Fixed bugs with unsigned long transform cartesian to delta

src/ArduinoAVR/Repetier/Commands.h

@@ -29,10 +29,13 @@ class Commands
 public:
     static void commandLoop();
     static void checkForPeriodicalActions();
+    static void processArc(GCode *com);
+    static void processGCode(GCode *com);
+    static void processMCode(GCode *com);
     static void executeGCode(GCode *com);
     static void waitUntilEndOfAllMoves();
     static void waitUntilEndOfAllBuffers();
-    static void printCurrentPosition();
+    static void printCurrentPosition(FSTRINGPARAM(s));
     static void printTemperatures(bool showRaw = false);
     static void setFanSpeed(int speed,bool wait); /// Set fan speed 0..255
     static void changeFeedrateMultiply(int factorInPercent);

src/ArduinoAVR/Repetier/Communication.cpp

@@ -276,15 +276,15 @@ FSTRINGVALUE(Com::tEPRZMaxFeedrate,"Max. feedrate [mm/s]")
 FSTRINGVALUE(Com::tEPRZHomingFeedrate,"Homing feedrate [mm/s]")
 
 FSTRINGVALUE(Com::tEPRDiagonalRodLength,"Diagonal rod length [mm]")
-FSTRINGVALUE(Com::tEPRHorizontalRadius,"Horizontal radius [mm]")
+FSTRINGVALUE(Com::tEPRHorizontalRadius,"Horizontal rod radius at 0,0 [mm]")
 FSTRINGVALUE(Com::tEPRSegmentsPerSecondPrint,"Segments/s for printing")
 FSTRINGVALUE(Com::tEPRSegmentsPerSecondTravel,"Segments/s for travel")
 
 FSTRINGVALUE(Com::tEPRTowerXOffset,"Tower X endstop offset [steps]")
 FSTRINGVALUE(Com::tEPRTowerYOffset,"Tower Y endstop offset [steps]")
 FSTRINGVALUE(Com::tEPRTowerZOffset,"Tower Z endstop offset [steps]")
 
-FSTRINGVALUE(Com::tEPRDeltaMaxRadius,"Max. radius [mm]")
+FSTRINGVALUE(Com::tEPRDeltaMaxRadius,"Max printable radius [mm]")
 FSTRINGVALUE(Com::tDeltaDiagonalCorrectionA,"Corr. diagonal A [mm]")
 FSTRINGVALUE(Com::tDeltaDiagonalCorrectionB,"Corr. diagonal B [mm]")
 FSTRINGVALUE(Com::tDeltaDiagonalCorrectionC,"Corr. diagonal C [mm]")
@@ -327,6 +327,8 @@ FSTRINGVALUE(Com::tEPRHeatManager,"heat manager [0-3]")
 FSTRINGVALUE(Com::tEPRDriveMax,"PID drive max")
 FSTRINGVALUE(Com::tEPRDriveMin,"PID drive min")
 FSTRINGVALUE(Com::tEPRPGain,"PID P-gain/dead-time")
+FSTRINGVALUE(Com::tEPRDead,"Heater dead-time")
+FSTRINGVALUE(Com::tEPRUnused,"na for dead time ctrl")
 FSTRINGVALUE(Com::tEPRIGain,"PID I-gain")
 FSTRINGVALUE(Com::tEPRDGain,"PID D-gain")
 FSTRINGVALUE(Com::tEPRPIDMaxValue,"PID max value [0-255]")

src/ArduinoAVR/Repetier/Communication.h

@@ -315,6 +315,8 @@ FSTRINGVAR(tEPRHeatManager)
 FSTRINGVAR(tEPRDriveMax)
 FSTRINGVAR(tEPRDriveMin)
 FSTRINGVAR(tEPRPGain)
+FSTRINGVAR(tEPRDead)
+FSTRINGVAR(tEPRUnused)
 FSTRINGVAR(tEPRIGain)
 FSTRINGVAR(tEPRDGain)
 FSTRINGVAR(tEPRPIDMaxValue)
@@ -379,9 +381,27 @@ static inline void print(int value) {print((int32_t)value);}
 static void print(const char *text);
 static inline void print(char c) {HAL::serialWriteByte(c);}
 static void printFloat(float number, uint8_t digits);
+static inline void print(float number) {printFloat(number, 6);}
 static inline void println() {HAL::serialWriteByte('\r');HAL::serialWriteByte('\n');}
     protected:
     private:
 };
 
+#ifdef DEBUG
+#define SHOW(x) {Com::printF(PSTR(" " #x "=")); Com::print(x); Com::println();}
+#define SHOWS(x) {Com::printF(PSTR(" " #x "=")); Com::print(x); Com::print(" steps  "); Com::print(x/80); Com::printF(PSTR(" mm")); Com::println();}
+#define SHOWM(x) {Com::printF(PSTR(" " #x "=")); Com::print((long)x*80); Com::print(" steps  "); Com::print(x); Com::printF(PSTR(" mm")); Com::println();}
+#define SHOT(x) Com::printF(PSTR(x " "))
+#define SHOWA(t,a,n) {SHOT(t); for (int i=0;i<n;i++) SHOWS(a[i]);}
+#define SHOWAM(t,a,n) {SHOT(t); for (int i=0;i<n;i++) SHOWM(a[i]);}
+
+#else
+#define SHOW(x)
+#define SHOT(x)
+#define SHOWS(x)
+#define SHOWM(x)
+#define SHOWA(t,a,n) 
+#define SHOWAM(t,a,n) 
+#endif
+
 #endif // COMMUNICATION_H

src/ArduinoAVR/Repetier/Configuration.h

@@ -699,7 +699,6 @@ on this endstop.
 #define X_MAX_LENGTH 165
 #define Y_MAX_LENGTH 175
 #define Z_MAX_LENGTH 116.820
-
 // Coordinates for the minimum axis. Can also be negative if you want to have the bed start at 0 and the printer can go to the left side
 // of the bed. Maximum coordinate is given by adding the above X_MAX_LENGTH values.
 #define X_MIN_POS 0
@@ -727,24 +726,24 @@ on this endstop.
 
 // Delta settings
 #if DRIVE_SYSTEM==DELTA
-/** \brief Delta rod length
+/** \brief Delta rod length (mm)
 */
 #define DELTA_DIAGONAL_ROD 345 // mm
 
 
 /*  =========== Parameter essential for delta calibration ===================
 
             C, Y-Axis
-            |                        |___| CARRIAGE_HORIZONTAL_OFFSET
-            |                        |   \
-            |_________ X-axis        |    \
-           / \                       |     \  DELTA_DIAGONAL_ROD
-          /   \                             \
-         /     \                             \    Carriage is at printer center!
-         A      B                             \_____/
-                                              |--| END_EFFECTOR_HORIZONTAL_OFFSET
-                                         |----| DELTA_RADIUS
-                                     |-----------| PRINTER_RADIUS
+            |                        |___| CARRIAGE_HORIZONTAL_OFFSET (recommend set it to 0)
+            |                        |   \------------------------------------------
+            |_________ X-axis        |    \                                        |
+           / \                       |     \  DELTA_DIAGONAL_ROD (length)    Each move this Rod Height
+          /   \                             \                                 is calculated
+         /     \                             \    Carriage is at printer center!   |
+         A      B                             \_____/--------------------------------
+                                              |--| END_EFFECTOR_HORIZONTAL_OFFSET (recommend set it to 0)
+                                         |----| ROD_RADIUS (Horizontal rod pivot to pivot measure)
+                                     |-----------| PRINTER_RADIUS (recommend set it to ROD_RADIUS)
 
     Column angles are measured from X-axis counterclockwise
     "Standard" positions: alpha_A = 210, alpha_B = 330, alpha_C = 90
@@ -765,28 +764,36 @@ on this endstop.
 #define DELTA_DIAGONAL_CORRECTION_B 0
 #define DELTA_DIAGONAL_CORRECTION_C 0
 
-/** Max. radius the printer should be able to reach. */
+/** Max. radius (mm) the printer should be able to reach. */
 #define DELTA_MAX_RADIUS 200
 
+// Margin (mm) to avoid above tower minimum (xMin xMinsteps)
+// If your printer can put its carriage low enough the rod is horizontal without hitting the floor
+// set this to zero. Otherwise, measure how high the carriage is from horizontal rod
+// Also, movement speeds are 10x to 20x cartesian speeds at tower bottom.
+// You may need to leave a few mm for safety. 
+// Hitting floor at high speed can damage your printer (motors, drives, etc)
+// THIS MAY NEED UPDATING IF THE HOT END HEIGHT CHANGES!
+#define DELTA_FLOOR_SAFETY_MARGIN_MM 15
 
 /** \brief Horizontal offset of the universal joints on the end effector (moving platform).
 */
-#define END_EFFECTOR_HORIZONTAL_OFFSET 33
+#define END_EFFECTOR_HORIZONTAL_OFFSET 0
 
 /** \brief Horizontal offset of the universal joints on the vertical carriages.
 */
-#define CARRIAGE_HORIZONTAL_OFFSET 18
+#define CARRIAGE_HORIZONTAL_OFFSET 0
 
-/** \brief Printer radius in mm, measured from the center of the print area to the vertical smooth rod.
+/** \brief Printer radius in mm, 
+  measured from the center of the print area to the vertical smooth tower.
+  Alternatly set this to the pivot to pivot horizontal rod distance, when head is at (0,0)
 */
-#define PRINTER_RADIUS 175
+#define PRINTER_RADIUS 124
 
-/** Remove comment for more precise delta moves. Needs a bit more computation time. */
-//#define EXACT_DELTA_MOVES
+/** 1 for more precise delta moves. 0 for faster computation.
+Needs a bit more computation time. */
+#define EXACT_DELTA_MOVES 1
 
-/**  \brief Horizontal distance bridged by the diagonal push rod when the end effector is in the center. It is pretty close to 50% of the push rod length (250 mm).
-*/
-#define DELTA_RADIUS (PRINTER_RADIUS-END_EFFECTOR_HORIZONTAL_OFFSET-CARRIAGE_HORIZONTAL_OFFSET)
 /* ========== END Delta calibation data ==============*/
 
 /** When true the delta will home to z max when reset/powered over cord. That way you start with well defined coordinates.
@@ -800,12 +807,6 @@ you can also change the values online and autoleveling will store the results he
 #define DELTA_Y_ENDSTOP_OFFSET_STEPS 0
 #define DELTA_Z_ENDSTOP_OFFSET_STEPS 0
 
-
-/** \brief Experimental calibration utility for delta printers
- * Change 1 to 0 to disable
-*/
-#define SOFTWARE_LEVELING (1 && (DRIVE_SYSTEM==DELTA))
-
 #endif
 #if DRIVE_SYSTEM==TUGA
 // ========== Tuga special settings =============
@@ -818,7 +819,7 @@ Increasing this figure can use a lot of memory since 7 bytes * size of line buff
 will be allocated for the delta buffer.
 PrintLine PrintLine::lines[PRINTLINE_CACHE_SIZE (default 16?)];
 Printline is about 200 bytes + 7 * DELTASEGMENTS_PER_PRINTLINE
-or 16 * (200 + (7*22=154) = 354) = 5664 bytes!!!!!!!1
+or 16 * (200 + (7*22=154) = 354) = 5664 bytes! !1
 min is 5 * (200 + (7*10=70) =270) = 1350
  This leaves ~1K free RAM on an Arduino which has only 8k
 Mega. Used only for nonlinear systems like delta or tuga. */
@@ -1004,8 +1005,8 @@ to activate the quadratic term. Only adds lots of computations and storage usage
  Overridden if EEPROM activated.
 */
 //#define BAUDRATE 76800
-#define BAUDRATE 115200
-//#define BAUDRATE 250000
+//#define BAUDRATE 115200
+#define BAUDRATE 250000
 
 /**
 Some boards like Gen7 have a power on pin, to enable the atx power supply. If this is defined,
@@ -1146,6 +1147,12 @@ is always running and is not hung up for some unknown reason. */
 #define Z_PROBE_X3 20
 #define Z_PROBE_Y3 170
 
+
+/** \brief Experimental calibration utility for delta printers
+ * Change 1 to 0 to disable
+*/
+#define FEATURE_SOFTWARE_LEVELING 0 
+
 /* Babystepping allows to change z height during print without changing official z height */
 #define FEATURE_BABYSTEPPING 0
 /* If you have a threaded rod, you want a higher multiplicator to see an effect. Limit value to 50 or you get easily overflows.*/
@@ -1155,14 +1162,9 @@ is always running and is not hung up for some unknown reason. */
 #define CASE_LIGHTS_PIN -1
 #define CASE_LIGHT_DEFAULT_ON 1
 
-/** Set to false to disable SD support: */
-#ifndef SDSUPPORT  // Some boards have sd support on board. These define the values already in pins.h
-#define SDSUPPORT 0
-// Uncomment to enable or change card detection pin. With card detection the card is mounted on insertion.
-#define SDCARDDETECT -1
-// Change to true if you get a inserted message on removal.
-#define SDCARDDETECTINVERTED 0
-#endif
+//sdcarddetect moved to ui.h where it is set by feature_controller, or set to default, 
+// ui.h now always sets the flags.
+
 /** Show extended directory including file length. Don't use this with Pronterface! */
 #define SD_EXTENDED_DIR 1
 // If you want support for G2/G3 arc commands set to true, otherwise false.