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Support for COREYZ. Fixes for COREXY, COREXZ #3806

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merged 4 commits into from
May 27, 2016
Merged

Support for COREYZ. Fixes for COREXY, COREXZ #3806

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95fee8c
Add option for CoreYZ kinematics
thinkyhead May 20, 2016
6c7f490
COREYZ Conditionals, SanityCheck for only a single kinematic
thinkyhead May 20, 2016
5172d4b
COREYZ stepper, planner, endstop, babysteps
thinkyhead May 20, 2016
0e55c06
Rename CORE_AXIS_3 to NORMAL_AXIS
thinkyhead May 20, 2016
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10 changes: 8 additions & 2 deletions Marlin/Conditionals.h
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Expand Up @@ -315,11 +315,17 @@
* CoreXY and CoreXZ
*/
#if ENABLED(COREXY)
#define CORE_AXIS_1 A_AXIS // XY from A + B
#define CORE_AXIS_2 B_AXIS
#define CORE_AXIS_3 Z_AXIS
#define NORMAL_AXIS Z_AXIS
#elif ENABLED(COREXZ)
#define CORE_AXIS_1 A_AXIS // XZ from A + C
#define CORE_AXIS_2 C_AXIS
#define CORE_AXIS_3 Y_AXIS
#define NORMAL_AXIS Y_AXIS
#elif ENABLED(COREYZ)
#define CORE_AXIS_1 B_AXIS // YZ from B + C
#define CORE_AXIS_2 C_AXIS
#define NORMAL_AXIS X_AXIS
#endif

/**
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5 changes: 2 additions & 3 deletions Marlin/Configuration.h
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Expand Up @@ -342,11 +342,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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10 changes: 10 additions & 0 deletions Marlin/SanityCheck.h
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Expand Up @@ -387,6 +387,16 @@

#endif

/**
* Don't set more than one kinematic type
*/
#if (ENABLED(DELTA) && (ENABLED(SCARA) || ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ))) \
|| (ENABLED(SCARA) && (ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ))) \
|| (ENABLED(COREXY) && (ENABLED(COREXZ) || ENABLED(COREYZ))) \
|| (ENABLED(COREXZ) && ENABLED(COREYZ))
#error "Please enable only one of DELTA, SCARA, COREXY, COREXZ, or COREYZ."
#endif

/**
* Allen Key Z probe requires Auto Bed Leveling grid and Delta
*/
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22 changes: 11 additions & 11 deletions Marlin/endstops.cpp
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Expand Up @@ -239,8 +239,8 @@ void Endstops::update() {

#if ENABLED(COREXY) || ENABLED(COREXZ)
// Head direction in -X axis for CoreXY and CoreXZ bots.
// If Delta1 == -Delta2, the movement is only in Y or Z axis
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(A_AXIS) == stepper.motor_direction(CORE_AXIS_2))) {
// If DeltaA == -DeltaB, the movement is only in Y or Z axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) == stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(X_HEAD))
#else
if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
Expand Down Expand Up @@ -271,10 +271,10 @@ void Endstops::update() {
}
#endif

#if ENABLED(COREXY)
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[B_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(B_AXIS))) {
#if ENABLED(COREXY) || ENABLED(COREYZ)
// Head direction in -Y axis for CoreXY / CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(Y_HEAD))
#else
if (stepper.motor_direction(Y_AXIS)) // -direction
Expand All @@ -289,14 +289,14 @@ void Endstops::update() {
UPDATE_ENDSTOP(Y, MAX);
#endif
}
#if ENABLED(COREXY)
#if ENABLED(COREXY) || ENABLED(COREYZ)
}
#endif

#if ENABLED(COREXZ)
// Head direction in -Z axis for CoreXZ bots.
// If DeltaX == DeltaZ, the movement is only in X axis
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[C_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(C_AXIS))) {
#if ENABLED(COREXZ) || ENABLED(COREYZ)
// Head direction in -Z axis for CoreXZ or CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(Z_HEAD))
#else
if (stepper.motor_direction(Z_AXIS))
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/Felix/Configuration.h
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Expand Up @@ -324,11 +324,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/Felix/DUAL/Configuration.h
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Expand Up @@ -322,11 +322,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/Hephestos/Configuration.h
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Expand Up @@ -334,11 +334,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/Hephestos_2/Configuration.h
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Expand Up @@ -336,11 +336,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/K8200/Configuration.h
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Expand Up @@ -359,11 +359,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
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Expand Up @@ -342,11 +342,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/RigidBot/Configuration.h
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Expand Up @@ -336,11 +336,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/SCARA/Configuration.h
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Expand Up @@ -350,11 +350,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/TAZ4/Configuration.h
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Expand Up @@ -363,11 +363,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/WITBOX/Configuration.h
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Expand Up @@ -334,11 +334,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/adafruit/ST7565/Configuration.h
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Expand Up @@ -342,11 +342,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/delta/biv2.5/Configuration.h
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Expand Up @@ -342,11 +342,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

//===========================================================================
//============================== Delta Settings =============================
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/delta/generic/Configuration.h
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Expand Up @@ -342,11 +342,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

//===========================================================================
//============================== Delta Settings =============================
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/delta/kossel_mini/Configuration.h
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Expand Up @@ -342,11 +342,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

//===========================================================================
//============================== Delta Settings =============================
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/delta/kossel_pro/Configuration.h
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Expand Up @@ -331,11 +331,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

//===========================================================================
//============================== Delta Settings =============================
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/delta/kossel_xl/Configuration.h
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Expand Up @@ -340,11 +340,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

//===========================================================================
//============================== Delta Settings =============================
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/makibox/Configuration.h
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Expand Up @@ -345,11 +345,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
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5 changes: 2 additions & 3 deletions Marlin/example_configurations/tvrrug/Round2/Configuration.h
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Expand Up @@ -332,11 +332,10 @@

// @section machine

// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY

// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ

// Enable this option for Toshiba steppers
#define CONFIG_STEPPERS_TOSHIBA
Expand Down
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