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Merge pull request Smoothieware#1274 from ahmetipkin/edge
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Compansation dampening functionality is added
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@wolfmanjm
wolfmanjm authored Mar 1, 2018
2 parents 26334d3 + daa8b03 commit ca5d04b
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Showing 2 changed files with 57 additions and 24 deletions.
73 changes: 51 additions & 22 deletions src/modules/tools/zprobe/CartGridStrategy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,8 @@
#define do_home_checksum CHECKSUM("do_home")
#define only_by_two_corners_checksum CHECKSUM("only_by_two_corners")
#define human_readable_checksum CHECKSUM("human_readable")
#define height_limit_checksum CHECKSUM("height_limit")
#define dampening_start_checksum CHECKSUM("dampening_start")

#define GRIDFILE "/sd/cartesian.grid"
#define GRIDFILE_NM "/sd/cartesian_nm.grid"
Expand All @@ -133,7 +135,16 @@ bool CartGridStrategy::handleConfig()
do_home = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, do_home_checksum)->by_default(true)->as_bool();
only_by_two_corners = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, only_by_two_corners_checksum)->by_default(false)->as_bool();
human_readable = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, human_readable_checksum)->by_default(false)->as_bool();

this->height_limit = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, height_limit_checksum)->by_default(NAN)->as_number();
this->dampening_start = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, dampening_start_checksum)->by_default(NAN)->as_number();

if(!isnan(this->height_limit) && !isnan(this->dampening_start)) {
this->damping_interval = height_limit - dampening_start;
} else {
this->damping_interval = NAN;
}

this->x_start = 0.0F;
this->y_start = 0.0F;
this->x_size = THEKERNEL->config->value(leveling_strategy_checksum, cart_grid_leveling_strategy_checksum, x_size_checksum)->by_default(0.0F)->as_number();
Expand Down Expand Up @@ -568,29 +579,47 @@ void CartGridStrategy::doCompensation(float *target, bool inverse)
float left = (1 - ratio_y) * z1 + ratio_y * z2;
float right = (1 - ratio_y) * z3 + ratio_y * z4;
float offset = (1 - ratio_x) * left + ratio_x * right;
// offset scale: 1 for default (use offset as is)
float scale = 1.0;

if (!isnan(this->damping_interval)) {
// first let's find out our 'world coordinate' positions for checking the limits:
Robot::wcs_t world_coordinates = THEROBOT->mcs2wcs(THEROBOT->get_axis_position());
float current_z = std::get<Z_AXIS>(world_coordinates); // no need to convert to mm, if machine is in inches; so is config!
// THEKERNEL->streams->printf("//DEBUG: Current Z: %f\n", current_z);
// if the height is below our compensation limit:
if(current_z <= this->height_limit) {
// scale the offset as necessary:
if( current_z >= this->dampening_start) {
scale = ( 1- ( (current_z - this->dampening_start ) / this->damping_interval) );
} // else leave scale at 1.0;
} else {
scale = 0.0; // if Z is higher than max, no compensation
}
}

if (inverse) {
target[Z_AXIS] -= offset * scale;
} else {
target[Z_AXIS] += offset * scale;
}

if(inverse)
target[Z_AXIS] -= offset;
else
target[Z_AXIS] += offset;


/*
THEKERNEL->streams->printf("//DEBUG: TARGET: %f, %f, %f\n", target[0], target[1], target[2]);
THEKERNEL->streams->printf("//DEBUG: grid_x= %f\n", grid_x);
THEKERNEL->streams->printf("//DEBUG: grid_y= %f\n", grid_y);
THEKERNEL->streams->printf("//DEBUG: floor_x= %d\n", floor_x);
THEKERNEL->streams->printf("//DEBUG: floor_y= %d\n", floor_y);
THEKERNEL->streams->printf("//DEBUG: ratio_x= %f\n", ratio_x);
THEKERNEL->streams->printf("//DEBUG: ratio_y= %f\n", ratio_y);
THEKERNEL->streams->printf("//DEBUG: z1= %f\n", z1);
THEKERNEL->streams->printf("//DEBUG: z2= %f\n", z2);
THEKERNEL->streams->printf("//DEBUG: z3= %f\n", z3);
THEKERNEL->streams->printf("//DEBUG: z4= %f\n", z4);
THEKERNEL->streams->printf("//DEBUG: left= %f\n", left);
THEKERNEL->streams->printf("//DEBUG: right= %f\n", right);
THEKERNEL->streams->printf("//DEBUG: offset= %f\n", offset);
*/
/*THEKERNEL->streams->printf("//DEBUG: TARGET: %f, %f, %f\n", target[0], target[1], target[2]);
THEKERNEL->streams->printf("//DEBUG: grid_x= %f\n", grid_x);
THEKERNEL->streams->printf("//DEBUG: grid_y= %f\n", grid_y);
THEKERNEL->streams->printf("//DEBUG: floor_x= %d\n", floor_x);
THEKERNEL->streams->printf("//DEBUG: floor_y= %d\n", floor_y);
THEKERNEL->streams->printf("//DEBUG: ratio_x= %f\n", ratio_x);
THEKERNEL->streams->printf("//DEBUG: ratio_y= %f\n", ratio_y);
THEKERNEL->streams->printf("//DEBUG: z1= %f\n", z1);
THEKERNEL->streams->printf("//DEBUG: z2= %f\n", z2);
THEKERNEL->streams->printf("//DEBUG: z3= %f\n", z3);
THEKERNEL->streams->printf("//DEBUG: z4= %f\n", z4);
THEKERNEL->streams->printf("//DEBUG: left= %f\n", left);
THEKERNEL->streams->printf("//DEBUG: right= %f\n", right);
THEKERNEL->streams->printf("//DEBUG: offset= %f\n", offset);
THEKERNEL->streams->printf("//DEBUG: scale= %f\n", scale);
*/
}


Expand Down
8 changes: 6 additions & 2 deletions src/modules/tools/zprobe/CartGridStrategy.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,12 @@ class CartGridStrategy : public LevelingStrategy
bool probe_grid(int n, int m, float _x_start, float _y_start, float _x_size, float _y_size, StreamOutput *stream);

float initial_height;
float tolerance;

float tolerance;

float height_limit;
float dampening_start;
float damping_interval;

float *grid;
std::tuple<float, float, float> probe_offsets;
float x_start,y_start;
Expand Down

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