/** * Marlin 3D Printer Firmware * Copyright (c) 2020 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 . * */ #include "../inc/MarlinConfig.h" #if EITHER(NOZZLE_CLEAN_FEATURE, NOZZLE_PARK_FEATURE) #include "nozzle.h" Nozzle nozzle; #include "../MarlinCore.h" #include "../module/motion.h" #if ENABLED(NOZZLE_CLEAN_FEATURE) /** * @brief Stroke clean pattern * @details Wipes the nozzle back and forth in a linear movement * * @param start xyz_pos_t defining the starting point * @param end xyz_pos_t defining the ending point * @param strokes number of strokes to execute */ void Nozzle::stroke(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes) { TERN_(NOZZLE_CLEAN_GOBACK, const xyz_pos_t oldpos = current_position); // Move to the starting point #if ENABLED(NOZZLE_CLEAN_NO_Z) do_blocking_move_to_xy(start); #else do_blocking_move_to(start); #endif // Start the stroke pattern LOOP_L_N(i, strokes >> 1) { do_blocking_move_to_xy(end); do_blocking_move_to_xy(start); } TERN_(NOZZLE_CLEAN_GOBACK, do_blocking_move_to(oldpos)); } /** * @brief Zig-zag clean pattern * @details Apply a zig-zag cleaning pattern * * @param start xyz_pos_t defining the starting point * @param end xyz_pos_t defining the ending point * @param strokes number of strokes to execute * @param objects number of triangles to do */ void Nozzle::zigzag(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes, const uint8_t &objects) { const xy_pos_t diff = end - start; if (!diff.x || !diff.y) return; TERN_(NOZZLE_CLEAN_GOBACK, const xyz_pos_t back = current_position); #if ENABLED(NOZZLE_CLEAN_NO_Z) do_blocking_move_to_xy(start); #else do_blocking_move_to(start); #endif const uint8_t zigs = objects << 1; const bool horiz = ABS(diff.x) >= ABS(diff.y); // Do a horizontal wipe? const float P = (horiz ? diff.x : diff.y) / zigs; // Period of each zig / zag const xyz_pos_t *side; LOOP_L_N(j, strokes) { for (int8_t i = 0; i < zigs; i++) { side = (i & 1) ? &end : &start; if (horiz) do_blocking_move_to_xy(start.x + i * P, side->y); else do_blocking_move_to_xy(side->x, start.y + i * P); } for (int8_t i = zigs; i >= 0; i--) { side = (i & 1) ? &end : &start; if (horiz) do_blocking_move_to_xy(start.x + i * P, side->y); else do_blocking_move_to_xy(side->x, start.y + i * P); } } TERN_(NOZZLE_CLEAN_GOBACK, do_blocking_move_to(back)); } /** * @brief Circular clean pattern * @details Apply a circular cleaning pattern * * @param start xyz_pos_t defining the middle of circle * @param strokes number of strokes to execute * @param radius radius of circle */ void Nozzle::circle(const xyz_pos_t &start, const xyz_pos_t &middle, const uint8_t &strokes, const float &radius) { if (strokes == 0) return; TERN_(NOZZLE_CLEAN_GOBACK, const xyz_pos_t back = current_position); TERN(NOZZLE_CLEAN_NO_Z, do_blocking_move_to_xy, do_blocking_move_to)(start); LOOP_L_N(s, strokes) LOOP_L_N(i, NOZZLE_CLEAN_CIRCLE_FN) do_blocking_move_to_xy( middle.x + sin((RADIANS(360) / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius, middle.y + cos((RADIANS(360) / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius ); // Let's be safe do_blocking_move_to_xy(start); TERN_(NOZZLE_CLEAN_GOBACK, do_blocking_move_to(back)); } /** * @brief Clean the nozzle * @details Starts the selected clean procedure pattern * * @param pattern one of the available patterns * @param argument depends on the cleaning pattern */ void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects, const uint8_t cleans) { xyz_pos_t start[HOTENDS] = NOZZLE_CLEAN_START_POINT, end[HOTENDS] = NOZZLE_CLEAN_END_POINT, middle[HOTENDS] = NOZZLE_CLEAN_CIRCLE_MIDDLE; const uint8_t arrPos = ANY(SINGLENOZZLE, MIXING_EXTRUDER) ? 0 : active_extruder; #if HAS_SOFTWARE_ENDSTOPS #define LIMIT_AXIS(A) do{ \ LIMIT( start[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \ LIMIT(middle[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \ LIMIT( end[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \ }while(0) if (soft_endstops_enabled) { LIMIT_AXIS(x); LIMIT_AXIS(y); LIMIT_AXIS(z); const bool radiusOutOfRange = (middle[arrPos].x + radius > soft_endstop.max.x) || (middle[arrPos].x - radius < soft_endstop.min.x) || (middle[arrPos].y + radius > soft_endstop.max.y) || (middle[arrPos].y - radius < soft_endstop.min.y); if (radiusOutOfRange && pattern == 2) { SERIAL_ECHOLNPGM("Warning: Radius Out of Range"); return; } } #endif if (pattern == 2) { if (!(cleans & (_BV(X_AXIS) | _BV(Y_AXIS)))) { SERIAL_ECHOLNPGM("Warning: Clean Circle requires XY"); return; } } else { if (!TEST(cleans, X_AXIS)) start[arrPos].x = end[arrPos].x = current_position.x; if (!TEST(cleans, Y_AXIS)) start[arrPos].y = end[arrPos].y = current_position.y; } if (!TEST(cleans, Z_AXIS)) start[arrPos].z = end[arrPos].z = current_position.z; switch (pattern) { case 1: zigzag(start[arrPos], end[arrPos], strokes, objects); break; case 2: circle(start[arrPos], middle[arrPos], strokes, radius); break; default: stroke(start[arrPos], end[arrPos], strokes); } } #endif // NOZZLE_CLEAN_FEATURE #if ENABLED(NOZZLE_PARK_FEATURE) void Nozzle::park(const uint8_t z_action, const xyz_pos_t &park/*=NOZZLE_PARK_POINT*/) { constexpr feedRate_t fr_xy = NOZZLE_PARK_XY_FEEDRATE, fr_z = NOZZLE_PARK_Z_FEEDRATE; switch (z_action) { case 1: // Go to Z-park height do_blocking_move_to_z(park.z, fr_z); break; case 2: // Raise by Z-park height do_blocking_move_to_z(_MIN(current_position.z + park.z, Z_MAX_POS), fr_z); break; default: { // Apply a minimum raise, overriding G27 Z const float min_raised_z =_MIN(Z_MAX_POS, current_position.z #ifdef NOZZLE_PARK_Z_RAISE_MIN + NOZZLE_PARK_Z_RAISE_MIN #endif ); do_blocking_move_to_z(_MAX(park.z, min_raised_z), fr_z); } break; } do_blocking_move_to_xy( TERN(NOZZLE_PARK_Y_ONLY, current_position, park).x, TERN(NOZZLE_PARK_X_ONLY, current_position, park).y, fr_xy ); report_current_position(); } #endif // NOZZLE_PARK_FEATURE #endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE