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🐛 Fix and improve Polargraph (MarlinFirmware#24847)
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Co-Authored-By: Scott Lahteine <[email protected]>
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@i-make-robots @thinkyhead
i-make-robots and thinkyhead committed Dec 16, 2022
1 parent b3e7d1e commit 031ff2d
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Showing 13 changed files with 109 additions and 41 deletions.
27 changes: 24 additions & 3 deletions Marlin/src/feature/host_actions.cpp
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Expand Up @@ -111,20 +111,29 @@ void HostUI::action(FSTR_P const fstr, const bool eol) {
if (eol) SERIAL_EOL();
}

void HostUI::prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char/*='\0'*/) {
void HostUI::prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char/*='\0'*/) {
prompt(ptype, false);
PORT_REDIRECT(SerialMask::All);
SERIAL_CHAR(' ');
SERIAL_ECHOF(fstr);
if (pgm)
SERIAL_ECHOPGM_P(str);
else
SERIAL_ECHO(str);
if (extra_char != '\0') SERIAL_CHAR(extra_char);
SERIAL_EOL();
}

void HostUI::prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char/*='\0'*/) {
prompt_end();
host_prompt_reason = reason;
prompt_plus(F("begin"), fstr, extra_char);
}
void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); }
void HostUI::prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char/*='\0'*/) {
prompt_end();
host_prompt_reason = reason;
prompt_plus(F("begin"), cstr, extra_char);
}

void HostUI::prompt_end() { prompt(F("end")); }
void HostUI::prompt_show() { prompt(F("show")); }

Expand All @@ -133,14 +142,26 @@ void HostUI::action(FSTR_P const fstr, const bool eol) {
if (btn2) prompt_button(btn2);
prompt_show();
}

void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); }
void HostUI::prompt_button(const char * const cstr) { prompt_plus(F("button"), cstr); }

void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
prompt_begin(reason, fstr);
_prompt_show(btn1, btn2);
}
void HostUI::prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
prompt_begin(reason, cstr);
_prompt_show(btn1, btn2);
}
void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
prompt_begin(reason, fstr, extra_char);
_prompt_show(btn1, btn2);
}
void HostUI::prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
prompt_begin(reason, cstr, extra_char);
_prompt_show(btn1, btn2);
}

#if ENABLED(ADVANCED_PAUSE_FEATURE)
void HostUI::filament_load_prompt() {
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18 changes: 16 additions & 2 deletions Marlin/src/feature/host_actions.h
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Expand Up @@ -79,7 +79,14 @@ class HostUI {
#if ENABLED(HOST_PROMPT_SUPPORT)
private:
static void prompt(FSTR_P const ptype, const bool eol=true);
static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0');
static void prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char='\0');
static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0') {
prompt_plus(true, ptype, FTOP(fstr), extra_char);
}
static void prompt_plus(FSTR_P const ptype, const char * const cstr, const char extra_char='\0') {
prompt_plus(false, ptype, cstr, extra_char);
}

static void prompt_show();
static void _prompt_show(FSTR_P const btn1, FSTR_P const btn2);

Expand All @@ -93,10 +100,17 @@ class HostUI {
static void notify(const char * const message);

static void prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char='\0');
static void prompt_button(FSTR_P const fstr);
static void prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char='\0');
static void prompt_end();

static void prompt_button(FSTR_P const fstr);
static void prompt_button(const char * const cstr);

static void prompt_do(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
static void prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
static void prompt_do(const PromptReason reason, FSTR_P const pstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
static void prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);

static void prompt_open(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr) {
if (host_prompt_reason == PROMPT_NOT_DEFINED) prompt_do(reason, pstr, btn1, btn2);
}
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2 changes: 0 additions & 2 deletions Marlin/src/gcode/calibrate/M665.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,8 +167,6 @@
if (parser.seenval('T')) draw_area_max.y = parser.value_linear_units();
if (parser.seenval('B')) draw_area_min.y = parser.value_linear_units();
if (parser.seenval('H')) polargraph_max_belt_len = parser.value_linear_units();
draw_area_size.x = draw_area_max.x - draw_area_min.x;
draw_area_size.y = draw_area_max.y - draw_area_min.y;
}

void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
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7 changes: 6 additions & 1 deletion Marlin/src/gcode/lcd/M0_M1.cpp
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Expand Up @@ -85,7 +85,12 @@ void GcodeSuite::M0_M1() {

#endif

TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, parser.codenum ? F("M1 Stop") : F("M0 Stop"), FPSTR(CONTINUE_STR)));
#if ENABLED(HOST_PROMPT_SUPPORT)
if (parser.string_arg)
hostui.prompt_do(PROMPT_USER_CONTINUE, parser.string_arg, FPSTR(CONTINUE_STR));
else
hostui.prompt_do(PROMPT_USER_CONTINUE, parser.codenum ? F("M1 Stop") : F("M0 Stop"), FPSTR(CONTINUE_STR));
#endif

TERN_(HAS_RESUME_CONTINUE, wait_for_user_response(ms));

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2 changes: 1 addition & 1 deletion Marlin/src/inc/Conditionals_post.h
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Expand Up @@ -155,7 +155,7 @@
#define W_BED_SIZE W_MAX_LENGTH
#endif

// Require 0,0 bed center for Delta and SCARA
// Require 0,0 bed center for Delta, SCARA, and Polargraph
#if IS_KINEMATIC
#define BED_CENTER_AT_0_0
#endif
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4 changes: 2 additions & 2 deletions Marlin/src/inc/SanityCheck.h
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Expand Up @@ -829,15 +829,15 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
/**
* Granular software endstops (Marlin >= 1.1.7)
*/
#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && DISABLED(MIN_SOFTWARE_ENDSTOP_Z)
#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && NONE(MIN_SOFTWARE_ENDSTOP_Z, POLARGRAPH)
#if IS_KINEMATIC
#error "MIN_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MIN_SOFTWARE_ENDSTOP_Z."
#elif NONE(MIN_SOFTWARE_ENDSTOP_X, MIN_SOFTWARE_ENDSTOP_Y)
#error "MIN_SOFTWARE_ENDSTOPS requires at least one of the MIN_SOFTWARE_ENDSTOP_[XYZ] options."
#endif
#endif

#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && DISABLED(MAX_SOFTWARE_ENDSTOP_Z)
#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && NONE(MAX_SOFTWARE_ENDSTOP_Z, POLARGRAPH)
#if IS_KINEMATIC
#error "MAX_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MAX_SOFTWARE_ENDSTOP_Z."
#elif NONE(MAX_SOFTWARE_ENDSTOP_X, MAX_SOFTWARE_ENDSTOP_Y)
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6 changes: 6 additions & 0 deletions Marlin/src/lcd/language/language_en.h
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Original file line number Diff line number Diff line change
Expand Up @@ -418,6 +418,12 @@ namespace Language_en {
LSTR MSG_FILAMENT_DIAM_E = _UxGT("Fil. Dia. *");
LSTR MSG_FILAMENT_UNLOAD = _UxGT("Unload mm");
LSTR MSG_FILAMENT_LOAD = _UxGT("Load mm");
LSTR MSG_SEGMENTS_PER_SECOND = _UxGT("Segments/Sec");
LSTR MSG_DRAW_MIN_X = _UxGT("Draw Min X");
LSTR MSG_DRAW_MAX_X = _UxGT("Draw Max X");
LSTR MSG_DRAW_MIN_Y = _UxGT("Draw Min Y");
LSTR MSG_DRAW_MAX_Y = _UxGT("Draw Max Y");
LSTR MSG_MAX_BELT_LEN = _UxGT("Max Belt Len");
LSTR MSG_ADVANCE_K = _UxGT("Advance K");
LSTR MSG_ADVANCE_K_E = _UxGT("Advance K *");
LSTR MSG_CONTRAST = _UxGT("LCD Contrast");
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16 changes: 13 additions & 3 deletions Marlin/src/lcd/menu/menu_advanced.cpp
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Expand Up @@ -632,10 +632,20 @@ void menu_advanced_settings() {

#if DISABLED(SLIM_LCD_MENUS)

#if ENABLED(POLARGRAPH)
// M665 - Polargraph Settings
if (!is_busy) {
EDIT_ITEM_FAST(float4, MSG_SEGMENTS_PER_SECOND, &segments_per_second, 100, 9999); // M665 S
EDIT_ITEM_FAST(float51sign, MSG_DRAW_MIN_X, &draw_area_min.x, X_MIN_POS, draw_area_max.x - 10); // M665 L
EDIT_ITEM_FAST(float51sign, MSG_DRAW_MAX_X, &draw_area_max.x, draw_area_min.x + 10, X_MAX_POS); // M665 R
EDIT_ITEM_FAST(float51sign, MSG_DRAW_MIN_Y, &draw_area_min.y, Y_MIN_POS, draw_area_max.y - 10); // M665 T
EDIT_ITEM_FAST(float51sign, MSG_DRAW_MAX_Y, &draw_area_max.y, draw_area_min.y + 10, Y_MAX_POS); // M665 B
EDIT_ITEM_FAST(float51sign, MSG_MAX_BELT_LEN, &polargraph_max_belt_len, 500, 2000); // M665 H
}
#endif

#if HAS_M206_COMMAND
//
// Set Home Offsets
//
// M428 - Set Home Offsets
ACTION_ITEM(MSG_SET_HOME_OFFSETS, []{ queue.inject(F("M428")); ui.return_to_status(); });
#endif

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19 changes: 12 additions & 7 deletions Marlin/src/module/motion.cpp
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Expand Up @@ -341,7 +341,6 @@ void report_current_position_projected() {
can_reach = (
a < polargraph_max_belt_len + 1
&& b < polargraph_max_belt_len + 1
&& (a + b) > _MIN(draw_area_size.x, draw_area_size.y)
);

#endif
Expand Down Expand Up @@ -562,7 +561,8 @@ void do_blocking_move_to(NUM_AXIS_ARGS(const float), const_feedRate_t fr_mm_s/*=
const feedRate_t w_feedrate = fr_mm_s ?: homing_feedrate(W_AXIS)
);

#if IS_KINEMATIC
#if IS_KINEMATIC && DISABLED(POLARGRAPH)
// kinematic machines are expected to home to a point 1.5x their range? never reachable.
if (!position_is_reachable(x, y)) return;
destination = current_position; // sync destination at the start
#endif
Expand Down Expand Up @@ -919,11 +919,16 @@ void restore_feedrate_and_scaling() {
constexpr xy_pos_t offs{0};
#endif

if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) {
const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
if (dist_2 > delta_max_radius_2)
target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66
}
#if ENABLED(POLARGRAPH)
LIMIT(target.x, draw_area_min.x, draw_area_max.x);
LIMIT(target.y, draw_area_min.y, draw_area_max.y);
#else
if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) {
const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
if (dist_2 > delta_max_radius_2)
target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66
}
#endif

#else

Expand Down
1 change: 0 additions & 1 deletion Marlin/src/module/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2244,7 +2244,6 @@ bool Planner::_populate_block(

TERN_(MIXING_EXTRUDER, mixer.populate_block(block->b_color));


#if HAS_FAN
FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i];
#endif
Expand Down
13 changes: 4 additions & 9 deletions Marlin/src/module/polargraph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,17 +37,12 @@
#include "../lcd/marlinui.h"
#include "../MarlinCore.h"

float segments_per_second; // Initialized by settings.load()

xy_pos_t draw_area_min = { X_MIN_POS, Y_MIN_POS },
draw_area_max = { X_MAX_POS, Y_MAX_POS };

xy_float_t draw_area_size = { X_MAX_POS - X_MIN_POS, Y_MAX_POS - Y_MIN_POS };

float polargraph_max_belt_len = HYPOT(draw_area_size.x, draw_area_size.y);
// Initialized by settings.load()
float segments_per_second, polargraph_max_belt_len;
xy_pos_t draw_area_min, draw_area_max;

void inverse_kinematics(const xyz_pos_t &raw) {
const float x1 = raw.x - (draw_area_min.x), x2 = (draw_area_max.x) - raw.x, y = raw.y - (draw_area_max.y);
const float x1 = raw.x - draw_area_min.x, x2 = draw_area_max.x - raw.x, y = raw.y - draw_area_max.y;
delta.set(HYPOT(x1, y), HYPOT(x2, y), raw.z);
}

Expand Down
1 change: 0 additions & 1 deletion Marlin/src/module/polargraph.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,6 @@

extern float segments_per_second;
extern xy_pos_t draw_area_min, draw_area_max;
extern xy_float_t draw_area_size;
extern float polargraph_max_belt_len;

void inverse_kinematics(const xyz_pos_t &raw);
34 changes: 25 additions & 9 deletions Marlin/src/module/settings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -257,7 +257,7 @@ typedef struct SettingsDataStruct {
// HAS_BED_PROBE
//

xyz_pos_t probe_offset;
xyz_pos_t probe_offset; // M851 X Y Z

//
// ABL_PLANAR
Expand Down Expand Up @@ -319,7 +319,7 @@ typedef struct SettingsDataStruct {
#endif

//
// Kinematic Settings
// Kinematic Settings (Delta, SCARA, TPARA, Polargraph...)
//
#if IS_KINEMATIC
float segments_per_second; // M665 S
Expand All @@ -330,7 +330,11 @@ typedef struct SettingsDataStruct {
delta_diagonal_rod; // M665 L
abc_float_t delta_tower_angle_trim, // M665 X Y Z
delta_diagonal_rod_trim; // M665 A B C
#elif ENABLED(POLARGRAPH)
xy_pos_t draw_area_min, draw_area_max; // M665 L R T B
float polargraph_max_belt_len; // M665 H
#endif

#endif

//
Expand Down Expand Up @@ -468,7 +472,7 @@ typedef struct SettingsDataStruct {
//
// SKEW_CORRECTION
//
skew_factor_t planner_skew_factor; // M852 I J K planner.skew_factor
skew_factor_t planner_skew_factor; // M852 I J K

//
// ADVANCED_PAUSE_FEATURE
Expand Down Expand Up @@ -988,7 +992,7 @@ void MarlinSettings::postprocess() {
}

//
// Kinematic Settings
// Kinematic Settings (Delta, SCARA, TPARA, Polargraph...)
//
#if IS_KINEMATIC
{
Expand All @@ -1001,6 +1005,11 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(delta_diagonal_rod); // 1 float
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats
#elif ENABLED(POLARGRAPH)
_FIELD_TEST(draw_area_min);
EEPROM_WRITE(draw_area_min); // 2 floats
EEPROM_WRITE(draw_area_max); // 2 floats
EEPROM_WRITE(polargraph_max_belt_len); // 1 float
#endif
}
#endif
Expand Down Expand Up @@ -1923,7 +1932,7 @@ void MarlinSettings::postprocess() {
}

//
// Kinematic Segments-per-second
// Kinematic Settings (Delta, SCARA, TPARA, Polargraph...)
//
#if IS_KINEMATIC
{
Expand All @@ -1936,6 +1945,11 @@ void MarlinSettings::postprocess() {
EEPROM_READ(delta_diagonal_rod); // 1 float
EEPROM_READ(delta_tower_angle_trim); // 3 floats
EEPROM_READ(delta_diagonal_rod_trim); // 3 floats
#elif ENABLED(POLARGRAPH)
_FIELD_TEST(draw_area_min);
EEPROM_READ(draw_area_min); // 2 floats
EEPROM_READ(draw_area_max); // 2 floats
EEPROM_READ(polargraph_max_belt_len); // 1 float
#endif
}
#endif
Expand Down Expand Up @@ -2979,7 +2993,7 @@ void MarlinSettings::reset() {
#endif

//
// Kinematic settings
// Kinematic Settings (Delta, SCARA, TPARA, Polargraph...)
//

#if IS_KINEMATIC
Expand All @@ -2996,6 +3010,10 @@ void MarlinSettings::reset() {
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_tower_angle_trim = dta;
delta_diagonal_rod_trim = ddr;
#elif ENABLED(POLARGRAPH)
draw_area_min.set(X_MIN_POS, Y_MIN_POS);
draw_area_max.set(X_MAX_POS, Y_MAX_POS);
polargraph_max_belt_len = POLARGRAPH_MAX_BELT_LEN;
#endif
#endif

Expand Down Expand Up @@ -3492,9 +3510,7 @@ void MarlinSettings::reset() {
//
// LCD Preheat Settings
//
#if HAS_PREHEAT
gcode.M145_report(forReplay);
#endif
TERN_(HAS_PREHEAT, gcode.M145_report(forReplay));

//
// PID
Expand Down

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