGM("Tuning R");
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+ SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
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+ SERIAL_EOL();
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+ probe_G33_points(z_at_pt, 3, true, false);
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+ for (int8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] -= z_at_pt_base[i];
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+ print_G33_results(z_at_pt, true, true);
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+ delta_radius -= 1.0 * zig_zag;
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+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
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+ r_fac -= zig_zag * 6.0 / (Z03(1) + Z03(5) + Z03(9) + Z03(7) + Z03(11) + Z03(3)); // Offset by delta radius
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+ }
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+ r_fac /= 2.0;
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+ r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini
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+
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+ LOOP_XYZ(axis) {
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+ delta_tower_angle_trim[axis] += 1.0;
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+ delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
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+ delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
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+ z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
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+ home_offset[Z_AXIS] -= z_temp;
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+ LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
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+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
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+
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278
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+ endstops.enable(true);
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+ if (!home_delta()) return;
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+ endstops.not_homing();
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+
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+ SERIAL_PROTOCOLPGM("Tuning T");
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+ SERIAL_CHAR(tolower(axis_codes[axis]));
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+ SERIAL_EOL();
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+
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+ probe_G33_points(z_at_pt, 3, true, false);
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+ for (int8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] -= z_at_pt_base[i];
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+ print_G33_results(z_at_pt, true, true);
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+
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+ delta_tower_angle_trim[axis] -= 1.0;
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+ delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
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+ delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
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+ z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
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+ home_offset[Z_AXIS] -= z_temp;
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+ LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
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+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
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297
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+ switch (axis) {
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298
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+ case A_AXIS :
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299
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+ a_fac += 4.0 / ( Z06(5) -Z06(9) +Z06(11) -Z06(3)); // Offset by alpha tower angle
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300
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+ break;
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301
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+ case B_AXIS :
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302
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+ a_fac += 4.0 / (-Z06(1) +Z06(9) -Z06(7) +Z06(3)); // Offset by beta tower angle
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303
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+ break;
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+ case C_AXIS :
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305
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+ a_fac += 4.0 / (Z06(1) -Z06(5) +Z06(7) -Z06(11) ); // Offset by gamma tower angle
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306
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+ break;
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+ }
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+ }
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+ a_fac /= 3.0;
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+ a_fac *= norm; // Normalize to 0.83 for Kossel mini
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+
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+ endstops.enable(true);
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313
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+ if (!home_delta()) return;
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314
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+ endstops.not_homing();
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315
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+ print_signed_float(PSTR( "H_FACTOR: "), h_fac);
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+ print_signed_float(PSTR(" R_FACTOR: "), r_fac);
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317
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+ print_signed_float(PSTR(" A_FACTOR: "), a_fac);
|
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318
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+ SERIAL_EOL();
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319
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+ SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
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320
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+ SERIAL_EOL();
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321
|
+ }
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322
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+
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|
+#endif // !PROBE_MANUALLY
|
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324
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+
|
110
|
325
|
/**
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111
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326
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* G33 - Delta '1-4-7-point' Auto-Calibration
|
112
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327
|
* Calibrate height, endstops, delta radius, and tower angles.
|
|
@@ -114,21 +329,21 @@ static void G33_cleanup(
|
114
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329
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* Parameters:
|
115
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330
|
*
|
116
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331
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* Pn Number of probe points:
|
117
|
|
- *
|
118
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332
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* P0 No probe. Normalize only.
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119
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333
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* P1 Probe center and set height only.
|
120
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- * P2 Probe center and towers. Set height, endstops, and delta radius.
|
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334
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+ * P2 Probe center and towers. Set height, endstops and delta radius.
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121
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335
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* P3 Probe all positions: center, towers and opposite towers. Set all.
|
122
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336
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* P4-P7 Probe all positions at different locations and average them.
|
123
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337
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*
|
124
|
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- * T0 Don't calibrate tower angle corrections
|
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338
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+ * T Don't calibrate tower angle corrections
|
125
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339
|
*
|
126
|
|
- * Cn.nn Calibration precision; when omitted calibrates to maximum precision
|
|
340
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+ * Cn.nn Calibration precision; when omitted calibrates to maximum precision
|
127
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341
|
*
|
128
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342
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* Fn Force to run at least n iterations and takes the best result
|
129
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343
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*
|
130
|
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- * Vn Verbose level:
|
|
344
|
+ * A Auto tune calibartion factors (set in Configuration.h)
|
131
|
345
|
*
|
|
346
|
+ * Vn Verbose level:
|
132
|
347
|
* V0 Dry-run mode. Report settings and probe results. No calibration.
|
133
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348
|
* V1 Report settings
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134
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* V2 Report settings and probe results
|
|
@@ -162,26 +377,24 @@ void GcodeSuite::G33() {
|
162
|
377
|
}
|
163
|
378
|
|
164
|
379
|
const bool towers_set = !parser.boolval('T'),
|
|
380
|
+ auto_tune = parser.boolval('A'),
|
165
|
381
|
stow_after_each = parser.boolval('E'),
|
166
|
382
|
_0p_calibration = probe_points == 0,
|
167
|
383
|
_1p_calibration = probe_points == 1,
|
168
|
384
|
_4p_calibration = probe_points == 2,
|
169
|
|
- _4p_towers_points = _4p_calibration && towers_set,
|
170
|
|
- _4p_opposite_points = _4p_calibration && !towers_set,
|
171
|
|
- _7p_calibration = probe_points >= 3 || _0p_calibration,
|
172
|
|
- _7p_half_circle = probe_points == 3,
|
|
385
|
+ _tower_results = (_4p_calibration && towers_set)
|
|
386
|
+ || probe_points >= 3 || probe_points == 0,
|
|
387
|
+ _opposite_results = (_4p_calibration && !towers_set)
|
|
388
|
+ || probe_points >= 3 || probe_points == 0,
|
|
389
|
+ _endstop_results = probe_points != 1,
|
|
390
|
+ _angle_results = (probe_points >= 3 || probe_points == 0) && towers_set,
|
173
|
391
|
_7p_double_circle = probe_points == 5,
|
174
|
392
|
_7p_triple_circle = probe_points == 6,
|
175
|
|
- _7p_quadruple_circle = probe_points == 7,
|
176
|
|
- _7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
|
177
|
|
- _7p_intermed_points = _7p_calibration && !_7p_half_circle;
|
|
393
|
+ _7p_quadruple_circle = probe_points == 7;
|
178
|
394
|
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
|
179
|
|
- const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
|
180
|
|
- dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
|
181
|
395
|
int8_t iterations = 0;
|
182
|
396
|
float test_precision,
|
183
|
397
|
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
|
184
|
|
- zero_std_dev_old = zero_std_dev,
|
185
|
398
|
zero_std_dev_min = zero_std_dev,
|
186
|
399
|
e_old[ABC] = {
|
187
|
400
|
delta_endstop_adj[A_AXIS],
|
|
@@ -196,12 +409,14 @@ void GcodeSuite::G33() {
|
196
|
409
|
delta_tower_angle_trim[C_AXIS]
|
197
|
410
|
};
|
198
|
411
|
|
|
412
|
+ SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
|
|
413
|
+
|
199
|
414
|
if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
|
200
|
415
|
const float circles = (_7p_quadruple_circle ? 1.5 :
|
201
|
416
|
_7p_triple_circle ? 1.0 :
|
202
|
417
|
_7p_double_circle ? 0.5 : 0),
|
203
|
418
|
r = (1 + circles * 0.1) * delta_calibration_radius;
|
204
|
|
- for (uint8_t axis = 1; axis < 13; ++axis) {
|
|
419
|
+ for (uint8_t axis = 1; axis <= 12; ++axis) {
|
205
|
420
|
const float a = RADIANS(180 + 30 * axis);
|
206
|
421
|
if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
|
207
|
422
|
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
|
|
@@ -209,7 +424,6 @@ void GcodeSuite::G33() {
|
209
|
424
|
}
|
210
|
425
|
}
|
211
|
426
|
}
|
212
|
|
- SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
|
213
|
427
|
|
214
|
428
|
stepper.synchronize();
|
215
|
429
|
#if HAS_LEVELING
|
|
@@ -232,7 +446,17 @@ void GcodeSuite::G33() {
|
232
|
446
|
endstops.not_homing();
|
233
|
447
|
}
|
234
|
448
|
|
235
|
|
- // print settings
|
|
449
|
+ if (auto_tune) {
|
|
450
|
+ #if ENABLED(PROBE_MANUALLY)
|
|
451
|
+ SERIAL_PROTOCOLLNPGM("A probe is needed for auto-tune");
|
|
452
|
+ #else
|
|
453
|
+ G33_auto_tune();
|
|
454
|
+ #endif
|
|
455
|
+ G33_CLEANUP();
|
|
456
|
+ return;
|
|
457
|
+ }
|
|
458
|
+
|
|
459
|
+ // Report settings
|
236
|
460
|
|
237
|
461
|
const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
|
238
|
462
|
serialprintPGM(checkingac);
|
|
@@ -240,78 +464,19 @@ void GcodeSuite::G33() {
|
240
|
464
|
SERIAL_EOL();
|
241
|
465
|
lcd_setstatusPGM(checkingac);
|
242
|
466
|
|
243
|
|
- print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
|
|
467
|
+ print_G33_settings(_endstop_results, _angle_results);
|
244
|
468
|
|
245
|
469
|
do {
|
246
|
470
|
|
247
|
471
|
float z_at_pt[13] = { 0.0 };
|
248
|
472
|
|
249
|
|
- test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
|
|
473
|
+ test_precision = zero_std_dev;
|
250
|
474
|
|
251
|
475
|
iterations++;
|
252
|
476
|
|
253
|
477
|
// Probe the points
|
254
|
478
|
|
255
|
|
- if (!_0p_calibration){
|
256
|
|
- if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
|
257
|
|
- #if ENABLED(PROBE_MANUALLY)
|
258
|
|
- z_at_pt[0] += lcd_probe_pt(0, 0);
|
259
|
|
- #else
|
260
|
|
- z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
|
261
|
|
- if (isnan(z_at_pt[0])) return G33_CLEANUP();
|
262
|
|
- #endif
|
263
|
|
- }
|
264
|
|
- if (_7p_calibration) { // probe extra center points
|
265
|
|
- for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
|
266
|
|
- const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
|
267
|
|
- #if ENABLED(PROBE_MANUALLY)
|
268
|
|
- z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
|
269
|
|
- #else
|
270
|
|
- z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
|
271
|
|
- if (isnan(z_at_pt[0])) return G33_CLEANUP();
|
272
|
|
- #endif
|
273
|
|
- }
|
274
|
|
- z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
|
275
|
|
- }
|
276
|
|
- if (!_1p_calibration) { // probe the radius
|
277
|
|
- bool zig_zag = true;
|
278
|
|
- const uint8_t start = _4p_opposite_points ? 3 : 1,
|
279
|
|
- step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
|
280
|
|
- for (uint8_t axis = start; axis < 13; axis += step) {
|
281
|
|
- const float zigadd = (zig_zag ? 0.5 : 0.0),
|
282
|
|
- offset_circles = _7p_quadruple_circle ? zigadd + 1.0 :
|
283
|
|
- _7p_triple_circle ? zigadd + 0.5 :
|
284
|
|
- _7p_double_circle ? zigadd : 0;
|
285
|
|
- for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
|
286
|
|
- const float a = RADIANS(180 + 30 * axis),
|
287
|
|
- r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
|
288
|
|
- #if ENABLED(PROBE_MANUALLY)
|
289
|
|
- z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
|
290
|
|
- #else
|
291
|
|
- z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
|
292
|
|
- if (isnan(z_at_pt[axis])) return G33_CLEANUP();
|
293
|
|
- #endif
|
294
|
|
- }
|
295
|
|
- zig_zag = !zig_zag;
|
296
|
|
- z_at_pt[axis] /= (2 * offset_circles + 1);
|
297
|
|
- }
|
298
|
|
- }
|
299
|
|
- if (_7p_intermed_points) // average intermediates to tower and opposites
|
300
|
|
- for (uint8_t axis = 1; axis < 13; axis += 2)
|
301
|
|
- z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
|
302
|
|
- }
|
303
|
|
-
|
304
|
|
- float S1 = z_at_pt[0],
|
305
|
|
- S2 = sq(z_at_pt[0]);
|
306
|
|
- int16_t N = 1;
|
307
|
|
- if (!_1p_calibration) // std dev from zero plane
|
308
|
|
- for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
|
309
|
|
- S1 += z_at_pt[axis];
|
310
|
|
- S2 += sq(z_at_pt[axis]);
|
311
|
|
- N++;
|
312
|
|
- }
|
313
|
|
- zero_std_dev_old = zero_std_dev;
|
314
|
|
- zero_std_dev = round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
|
|
479
|
+ zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
|
315
|
480
|
|
316
|
481
|
// Solve matrices
|
317
|
482
|
|
|
@@ -325,9 +490,24 @@ void GcodeSuite::G33() {
|
325
|
490
|
|
326
|
491
|
float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
|
327
|
492
|
const float r_diff = delta_radius - delta_calibration_radius,
|
328
|
|
- h_factor = (1.00 + r_diff * 0.001) / 6.0, // 1.02 for r_diff = 20mm
|
329
|
|
- r_factor = (-(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff))) / 6.0, // 2.25 for r_diff = 20mm
|
330
|
|
- a_factor = (66.66 / delta_calibration_radius) / (iterations == 1 ? 16.0 : 2.0); // 0.83 for cal_rd = 80mm
|
|
493
|
+ h_factor = 1 / 6.0 *
|
|
494
|
+ #ifdef H_FACTOR
|
|
495
|
+ (H_FACTOR), // Set in Configuration.h
|
|
496
|
+ #else
|
|
497
|
+ (1.00 + r_diff * 0.001), // 1.02 for r_diff = 20mm
|
|
498
|
+ #endif
|
|
499
|
+ r_factor = 1 / 6.0 *
|
|
500
|
+ #ifdef R_FACTOR
|
|
501
|
+ -(R_FACTOR), // Set in Configuration.h
|
|
502
|
+ #else
|
|
503
|
+ -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), // 2.25 for r_diff = 20mm
|
|
504
|
+ #endif
|
|
505
|
+ a_factor = 1 / 6.0 *
|
|
506
|
+ #ifdef A_FACTOR
|
|
507
|
+ (A_FACTOR); // Set in Configuration.h
|
|
508
|
+ #else
|
|
509
|
+ (66.66 / delta_calibration_radius); // 0.83 for cal_rd = 80mm
|
|
510
|
+ #endif
|
331
|
511
|
|
332
|
512
|
#define ZP(N,I) ((N) * z_at_pt[I])
|
333
|
513
|
#define Z6(I) ZP(6, I)
|
|
@@ -341,15 +521,11 @@ void GcodeSuite::G33() {
|
341
|
521
|
|
342
|
522
|
switch (probe_points) {
|
343
|
523
|
case 0:
|
344
|
|
- #if DISABLED(PROBE_MANUALLY)
|
345
|
|
- test_precision = 0.00; // forced end
|
346
|
|
- #endif
|
|
524
|
+ test_precision = 0.00; // forced end
|
347
|
525
|
break;
|
348
|
526
|
|
349
|
527
|
case 1:
|
350
|
|
- #if DISABLED(PROBE_MANUALLY)
|
351
|
|
- test_precision = 0.00; // forced end
|
352
|
|
- #endif
|
|
528
|
+ test_precision = 0.00; // forced end
|
353
|
529
|
LOOP_XYZ(axis) e_delta[axis] = Z1(0);
|
354
|
530
|
break;
|
355
|
531
|
|
|
@@ -375,9 +551,9 @@ void GcodeSuite::G33() {
|
375
|
551
|
r_delta = (Z6(0) - Z1(1) - Z1(5) - Z1(9) - Z1(7) - Z1(11) - Z1(3)) * r_factor;
|
376
|
552
|
|
377
|
553
|
if (towers_set) {
|
378
|
|
- t_delta[A_AXIS] = ( - Z2(5) + Z2(9) - Z2(11) + Z2(3)) * a_factor;
|
379
|
|
- t_delta[B_AXIS] = ( Z2(1) - Z2(9) + Z2(7) - Z2(3)) * a_factor;
|
380
|
|
- t_delta[C_AXIS] = (-Z2(1) + Z2(5) - Z2(7) + Z2(11) ) * a_factor;
|
|
554
|
+ t_delta[A_AXIS] = ( - Z4(5) + Z4(9) - Z4(11) + Z4(3)) * a_factor;
|
|
555
|
+ t_delta[B_AXIS] = ( Z4(1) - Z4(9) + Z4(7) - Z4(3)) * a_factor;
|
|
556
|
+ t_delta[C_AXIS] = (-Z4(1) + Z4(5) - Z4(7) + Z4(11) ) * a_factor;
|
381
|
557
|
e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
|
382
|
558
|
e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
|
383
|
559
|
e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
|
|
@@ -395,11 +571,14 @@ void GcodeSuite::G33() {
|
395
|
571
|
home_offset[Z_AXIS] = zh_old;
|
396
|
572
|
COPY(delta_tower_angle_trim, ta_old);
|
397
|
573
|
}
|
|
574
|
+
|
398
|
575
|
if (verbose_level != 0) { // !dry run
|
399
|
576
|
// normalise angles to least squares
|
400
|
|
- float a_sum = 0.0;
|
401
|
|
- LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
|
402
|
|
- LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
|
|
577
|
+ if (_angle_results) {
|
|
578
|
+ float a_sum = 0.0;
|
|
579
|
+ LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
|
|
580
|
+ LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
|
|
581
|
+ }
|
403
|
582
|
|
404
|
583
|
// adjust delta_height and endstops by the max amount
|
405
|
584
|
const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
|
|
@@ -411,30 +590,13 @@ void GcodeSuite::G33() {
|
411
|
590
|
|
412
|
591
|
// print report
|
413
|
592
|
|
414
|
|
- if (verbose_level != 1) {
|
415
|
|
- SERIAL_PROTOCOLPGM(". ");
|
416
|
|
- print_signed_float(PSTR("c"), z_at_pt[0]);
|
417
|
|
- if (_4p_towers_points || _7p_calibration) {
|
418
|
|
- print_signed_float(PSTR(" x"), z_at_pt[1]);
|
419
|
|
- print_signed_float(PSTR(" y"), z_at_pt[5]);
|
420
|
|
- print_signed_float(PSTR(" z"), z_at_pt[9]);
|
421
|
|
- }
|
422
|
|
- if (!_4p_opposite_points) SERIAL_EOL();
|
423
|
|
- if ((_4p_opposite_points) || _7p_calibration) {
|
424
|
|
- if (_7p_calibration) {
|
425
|
|
- SERIAL_CHAR('.');
|
426
|
|
- SERIAL_PROTOCOL_SP(13);
|
427
|
|
- }
|
428
|
|
- print_signed_float(PSTR(" yz"), z_at_pt[7]);
|
429
|
|
- print_signed_float(PSTR("zx"), z_at_pt[11]);
|
430
|
|
- print_signed_float(PSTR("xy"), z_at_pt[3]);
|
431
|
|
- SERIAL_EOL();
|
432
|
|
- }
|
433
|
|
- }
|
|
593
|
+ if (verbose_level != 1)
|
|
594
|
+ print_G33_results(z_at_pt, _tower_results, _opposite_results);
|
|
595
|
+
|
434
|
596
|
if (verbose_level != 0) { // !dry run
|
435
|
597
|
if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
|
436
|
598
|
SERIAL_PROTOCOLPGM("Calibration OK");
|
437
|
|
- SERIAL_PROTOCOL_SP(36);
|
|
599
|
+ SERIAL_PROTOCOL_SP(32);
|
438
|
600
|
#if DISABLED(PROBE_MANUALLY)
|
439
|
601
|
if (zero_std_dev >= test_precision && !_1p_calibration)
|
440
|
602
|
SERIAL_PROTOCOLPGM("rolling back.");
|
|
@@ -452,7 +614,7 @@ void GcodeSuite::G33() {
|
452
|
614
|
else
|
453
|
615
|
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
|
454
|
616
|
lcd_setstatus(mess);
|
455
|
|
- print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
|
|
617
|
+ print_G33_settings(_endstop_results, _angle_results);
|
456
|
618
|
serialprintPGM(save_message);
|
457
|
619
|
SERIAL_EOL();
|
458
|
620
|
}
|
|
@@ -463,18 +625,18 @@ void GcodeSuite::G33() {
|
463
|
625
|
else
|
464
|
626
|
sprintf_P(mess, PSTR("No convergence"));
|
465
|
627
|
SERIAL_PROTOCOL(mess);
|
466
|
|
- SERIAL_PROTOCOL_SP(36);
|
|
628
|
+ SERIAL_PROTOCOL_SP(32);
|
467
|
629
|
SERIAL_PROTOCOLPGM("std dev:");
|
468
|
630
|
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
469
|
631
|
SERIAL_EOL();
|
470
|
632
|
lcd_setstatus(mess);
|
471
|
|
- print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
|
|
633
|
+ print_G33_settings(_endstop_results, _angle_results);
|
472
|
634
|
}
|
473
|
635
|
}
|
474
|
636
|
else { // dry run
|
475
|
637
|
const char *enddryrun = PSTR("End DRY-RUN");
|
476
|
638
|
serialprintPGM(enddryrun);
|
477
|
|
- SERIAL_PROTOCOL_SP(39);
|
|
639
|
+ SERIAL_PROTOCOL_SP(35);
|
478
|
640
|
SERIAL_PROTOCOLPGM("std dev:");
|
479
|
641
|
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
480
|
642
|
SERIAL_EOL();
|
|
@@ -490,7 +652,8 @@ void GcodeSuite::G33() {
|
490
|
652
|
}
|
491
|
653
|
|
492
|
654
|
endstops.enable(true);
|
493
|
|
- home_delta();
|
|
655
|
+ if (!home_delta())
|
|
656
|
+ return;
|
494
|
657
|
endstops.not_homing();
|
495
|
658
|
|
496
|
659
|
}
|