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- /**
- * 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 <https://www.gnu.org/licenses/>.
- *
- */
-
- #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)
- #if ENABLED(NOZZLE_CLEAN_NO_Y)
- do_blocking_move_to_x(start.x);
- #else
- do_blocking_move_to_xy(start);
- #endif
- #else
- do_blocking_move_to(start);
- #endif
-
- // Start the stroke pattern
- LOOP_L_N(i, strokes >> 1) {
- #if ENABLED(NOZZLE_CLEAN_NO_Y)
- do_blocking_move_to_x(end.x);
- do_blocking_move_to_x(start.x);
- #else
- do_blocking_move_to_xy(end);
- do_blocking_move_to_xy(start);
- #endif
- }
-
- 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_endstop.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
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