nettika/mattercontrol
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Working on software endstop stream

Browse source 
adding in printer bounds
track endstop position after homing any axis
printer endstop information
added aabb to Bed to get printer extents
This commit is contained in:
Lars Brubaker 2019-02-22 09:23:45 -08:00
parent b3b94919c8
commit b6958229f5
4 changed files with 161 additions and 52 deletions
Download patch file Download diff file Expand all files Collapse all files

3
MatterControlLib/PrinterCommunication/Io/PrintLevelingStream.cs
View file

@ -92,6 +92,9 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
{
PrinterMove currentDestination = GetPosition(lineToSend, LastDestination);
var leveledLine = GetLeveledPosition(lineToSend, currentDestination);
// TODO: clamp to 0 - baby stepping - extruder z-offset, so we don't go below the bed (for the active extruder)
_lastDestination = currentDestination;
return leveledLine;

74
MatterControlLib/PrinterCommunication/Io/SoftwareEndstopsStream.cs
View file

@ -45,10 +45,16 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
CalculateBounds();
printer.Settings.SettingChanged += Settings_SettingChanged;
printer.Connection.HomingPositionChanged += Connection_HomingPositionChanged;
// Register to listen for position after home and update Bounds based on the axis homed and position info.
}
private void Connection_HomingPositionChanged(object sender, System.EventArgs e)
{
this.CalculateBounds();
}
private void Settings_SettingChanged(object sender, StringEventArgs stringEvent)
{
if (stringEvent.Data == SettingsKey.bed_size
@ -63,39 +69,49 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
public override void Dispose()
{
printer.Settings.SettingChanged -= Settings_SettingChanged;
printer.Connection.HomingPositionChanged -= Connection_HomingPositionChanged;
base.Dispose();
}
private void CalculateBounds()
{
var bedSize = printer.Settings.GetValue<Vector2>(SettingsKey.bed_size);
var printCenter = printer.Settings.GetValue<Vector2>(SettingsKey.print_center);
var buildHeight = printer.Settings.GetValue<double>(SettingsKey.build_height);
if (buildHeight == 0)
// TODO: switch to printer.Bed.Bounds
AxisAlignedBoundingBox aabb = printer.Bed.Aabb;
// if the printer has leveling enabled
if(printer.Settings.GetValue<bool>(SettingsKey.print_leveling_enabled))
{
buildHeight = double.PositiveInfinity;
// set to a big value to make sure we can get to any leveling position described (below the bed)
aabb.MinXYZ.Z = -100;
}
// first set all the extruders to the bounds defined by the settings file
// find out if the printer knows some of its limits
var homingPosition = printer.Connection.HomingPosition;
// If we know the homing endstop positions, add them in.
for (int i = 0; i < 3; i++)
{
if (homingPosition[i] != double.NegativeInfinity)
{
// figure out which side of center it is on and modifiy the bounds
if (homingPosition[i] < aabb.Center[i])
{
aabb.MinXYZ[i] = homingPosition[i];
}
else
{
aabb.MaxXYZ[i] = homingPosition[i];
}
}
}
// first set all the extruders to the bounds defined by the aabb
for (int i = 0; i < extruderBounds.Length; i++)
{
extruderBounds[i] = new AxisAlignedBoundingBox(
printCenter.X - bedSize.X / 2, // min x
printCenter.Y - bedSize.Y / 2, // min y
0, // min z
printCenter.X + bedSize.X / 2, // max x
printCenter.Y + bedSize.Y / 2, // max y
buildHeight); // max z
extruderBounds[i] = aabb;
}
// if we have more constrained info for extruders, add that it
// If we know something about the homing positions, add them in.
// Specifically never go above a z homes max endstop.
// We may also want to add in all other know (measured) endstop postions.
// If we have more constrained info for extruders, add that it
}
public override string ReadLine()
@ -137,11 +153,21 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
private void ClampToPrinter(ref PrinterMove moveToSend)
{
var bounds = extruderBounds[printer.Connection.ActiveExtruderIndex];
if (moveToSend.position.X < bounds.MinXYZ.X)
// clamp to each axis
for (int i = 0; i < 3; i++)
{
moveToSend.position.X = bounds.MinXYZ.X;
// If we clamp, than do not do any extrusion at all
moveToSend.extrusion = 0;
if (moveToSend.position[i] < bounds.MinXYZ[i])
{
moveToSend.position[i] = bounds.MinXYZ[i];
// If we clamp, than do not do any extrusion at all
moveToSend.extrusion = 0;
}
else if (moveToSend.position[i] > bounds.MaxXYZ[i])
{
moveToSend.position[i] = bounds.MaxXYZ[i];
// If we clamp, than do not do any extrusion at all
moveToSend.extrusion = 0;
}
}
}
}