✨ Polargraph / Makelangelo kinematics (MarlinFirmware#22790)

Marlin/Configuration.h

@@ -761,6 +761,13 @@
 // Enable for a belt style printer with endless "Z" motion
 //#define BELTPRINTER
 
+// Enable for Polargraph Kinematics
+//#define POLARGRAPH
+#if ENABLED(POLARGRAPH)
+  #define POLARGRAPH_MAX_BELT_LEN 1035.0
+  #define POLAR_SEGMENTS_PER_SECOND 5
+#endif
+
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================

Marlin/src/MarlinCore.cpp

@@ -168,6 +168,8 @@
 
 #if ENABLED(DELTA)
   #include "module/delta.h"
+#elif ENABLED(POLARGRAPH)
+  #include "module/polargraph.h"
 #elif IS_SCARA
   #include "module/scara.h"
 #endif

Marlin/src/core/language.h

@@ -264,9 +264,10 @@
 // Settings Report Strings
 #define STR_Z_AUTO_ALIGN                    "Z Auto-Align"
 #define STR_BACKLASH_COMPENSATION           "Backlash compensation"
-#define STR_DELTA_SETTINGS                  "Delta settings (L<diagonal-rod> R<radius> H<height> S<segments-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
-#define STR_SCARA_SETTINGS                  "SCARA settings"
-#define STR_SCARA_S                         "S<seg-per-sec>"
+#define STR_S_SEG_PER_SEC                   "S<seg-per-sec>"
+#define STR_DELTA_SETTINGS                  "Delta (L<diagonal-rod> R<radius> H<height> S<seg-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
+#define STR_SCARA_SETTINGS                  "SCARA"
+#define STR_POLARGRAPH_SETTINGS             "Polargraph"
 #define STR_SCARA_P_T_Z                     "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
 #define STR_ENDSTOP_ADJUSTMENT              "Endstop adjustment"
 #define STR_SKEW_FACTOR                     "Skew Factor"

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -324,6 +324,8 @@
     #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
   #elif ENABLED(DELTA)
     #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
+  #elif ENABLED(POLARGRAPH)
+    #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
   #else // CARTESIAN
     #ifdef LEVELED_SEGMENT_LENGTH
       #define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH

Marlin/src/gcode/calibrate/M665.cpp

@@ -132,7 +132,7 @@
   }
 
   void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
-    report_heading_etc(forReplay, PSTR(STR_SCARA_SETTINGS " (" STR_SCARA_S TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")"));
+    report_heading_etc(forReplay, PSTR(STR_SCARA_SETTINGS " (" STR_S_SEG_PER_SEC TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")"));
     SERIAL_ECHOLNPGM_P(
       PSTR("  M665 S"), segments_per_second
       #if HAS_SCARA_OFFSET
@@ -143,6 +143,29 @@
     );
   }
 
+#elif ENABLED(POLARGRAPH)
+
+  #include "../../module/polargraph.h"
+
+  /**
+   * M665: Set POLARGRAPH settings
+   *
+   * Parameters:
+   *
+   *   S[segments-per-second] - Segments-per-second
+   */
+  void GcodeSuite::M665() {
+    if (parser.seenval('S'))
+      segments_per_second = parser.value_float();
+    else
+      M665_report();
+  }
+
+  void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
+    report_heading_etc(forReplay, PSTR(STR_POLARGRAPH_SETTINGS " (" STR_S_SEG_PER_SEC ")"));
+    SERIAL_ECHOLNPGM("  M665 S", segments_per_second);
+  }
+
 #endif
 
 #endif // IS_KINEMATIC

Marlin/src/gcode/control/M280.cpp

@@ -26,22 +26,44 @@
 
 #include "../gcode.h"
 #include "../../module/servo.h"
+#include "../../module/planner.h"
 
 /**
- * M280: Get or set servo position. P<index> [S<angle>]
+ * M280: Get or set servo position.
+ *  P<index> - Servo index
+ *  S<angle> - Angle to set, omit to read current angle, or use -1 to detach
+ *
+ * With POLARGRAPH:
+ *  T<ms>    - Duration of servo move
  */
 void GcodeSuite::M280() {
 
-  if (!parser.seen('P')) return;
+  if (!parser.seenval('P')) return;
+
+  TERN_(POLARGRAPH, planner.synchronize());
 
   const int servo_index = parser.value_int();
   if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
-    if (parser.seen('S')) {
-      const int a = parser.value_int();
-      if (a == -1)
-        DETACH_SERVO(servo_index);
+    if (parser.seenval('S')) {
+      const int anew = parser.value_int();
+      if (anew >= 0) {
+        #if ENABLED(POLARGRAPH)
+          if (parser.seen('T')) { // (ms) Total duration of servo move
+            const int16_t t = constrain(parser.value_int(), 0, 10000);
+            const int aold = servo[servo_index].read();
+            millis_t now = millis();
+            const millis_t start = now, end = start + t;
+            while (PENDING(now, end)) {
+              safe_delay(50);
+              now = _MIN(millis(), end);
+              MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t)));
+            }
+          }
+        #endif // POLARGRAPH
+        MOVE_SERVO(servo_index, anew);
+      }
       else
-        MOVE_SERVO(servo_index, a);
+        DETACH_SERVO(servo_index);
     }
     else
       SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());

Marlin/src/gcode/control/M282.cpp

@@ -32,7 +32,7 @@
  */
 void GcodeSuite::M282() {
 
-  if (!parser.seen('P')) return;
+  if (!parser.seenval('P')) return;
 
   const int servo_index = parser.value_int();
   if (WITHIN(servo_index, 0, NUM_SERVOS - 1))

Marlin/src/gcode/gcode.cpp

@@ -885,8 +885,8 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 605: M605(); break;                                  // M605: Set Dual X Carriage movement mode
       #endif
 
-      #if ENABLED(DELTA)
-        case 665: M665(); break;                                  // M665: Set delta configurations
+      #if IS_KINEMATIC
+        case 665: M665(); break;                                  // M665: Set Delta/SCARA parameters
       #endif
 
       #if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS

Marlin/src/gcode/gcode.h

@@ -244,6 +244,7 @@
  * M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
  * M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  * M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
+ *        Set SCARA configurations: "M665 S<segments-per-second> P<theta-psi-offset> T<theta-offset> Z<z-offset> (Requires MORGAN_SCARA or MP_SCARA)
  * M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
  * M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
  * M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)

Marlin/src/inc/Conditionals_LCD.h

@@ -1075,7 +1075,7 @@
 #if ANY(MORGAN_SCARA, MP_SCARA, AXEL_TPARA)
   #define IS_SCARA 1
   #define IS_KINEMATIC 1
-#elif ENABLED(DELTA)
+#elif EITHER(DELTA, POLARGRAPH)
   #define IS_KINEMATIC 1
 #else
   #define IS_CARTESIAN 1

Marlin/src/inc/SanityCheck.h

@@ -1340,8 +1340,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 /**
  * Servo deactivation depends on servo endstops, switching nozzle, or switching extruder
  */
-#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && !HAS_Z_SERVO_PROBE && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR) && !defined(SWITCHING_TOOLHEAD_SERVO_NR)
-  #error "Z_PROBE_SERVO_NR, switching nozzle, switching toolhead or switching extruder is required for DEACTIVATE_SERVOS_AFTER_MOVE."
+#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && NONE(HAS_Z_SERVO_PROBE, POLARGRAPH) && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR) && !defined(SWITCHING_TOOLHEAD_SERVO_NR)
+  #error "Z_PROBE_SERVO_NR, switching nozzle, switching toolhead, switching extruder, or POLARGRAPH is required for DEACTIVATE_SERVOS_AFTER_MOVE."
 #endif
 
 /**

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -466,9 +466,11 @@ void menu_backlash();
         #ifdef MAX_JERK_EDIT_VALUES
           MAX_JERK_EDIT_VALUES
         #elif ENABLED(LIMITED_JERK_EDITING)
-          { (DEFAULT_XJERK) * 2, (DEFAULT_YJERK) * 2, (DEFAULT_ZJERK) * 2, (DEFAULT_EJERK) * 2 }
+          { LOGICAL_AXIS_LIST((DEFAULT_EJERK) * 2,
+                              (DEFAULT_XJERK) * 2, (DEFAULT_YJERK) * 2, (DEFAULT_ZJERK) * 2,
+                              (DEFAULT_IJERK) * 2, (DEFAULT_JJERK) * 2, (DEFAULT_KJERK) * 2) }
         #else
-          { 990, 990, 990, 990 }
+          { LOGICAL_AXIS_LIST(990, 990, 990, 990, 990, 990, 990) }
         #endif
       ;
       #define EDIT_JERK(N) EDIT_ITEM_FAST(float3, MSG_V##N##_JERK, &planner.max_jerk[_AXIS(N)], 1, max_jerk_edit[_AXIS(N)])

Marlin/src/module/motion.cpp

@@ -489,7 +489,7 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
     const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
   #endif
 
-  #if EITHER(DELTA, IS_SCARA)
+  #if IS_KINEMATIC
     if (!position_is_reachable(x, y)) return;
     destination = current_position;          // sync destination at the start
   #endif

Marlin/src/module/motion.h

@@ -504,6 +504,14 @@ void home_if_needed(const bool keeplev=false);
 
       return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
 
+    #elif ENABLED(POLARGRAPH)
+
+      const float x1 = rx - (X_MIN_POS), x2 = (X_MAX_POS) - rx, y = ry - (Y_MAX_POS),
+                  a = HYPOT(x1, y), b = HYPOT(x2, y);
+      return a < (POLARGRAPH_MAX_BELT_LEN) + 1
+          && b < (POLARGRAPH_MAX_BELT_LEN) + 1
+          && (a + b) > _MIN(X_BED_SIZE, Y_BED_SIZE);
+
     #elif ENABLED(AXEL_TPARA)
 
       const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);

Marlin/src/module/planner.cpp

@@ -3021,7 +3021,7 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, cons
     #else
       const feedRate_t feedrate = fr_mm_s;
     #endif
-    delta.e = machine.e;
+    TERN_(HAS_EXTRUDERS, delta.e = machine.e);
     if (buffer_segment(delta OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), feedrate, extruder, mm)) {
       position_cart = cart;
       return true;
@@ -3126,7 +3126,7 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) {
   #if IS_KINEMATIC
     position_cart = xyze;
     inverse_kinematics(machine);
-    delta.e = machine.e;
+    TERN_(HAS_EXTRUDERS, delta.e = machine.e);
     set_machine_position_mm(delta);
   #else
     set_machine_position_mm(machine);

Marlin/src/module/planner.h

@@ -48,6 +48,8 @@
 
 #if ENABLED(DELTA)
   #include "delta.h"
+#elif ENABLED(POLARGRAPH)
+  #include "polargraph.h"
 #endif
 
 #if ABL_PLANAR

Marlin/src/module/polargraph.cpp

@@ -0,0 +1,47 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * polargraph.cpp
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(POLARGRAPH)
+
+#include "polargraph.h"
+#include "motion.h"
+
+// For homing:
+#include "planner.h"
+#include "endstops.h"
+#include "../lcd/marlinui.h"
+#include "../MarlinCore.h"
+
+float segments_per_second; // Initialized by settings.load()
+
+void inverse_kinematics(const xyz_pos_t &raw) {
+  const float x1 = raw.x - (X_MIN_POS), x2 = (X_MAX_POS) - raw.x, y = raw.y - (Y_MAX_POS);
+  delta.set(HYPOT(x1, y), HYPOT(x2, y), raw.z);
+}
+
+#endif // POLARGRAPH

Marlin/src/module/polargraph.h

@@ -0,0 +1,33 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+/**
+ * polargraph.h - Polargraph-specific functions
+ */
+
+#include "../core/types.h"
+#include "../core/macros.h"
+
+extern float segments_per_second;
+
+void inverse_kinematics(const xyz_pos_t &raw);