From da87aeb16913514c734b780bff89d932b8bb1a1f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jorge=20Tim=C3=B3n?= Date: Wed, 7 Sep 2022 13:14:02 +0100 Subject: [PATCH] UNTESTED: Hangprinter: Allow Hangprinter to be configured with 9 anchors --- .../Kinematics/HangprinterKinematics.cpp | 19 ++++++++++--------- .../Kinematics/HangprinterKinematics.h | 4 ++-- 2 files changed, 12 insertions(+), 11 deletions(-) diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp index fa933d9958..eb6874a231 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.cpp +++ b/src/Movement/Kinematics/HangprinterKinematics.cpp @@ -20,13 +20,14 @@ constexpr size_t DefaultNumAnchors = 4; // Default anchor coordinates // These are only placeholders. Each machine must have these values calibrated in order to work correctly. -constexpr float DefaultAnchors[8][3] = {{ 0.0, -2000.0, -100.0}, +constexpr float DefaultAnchors[9][3] = {{ 0.0, -2000.0, -100.0}, { 2000.0, 1000.0, -100.0}, {-2000.0, 1000.0, -100.0}, { 0.0, 0.0, 3000.0}, { 0.0, 0.0, 0.0}, { 0.0, 0.0, 0.0}, { 0.0, 0.0, 0.0}, + { 0.0, 0.0, 0.0}, { 0.0, 0.0, 0.0}}; constexpr float DefaultPrintRadius = 1500.0; @@ -86,13 +87,13 @@ void HangprinterKinematics::Init() noexcept * In practice you might want to compensate a bit more or a bit less */ constexpr float DefaultSpoolBuildupFactor = 0.007; /* Measure and set spool radii with M669 to achieve better accuracy */ - constexpr float DefaultSpoolRadii[HANGPRINTER_MAX_AXES] = { 75.0, 75.0, 75.0, 75.0, 75.0, 75.0, 75.0, 75.0}; // HP4 default + constexpr float DefaultSpoolRadii[HANGPRINTER_MAX_AXES] = { 75.0, 75.0, 75.0, 75.0, 75.0, 75.0, 75.0, 75.0, 75.0}; // HP4 default /* If axis runs lines back through pulley system, set mechanical advantage accordingly with M669 */ - constexpr uint32_t DefaultMechanicalAdvantage[HANGPRINTER_MAX_AXES] = { 2, 2, 2, 2, 2, 2, 2, 4}; // HP4 default - constexpr uint32_t DefaultLinesPerSpool[HANGPRINTER_MAX_AXES] = { 1, 1, 1, 1, 1, 1, 1, 1}; // HP4 default - constexpr uint32_t DefaultMotorGearTeeth[HANGPRINTER_MAX_AXES] = { 20, 20, 20, 20, 20, 20, 20, 20}; // HP4 default - constexpr uint32_t DefaultSpoolGearTeeth[HANGPRINTER_MAX_AXES] = { 255, 255, 255, 255, 255, 255, 255, 255}; // HP4 default - constexpr uint32_t DefaultFullStepsPerMotorRev[HANGPRINTER_MAX_AXES] = { 25, 25, 25, 25, 25, 25, 25, 25}; + constexpr uint32_t DefaultMechanicalAdvantage[HANGPRINTER_MAX_AXES] = { 2, 2, 2, 2, 2, 2, 2, 2, 4}; // HP4 default + constexpr uint32_t DefaultLinesPerSpool[HANGPRINTER_MAX_AXES] = { 1, 1, 1, 1, 1, 1, 1, 1, 1}; // HP4 default + constexpr uint32_t DefaultMotorGearTeeth[HANGPRINTER_MAX_AXES] = { 20, 20, 20, 20, 20, 20, 20, 20, 20}; // HP4 default + constexpr uint32_t DefaultSpoolGearTeeth[HANGPRINTER_MAX_AXES] = { 255, 255, 255, 255, 255, 255, 255, 255, 255}; // HP4 default + constexpr uint32_t DefaultFullStepsPerMotorRev[HANGPRINTER_MAX_AXES] = { 25, 25, 25, 25, 25, 25, 25, 25, 25}; ARRAY_INIT(anchors, DefaultAnchors); numAnchors = DefaultNumAnchors; printRadius = DefaultPrintRadius; @@ -677,8 +678,8 @@ void HangprinterKinematics::PrintParameters(const StringRef& reply) const noexce HangprinterKinematics::ODriveAnswer HangprinterKinematics::GetODrive3EncoderEstimate(DriverId const driver, bool const makeReference, const StringRef& reply, bool const subtractReference) THROWS(GCodeException) { const uint8_t cmd = CANSimple::MSG_GET_ENCODER_ESTIMATES; - static CanAddress seenDrives[HANGPRINTER_MAX_AXES] = { 0, 0, 0, 0, 0, 0, 0, 0 }; - static float referencePositions[HANGPRINTER_MAX_AXES] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + static CanAddress seenDrives[HANGPRINTER_MAX_AXES] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + static float referencePositions[HANGPRINTER_MAX_AXES] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; static size_t numSeenDrives = 0; size_t thisDriveIdx = 0; diff --git a/src/Movement/Kinematics/HangprinterKinematics.h b/src/Movement/Kinematics/HangprinterKinematics.h index 8f55c917e7..e2d7df05cf 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.h +++ b/src/Movement/Kinematics/HangprinterKinematics.h @@ -52,8 +52,8 @@ class HangprinterKinematics : public RoundBedKinematics private: // Basic facts about movement system - const char* ANCHOR_CHARS = "ABCDEFHI"; // Skip the G, since it is reserved in G-code - static constexpr size_t HANGPRINTER_MAX_AXES = 8; + const char* ANCHOR_CHARS = "ABCDEFHIJ"; // Skip the G, since it is reserved in G-code + static constexpr size_t HANGPRINTER_MAX_AXES = 9; static constexpr size_t A_AXIS = 0; static constexpr size_t B_AXIS = 1; static constexpr size_t C_AXIS = 2;