diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp index 48eafcda1e..af09b61152 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.cpp +++ b/src/Movement/Kinematics/HangprinterKinematics.cpp @@ -129,16 +129,15 @@ void HangprinterKinematics::Recalc() noexcept // This is the difference between a "line length" and a "line position" // "line length" == ("line position" + "line length in origin") - distancesOrigin[A_AXIS] = fastSqrtf(fsquare(anchors[A_AXIS][0]) + fsquare(anchors[A_AXIS][1]) + fsquare(anchors[A_AXIS][2])); - distancesOrigin[B_AXIS] = fastSqrtf(fsquare(anchors[B_AXIS][0]) + fsquare(anchors[B_AXIS][1]) + fsquare(anchors[B_AXIS][2])); - distancesOrigin[C_AXIS] = fastSqrtf(fsquare(anchors[C_AXIS][0]) + fsquare(anchors[C_AXIS][1]) + fsquare(anchors[C_AXIS][2])); - distancesOrigin[D_AXIS] = fastSqrtf(fsquare(anchors[D_AXIS][0]) + fsquare(anchors[D_AXIS][1]) + fsquare(anchors[D_AXIS][2])); - + for (size_t i = 0; i < HANGPRINTER_AXES; ++i) + { + distancesOrigin[i] = fastSqrtf(fsquare(anchors[i][0]) + fsquare(anchors[i][1]) + fsquare(anchors[i][2])); + } //// Line buildup compensation float stepsPerUnitTimesRTmp[HANGPRINTER_AXES] = { 0.0 }; Platform& platform = reprap.GetPlatform(); // No const because we want to set drive steper per unit - for (size_t i = 0; i < HANGPRINTER_AXES; i++) + for (size_t i = 0; i < HANGPRINTER_AXES; ++i) { const uint8_t driver = platform.GetAxisDriversConfig(i).driverNumbers[0].localDriver; // Only supports single driver bool dummy; @@ -203,11 +202,10 @@ bool HangprinterKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const if (mCode == 669) { const bool seenNonGeometry = TryConfigureSegmentation(gb); - gb.TryGetFloatArray('A', 3, anchors[A_AXIS], seen); - gb.TryGetFloatArray('B', 3, anchors[B_AXIS], seen); - gb.TryGetFloatArray('C', 3, anchors[C_AXIS], seen); - gb.TryGetFloatArray('D', 3, anchors[D_AXIS], seen); - + for (size_t i = 0; i < HANGPRINTER_AXES; ++i) + { + gb.TryGetFloatArray(ANCHOR_CHARS[i], 3, anchors[i], seen); + } if (gb.Seen('P')) { printRadius = gb.GetPositiveFValue(); @@ -221,18 +219,12 @@ bool HangprinterKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const else if (!seenNonGeometry && !gb.Seen('K')) { Kinematics::Configure(mCode, gb, reply, error); - reply.lcatf( - "A:%.2f, %.2f, %.2f\n" - "B:%.2f, %.2f, %.2f\n" - "C:%.2f, %.2f, %.2f\n" - "D:%.2f, %.2f, %.2f\n" - "P:Print radius: %.1f", - (double)anchors[A_AXIS][X_AXIS], (double)anchors[A_AXIS][Y_AXIS], (double)anchors[A_AXIS][Z_AXIS], - (double)anchors[B_AXIS][X_AXIS], (double)anchors[B_AXIS][Y_AXIS], (double)anchors[B_AXIS][Z_AXIS], - (double)anchors[C_AXIS][X_AXIS], (double)anchors[C_AXIS][Y_AXIS], (double)anchors[C_AXIS][Z_AXIS], - (double)anchors[D_AXIS][X_AXIS], (double)anchors[D_AXIS][Y_AXIS], (double)anchors[D_AXIS][Z_AXIS], - (double)printRadius - ); + for (size_t i = 0; i < HANGPRINTER_AXES; ++i) + { + reply.lcatf("%c:%.2f, %.2f, %.2f", + ANCHOR_CHARS[i], (double)anchors[i][X_AXIS], (double)anchors[i][Y_AXIS], (double)anchors[i][Z_AXIS]); + } + reply.lcatf("P:Print radius: %.1f", (double)printRadius); } } else if (mCode == 666) @@ -256,36 +248,71 @@ bool HangprinterKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const } else { - reply.printf( - "M666 Q%.4f\n" - "R%.2f:%.2f:%.2f:%.2f\n" - "U%d:%d:%d:%d\n" - "O%d:%d:%d:%d\n" - "L%d:%d:%d:%d\n" - "H%d:%d:%d:%d\n" - "J%d:%d:%d:%d\n" - "W%.2f\n" - "S%.2f\n" - "I%.1f:%.1f:%.1f:%.1f\n" - "X%.1f:%.1f:%.1f:%.1f\n" - "Y%.1f:%.1f:%.1f:%.1f\n" - "T%.1f\n" - "C%.4f:%.4f:%.4f:%.4f", - (double)spoolBuildupFactor, - (double)spoolRadii[A_AXIS], (double)spoolRadii[B_AXIS], (double)spoolRadii[C_AXIS], (double)spoolRadii[D_AXIS], - (int)mechanicalAdvantage[A_AXIS], (int)mechanicalAdvantage[B_AXIS], (int)mechanicalAdvantage[C_AXIS], (int)mechanicalAdvantage[D_AXIS], - (int)linesPerSpool[A_AXIS], (int)linesPerSpool[B_AXIS], (int)linesPerSpool[C_AXIS], (int)linesPerSpool[D_AXIS], - (int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS], (int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS], - (int)spoolGearTeeth[A_AXIS], (int)spoolGearTeeth[B_AXIS], (int)spoolGearTeeth[C_AXIS], (int)spoolGearTeeth[D_AXIS], - (int)fullStepsPerMotorRev[A_AXIS], (int)fullStepsPerMotorRev[B_AXIS], (int)fullStepsPerMotorRev[C_AXIS], (int)fullStepsPerMotorRev[D_AXIS], - (double)moverWeight_kg, - (double)springKPerUnitLength, - (double)minPlannedForce_Newton[A_AXIS], (double)minPlannedForce_Newton[B_AXIS], (double)minPlannedForce_Newton[C_AXIS], (double)minPlannedForce_Newton[D_AXIS], - (double)maxPlannedForce_Newton[A_AXIS], (double)maxPlannedForce_Newton[B_AXIS], (double)maxPlannedForce_Newton[C_AXIS], (double)maxPlannedForce_Newton[D_AXIS], - (double)guyWireLengths[A_AXIS], (double)guyWireLengths[B_AXIS], (double)guyWireLengths[C_AXIS], (double)guyWireLengths[D_AXIS], - (double)targetForce_Newton, - (double)torqueConstants[A_AXIS], (double)torqueConstants[B_AXIS], (double)torqueConstants[C_AXIS], (double)torqueConstants[D_AXIS] - ); + reply.printf("M666 Q%.4f\n", (double)spoolBuildupFactor); + + reply.lcatf("R%.2f", (double)spoolRadii[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%.2f", (double)spoolRadii[i]); + } + + reply.lcatf("U%d", (int)mechanicalAdvantage[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%d", (int)mechanicalAdvantage[i]); + } + + reply.lcatf("O%d", (int)linesPerSpool[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%d", (int)linesPerSpool[i]); + } + + reply.lcatf("L%d", (int)motorGearTeeth[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%d", (int)motorGearTeeth[i]); + } + + reply.lcatf("H%d", (int)spoolGearTeeth[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%d", (int)spoolGearTeeth[i]); + } + + reply.lcatf("J%d", (int)fullStepsPerMotorRev[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%d", (int)fullStepsPerMotorRev[i]); + } + reply.lcatf("W%.2f\n", (double)moverWeight_kg); + reply.lcatf("S%.2f\n", (double)springKPerUnitLength); + + reply.lcatf("I%.1f", (double)minPlannedForce_Newton[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%.1f", (double)minPlannedForce_Newton[i]); + } + + reply.lcatf("X%.1f", (double)maxPlannedForce_Newton[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%.1f", (double)maxPlannedForce_Newton[i]); + } + + reply.lcatf("Y%.1f", (double)guyWireLengths[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%.1f", (double)guyWireLengths[i]); + } + reply.lcatf("T%.1f\n", (double)targetForce_Newton); + + reply.lcatf("C%.4f", (double)torqueConstants[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + reply.catf(":%.4f", (double)torqueConstants[i]); + } + } } else @@ -300,11 +327,9 @@ bool HangprinterKinematics::CartesianToMotorSteps(const float machinePos[], cons size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const noexcept { float distances[HANGPRINTER_AXES]; - distances[A_AXIS] = hyp3(machinePos, anchors[A_AXIS]); - distances[B_AXIS] = hyp3(machinePos, anchors[B_AXIS]); - distances[C_AXIS] = hyp3(machinePos, anchors[C_AXIS]); - distances[D_AXIS] = hyp3(machinePos, anchors[D_AXIS]); - + for (size_t i{0}; i < HANGPRINTER_AXES; ++i) { + distances[i] = hyp3(machinePos, anchors[i]); + } float springKs[HANGPRINTER_AXES]; for (size_t i{0}; i < HANGPRINTER_AXES; ++i) { @@ -325,10 +350,10 @@ bool HangprinterKinematics::CartesianToMotorSteps(const float machinePos[], cons linePos[i] = relaxedSpringLengths[i] - relaxedSpringLengthsOrigin[i]; } - motorPos[A_AXIS] = lrintf(k0[A_AXIS] * (fastSqrtf(spoolRadiiSq[A_AXIS] + linePos[A_AXIS] * k2[A_AXIS]) - spoolRadii[A_AXIS])); - motorPos[B_AXIS] = lrintf(k0[B_AXIS] * (fastSqrtf(spoolRadiiSq[B_AXIS] + linePos[B_AXIS] * k2[B_AXIS]) - spoolRadii[B_AXIS])); - motorPos[C_AXIS] = lrintf(k0[C_AXIS] * (fastSqrtf(spoolRadiiSq[C_AXIS] + linePos[C_AXIS] * k2[C_AXIS]) - spoolRadii[C_AXIS])); - motorPos[D_AXIS] = lrintf(k0[D_AXIS] * (fastSqrtf(spoolRadiiSq[D_AXIS] + linePos[D_AXIS] * k2[D_AXIS]) - spoolRadii[D_AXIS])); + for (size_t i = 0; i < HANGPRINTER_AXES; ++i) + { + motorPos[i] = lrintf(k0[i] * (fastSqrtf(spoolRadiiSq[i] + linePos[i] * k2[i]) - spoolRadii[i])); + } return true; } @@ -532,69 +557,115 @@ AxesBitmap HangprinterKinematics::MustBeHomedAxes(AxesBitmap axesMoving, bool di // Write the parameters to a file, returning true if success bool HangprinterKinematics::WriteCalibrationParameters(FileStore *f) const noexcept { - bool ok = f->Write("; Hangprinter parameters\n"); - if (ok) + bool ok = false; + String<255> scratchString; + + scratchString.printf("; Hangprinter parameters\n"); + scratchString.printf("M669 K6 "); + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + for (size_t i = 0; i < HANGPRINTER_AXES; ++i) { - String<100> scratchString; - scratchString.printf("M669 K6 A%.3f:%.3f:%.3f B%.3f:%.3f:%.3f", - (double)anchors[A_AXIS][X_AXIS], (double)anchors[A_AXIS][Y_AXIS], (double)anchors[A_AXIS][Z_AXIS], - (double)anchors[B_AXIS][X_AXIS], (double)anchors[B_AXIS][Y_AXIS], (double)anchors[B_AXIS][Z_AXIS]); - ok = f->Write(scratchString.c_str()); - if (ok) - { - scratchString.printf(" C%.3f:%.3f:%.3f D%.3f:%.3f:%.3f P%.1f\n", - (double)anchors[C_AXIS][X_AXIS], (double)anchors[C_AXIS][Y_AXIS], (double)anchors[C_AXIS][Z_AXIS], - (double)anchors[D_AXIS][X_AXIS], (double)anchors[D_AXIS][Y_AXIS], (double)anchors[D_AXIS][Z_AXIS], - (double)printRadius); - ok = f->Write(scratchString.c_str()); - if (ok) - { - scratchString.printf("M666 Q%.6f R%.3f:%.3f:%.3f:%.3f U%d:%d:%d:%d", - (double)spoolBuildupFactor, (double)spoolRadii[A_AXIS], - (double)spoolRadii[B_AXIS], (double)spoolRadii[C_AXIS], (double)spoolRadii[D_AXIS], - (int)mechanicalAdvantage[A_AXIS], (int)mechanicalAdvantage[B_AXIS], - (int)mechanicalAdvantage[C_AXIS], (int)mechanicalAdvantage[D_AXIS] - ); - ok = f->Write(scratchString.c_str()); - if (ok) - { - scratchString.printf(" O%d:%d:%d:%d L%d:%d:%d:%d H%d:%d:%d:%d J%d:%d:%d:%d", - (int)linesPerSpool[A_AXIS], (int)linesPerSpool[B_AXIS], - (int)linesPerSpool[C_AXIS], (int)linesPerSpool[D_AXIS], - (int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS], - (int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS], - (int)spoolGearTeeth[A_AXIS], (int)spoolGearTeeth[B_AXIS], - (int)spoolGearTeeth[C_AXIS], (int)spoolGearTeeth[D_AXIS], - (int)fullStepsPerMotorRev[A_AXIS], (int)fullStepsPerMotorRev[B_AXIS], - (int)fullStepsPerMotorRev[C_AXIS], (int)fullStepsPerMotorRev[D_AXIS] - ); - ok = f->Write(scratchString.c_str()); - if (ok) - { - scratchString.printf(" W%.2f S%.2f I%.1f:%.1f:%.1f:%.1f X%.1f:%.1f:%.1f:%.1f", - (double)moverWeight_kg, (double)springKPerUnitLength, - (double)minPlannedForce_Newton[A_AXIS], (double)minPlannedForce_Newton[B_AXIS], - (double)minPlannedForce_Newton[C_AXIS], (double)minPlannedForce_Newton[D_AXIS], - (double)maxPlannedForce_Newton[A_AXIS], (double)maxPlannedForce_Newton[B_AXIS], - (double)maxPlannedForce_Newton[C_AXIS], (double)maxPlannedForce_Newton[D_AXIS] - ); - ok = f->Write(scratchString.c_str()); - if (ok) - { - scratchString.printf(" Y%.1f:%.1f:%.1f:%.1f T%.1f C%.4f:%.4f:%.4f:%.4f\n", - (double)guyWireLengths[A_AXIS], (double)guyWireLengths[B_AXIS], - (double)guyWireLengths[C_AXIS], (double)guyWireLengths[D_AXIS], - (double)targetForce_Newton, - (double)torqueConstants[A_AXIS], (double)torqueConstants[B_AXIS], - (double)torqueConstants[C_AXIS], (double)torqueConstants[D_AXIS] - ); - ok = f->Write(scratchString.c_str()); - } - } - } - } - } + scratchString.catf("%c%.3f:%.3f:%.3f ", ANCHOR_CHARS[i], (double)anchors[i][X_AXIS], (double)anchors[i][Y_AXIS], (double)anchors[i][Z_AXIS]); + } + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" P%.1f", (double)printRadius); + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf("M666 Q%.6f ", (double)spoolBuildupFactor); + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf("R%.3f", (double)spoolRadii[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.3f", (double)spoolRadii[i]); + } + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" U%.3f", (double)mechanicalAdvantage[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.3f", (double)mechanicalAdvantage[i]); + } + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" O%.3f", (double)linesPerSpool[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.3f", (double)linesPerSpool[i]); + } + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" L%.3f", (double)motorGearTeeth[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.3f", (double)motorGearTeeth[i]); + } + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" H%.3f", (double)spoolGearTeeth[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.3f", (double)spoolGearTeeth[i]); + } + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" J%.3f", (double)fullStepsPerMotorRev[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.3f", (double)fullStepsPerMotorRev[i]); + } + ok = f->Write(scratchString.c_str()); + + scratchString.printf(" W%.2f S%.2f", (double)moverWeight_kg, (double)springKPerUnitLength); + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" I%.1f", (double)minPlannedForce_Newton[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.1f", (double)minPlannedForce_Newton[i]); + } + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" X%.1f", (double)maxPlannedForce_Newton[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.1f", (double)maxPlannedForce_Newton[i]); + } + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" Y%.1f", (double)guyWireLengths[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.1f", (double)guyWireLengths[i]); } + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" T%.1f", (double)targetForce_Newton); + ok = f->Write(scratchString.c_str()); + if (!ok) return false; + + scratchString.printf(" C%.4f", (double)torqueConstants[0]); + for (size_t i = 1; i < HANGPRINTER_AXES; ++i) + { + scratchString.catf(":%.4f", (double)torqueConstants[i]); + } + ok = f->Write(scratchString.c_str()); + return ok; } @@ -698,10 +769,12 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float // Print all the parameters for debugging void HangprinterKinematics::PrintParameters(const StringRef& reply) const noexcept { - reply.printf("Anchor coordinates (%.2f,%.2f,%.2f) (%.2f,%.2f,%.2f) (%.2f,%.2f,%.2f)\n", - (double)anchors[A_AXIS][X_AXIS], (double)anchors[A_AXIS][Y_AXIS], (double)anchors[A_AXIS][Z_AXIS], - (double)anchors[B_AXIS][X_AXIS], (double)anchors[B_AXIS][Y_AXIS], (double)anchors[B_AXIS][Z_AXIS], - (double)anchors[C_AXIS][X_AXIS], (double)anchors[C_AXIS][Y_AXIS], (double)anchors[C_AXIS][Z_AXIS]); + reply.printf("Anchor coordinates"); + for (size_t i = 0; i < HANGPRINTER_AXES; ++i) + { + reply.catf(" (%.2f,%.2f,%.2f)", (double)anchors[i][X_AXIS], (double)anchors[i][Y_AXIS], (double)anchors[i][Z_AXIS]); + } + reply.cat("\n"); } #if DUAL_CAN diff --git a/src/Movement/Kinematics/HangprinterKinematics.h b/src/Movement/Kinematics/HangprinterKinematics.h index 8280e73217..34a9c7e87f 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.h +++ b/src/Movement/Kinematics/HangprinterKinematics.h @@ -57,6 +57,7 @@ class HangprinterKinematics : public RoundBedKinematics private: // Basic facts about movement system + const char* ANCHOR_CHARS = "ABCD"; static constexpr size_t HANGPRINTER_AXES = 4; static constexpr size_t A_AXIS = 0; static constexpr size_t B_AXIS = 1;