M665 rework and related issues (all delta's)

- Making M665 compatible with repetier (see
http://reprap.org/wiki/G_code#M665:_Set_delta_configuration)

- M665 B also sets the radius for manual calibration menu

- Converting tower ajustment definitions to arrays - tower angle
corrections compatible with Esher 3D wizzard

- Only tower angles need to be adjustable with M665 and stored to EEPROM
- tower radius and diag rod can be adjusted in the FW only with #define

Marlin/Conditionals_post.h

@@ -691,43 +691,20 @@
    * Delta radius/rod trimmers/angle trimmers
    */
   #if ENABLED(DELTA)
-    #ifndef DELTA_ENDSTOP_ADJ
-      #define DELTA_ENDSTOP_ADJ { 0 }
-    #endif
-    #ifndef DELTA_RADIUS_TRIM_TOWER_1
-      #define DELTA_RADIUS_TRIM_TOWER_1 0.0
-    #endif
-    #ifndef DELTA_RADIUS_TRIM_TOWER_2
-      #define DELTA_RADIUS_TRIM_TOWER_2 0.0
-    #endif
-    #ifndef DELTA_RADIUS_TRIM_TOWER_3
-      #define DELTA_RADIUS_TRIM_TOWER_3 0.0
-    #endif
-    #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_1
-      #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
+    #ifndef DELTA_CALIBRATION_RADIUS
+      #define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - 10
     #endif
-    #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_2
-      #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
-    #endif
-    #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
-      #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
-    #endif
-    #ifndef DELTA_TOWER_ANGLE_TRIM_1
-      #define DELTA_TOWER_ANGLE_TRIM_1 0.0
+    #ifndef DELTA_ENDSTOP_ADJ
+      #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 }
     #endif
-    #ifndef DELTA_TOWER_ANGLE_TRIM_2
-      #define DELTA_TOWER_ANGLE_TRIM_2 0.0
+    #ifndef DELTA_TOWER_ANGLE_TRIM
+      #define DELTA_TOWER_ANGLE_TRIM {0.0, 0.0}
     #endif
-    #ifndef DELTA_TOWER_ANGLE_TRIM_3
-      #define DELTA_TOWER_ANGLE_TRIM_3 0.0
+    #ifndef DELTA_RADIUS_TRIM_TOWER
+      #define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
     #endif
-    #if ENABLED(DELTA_AUTO_CALIBRATION)
-      #ifndef H_FACTOR
-        #define H_FACTOR 1.00
-      #endif
-      #ifndef R_FACTOR
-        #define R_FACTOR -2.25
-      #endif
+    #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER
+      #define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
     #endif
   #endif
 

Marlin/Marlin.h

@@ -302,9 +302,9 @@ float code_value_temp_diff();
   extern float endstop_adj[ABC],
                delta_radius,
                delta_diagonal_rod,
+               delta_calibration_radius,
                delta_segments_per_second,
-               delta_diagonal_rod_trim[ABC],
-               delta_tower_angle_trim[ABC],
+               delta_tower_angle_trim[2],
                delta_clip_start_height;
   void recalc_delta_settings(float radius, float diagonal_rod);
 #elif IS_SCARA

Marlin/Marlin_main.cpp

@@ -585,10 +585,10 @@ static uint8_t target_extruder;
   // These values are loaded or reset at boot time when setup() calls
   // settings.load(), which calls recalc_delta_settings().
   float delta_radius,
-        delta_tower_angle_trim[ABC],
+        delta_tower_angle_trim[2],
         delta_tower[ABC][2],
         delta_diagonal_rod,
-        delta_diagonal_rod_trim[ABC],
+        delta_calibration_radius,
         delta_diagonal_rod_2_tower[ABC],
         delta_segments_per_second,
         delta_clip_start_height = Z_MAX_POS;
@@ -5109,8 +5109,8 @@ inline void gcode_G28() {
         if (probe_points >= 3) {
           for (int8_t axis = 9; axis > 0; axis -= step_axis) { // uint8_t starts endless loop
             z_at_pt[0] += probe_pt(
-              0.1 * cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
-              0.1 * sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1);
+              0.1 * cos(RADIANS(180 + 30 * axis)) * (delta_calibration_radius),
+              0.1 * sin(RADIANS(180 + 30 * axis)) * (delta_calibration_radius), true, 1);
           }
           center_points += 3;
           z_at_pt[0] /= center_points;
@@ -5124,8 +5124,8 @@ inline void gcode_G28() {
         if (probe_points != 1) {
           for (uint8_t axis = start; axis < 13; axis += step_axis)
             z_at_pt[axis] += probe_pt(
-              cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
-              sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1
+              cos(RADIANS(180 + 30 * axis)) * (delta_calibration_radius),
+              sin(RADIANS(180 + 30 * axis)) * (delta_calibration_radius), true, 1
             );
 
           if (probe_points == 4) step_axis = 2;
@@ -5308,7 +5308,7 @@ inline void gcode_G28() {
           }
           SERIAL_EOL;
           if (zero_std_dev >= test_precision)
-            SERIAL_PROTOCOLLNPGM("Save with M500");
+            SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h");
         }
         else {                                  // forced end
           #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
@@ -7546,12 +7546,13 @@ inline void gcode_M205() {
     if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
     if (code_seen('R')) delta_radius = code_value_linear_units();
     if (code_seen('S')) delta_segments_per_second = code_value_float();
-    if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units();
-    if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units();
-    if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units();
-    if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
-    if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
-    if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units();
+    if (code_seen('B')) delta_calibration_radius = code_value_float();
+    if (code_seen('X')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
+    if (code_seen('Y')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
+    if (code_seen('Z')) { // rotate all 3 axis for Z = 0
+      delta_tower_angle_trim[A_AXIS] += code_value_linear_units();
+      delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
+    }
     recalc_delta_settings(delta_radius, delta_diagonal_rod);
   }
   /**
@@ -10555,15 +10556,17 @@ void ok_to_send() {
    * settings have been changed (e.g., by M665).
    */
   void recalc_delta_settings(float radius, float diagonal_rod) {
-    delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
-    delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1);
-    delta_tower[B_AXIS][X_AXIS] =  sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
-    delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2);
-    delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS(     delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3); // back middle tower
-    delta_tower[C_AXIS][Y_AXIS] =  cos(RADIANS(     delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3);
-    delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]);
-    delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]);
-    delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]);
+    const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
+                drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
+    delta_tower[A_AXIS][X_AXIS] = -cos(RADIANS(30 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
+    delta_tower[A_AXIS][Y_AXIS] = -sin(RADIANS(30 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
+    delta_tower[B_AXIS][X_AXIS] =  cos(RADIANS(30 - delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
+    delta_tower[B_AXIS][Y_AXIS] = -sin(RADIANS(30 - delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
+    delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
+    delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
+    delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
+    delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
+    delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
   }
 
   #if ENABLED(DELTA_FAST_SQRT)

Marlin/configuration_store.cpp

@@ -92,12 +92,10 @@
  *  360  M665 R    delta_radius                     (float)
  *  364  M665 L    delta_diagonal_rod               (float)
  *  368  M665 S    delta_segments_per_second        (float)
- *  372  M665 A    delta_diagonal_rod_trim[A]       (float)
- *  376  M665 B    delta_diagonal_rod_trim[B]       (float)
- *  380  M665 C    delta_diagonal_rod_trim[C]       (float)
- *  384  M665 I    delta_tower_angle_trim[A]        (float)
- *  388  M665 J    delta_tower_angle_trim[B]        (float)
- *  392  M665 K    delta_tower_angle_trim[C]        (float)
+ *  372  M665 B    delta_calibration_radius         (float)
+ *  376  M665 X    delta_tower_angle_trim[A]        (float)
+ *  380  M665 Y    delta_tower_angle_trim[B]        (float)
+ *  ---  M665 Z    delta_tower_angle_trim[C]        (float) is always 0.0
  *
  * Z_DUAL_ENDSTOPS:                                 48 bytes
  *  348  M666 Z    z_endstop_adj                    (float)
@@ -412,8 +410,8 @@ void MarlinSettings::postprocess() {
       EEPROM_WRITE(delta_radius);              // 1 float
       EEPROM_WRITE(delta_diagonal_rod);        // 1 float
       EEPROM_WRITE(delta_segments_per_second); // 1 float
-      EEPROM_WRITE(delta_diagonal_rod_trim);   // 3 floats
-      EEPROM_WRITE(delta_tower_angle_trim);    // 3 floats
+      EEPROM_WRITE(delta_calibration_radius);  // 1 floats
+      EEPROM_WRITE(delta_tower_angle_trim);    // 2 floats
     #elif ENABLED(Z_DUAL_ENDSTOPS)
       EEPROM_WRITE(z_endstop_adj);             // 1 float
       dummy = 0.0f;
@@ -780,8 +778,8 @@ void MarlinSettings::postprocess() {
         EEPROM_READ(delta_radius);              // 1 float
         EEPROM_READ(delta_diagonal_rod);        // 1 float
         EEPROM_READ(delta_segments_per_second); // 1 float
-        EEPROM_READ(delta_diagonal_rod_trim);   // 3 floats
-        EEPROM_READ(delta_tower_angle_trim);    // 3 floats
+        EEPROM_READ(delta_calibration_radius);  // 1 floats
+        EEPROM_READ(delta_tower_angle_trim);    // 2 floats
       #elif ENABLED(Z_DUAL_ENDSTOPS)
         EEPROM_READ(z_endstop_adj);
         dummy = 0.0f;
@@ -1068,13 +1066,12 @@ void MarlinSettings::reset() {
 
   #if ENABLED(DELTA)
     const float adj[ABC] = DELTA_ENDSTOP_ADJ,
-                drt[ABC] = { DELTA_DIAGONAL_ROD_TRIM_TOWER_1, DELTA_DIAGONAL_ROD_TRIM_TOWER_2, DELTA_DIAGONAL_ROD_TRIM_TOWER_3 },
-                dta[ABC] = { DELTA_TOWER_ANGLE_TRIM_1, DELTA_TOWER_ANGLE_TRIM_2, DELTA_TOWER_ANGLE_TRIM_3 };
+                dta[2] = DELTA_TOWER_ANGLE_TRIM;
     COPY(endstop_adj, adj);
     delta_radius = DELTA_RADIUS;
     delta_diagonal_rod = DELTA_DIAGONAL_ROD;
     delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
-    COPY(delta_diagonal_rod_trim, drt);
+    delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
     COPY(delta_tower_angle_trim, dta);
     home_offset[Z_AXIS] = 0;
 
@@ -1473,19 +1470,18 @@ void MarlinSettings::reset() {
       SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(endstop_adj[Z_AXIS]));
       if (!forReplay) {
         CONFIG_ECHO_START;
-        SERIAL_ECHOLNPGM("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> ABC<diagonal_rod_[123]_trim>");
+        SERIAL_ECHOLNPGM("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> B<calibration radius> XYZ<tower angle corrections>");
       }
       CONFIG_ECHO_START;
       SERIAL_ECHOPAIR("  M665 L", LINEAR_UNIT(delta_diagonal_rod));
       SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius));
       SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS]));
       SERIAL_ECHOPAIR(" S", delta_segments_per_second);
-      SERIAL_ECHOPAIR(" A", LINEAR_UNIT(delta_diagonal_rod_trim[A_AXIS]));
-      SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_diagonal_rod_trim[B_AXIS]));
-      SERIAL_ECHOPAIR(" C", LINEAR_UNIT(delta_diagonal_rod_trim[C_AXIS]));
-      SERIAL_ECHOPAIR(" I", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
-      SERIAL_ECHOPAIR(" J", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]));
-      SERIAL_ECHOLNPAIR(" K", LINEAR_UNIT(delta_tower_angle_trim[C_AXIS]));
+      SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius);
+      SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
+      SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]));
+      SERIAL_ECHOPAIR(" Z", 0.00);
+      SERIAL_EOL;
     #elif ENABLED(Z_DUAL_ENDSTOPS)
       if (!forReplay) {
         CONFIG_ECHO_START;

Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h

@@ -1,4 +1,4 @@
-/**
+/**
  * Marlin 3D Printer Firmware
  * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
@@ -459,40 +459,40 @@
   //#define DELTA_CARRIAGE_OFFSET 22.0 // mm
 
   // Horizontal distance bridged by diagonal push rods when effector is centered.
-  #define DELTA_RADIUS 100.59 //mm // get this value from auto calibrate
+  #define DELTA_RADIUS 100.90 //mm // get this value from auto calibrate
 
   // height from z=0.00 to home position
-  #define DELTA_HEIGHT 298.95 // get this value from auto calibrate
+  #define DELTA_HEIGHT 296.38 // get this value from auto calibrate
 
   // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
-  #define DELTA_PRINTABLE_RADIUS 90.0
+  #define DELTA_PRINTABLE_RADIUS 85.0
 
   // Delta calibration menu
   // See http://minow.blogspot.com/index.html#4918805519571907051
   #define DELTA_CALIBRATION_MENU
 
+  // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
+  #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
+  
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
   #define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
-    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
-  #define DELTA_ENDSTOP_ADJ { -0.05, -0.00, -0.02 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
-  #define DELTA_RADIUS_TRIM_TOWER_1 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_2 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_3 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_1 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_2 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_3 0.0
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate
+
+  // delta radius and diaginal rod adjustments measured in mm
+  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
 
 #endif
 

Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h

@@ -472,28 +472,28 @@
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
+  // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
+  #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
+  
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  //#define DELTA_AUTO_CALIBRATION
+  #define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
-    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
-  //#define DELTA_HOME_TO_SAFE_ZONE
+  #define DELTA_HOME_TO_SAFE_ZONE
 
-  //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
+  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
-  #define DELTA_RADIUS_TRIM_TOWER_1 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_2 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_3 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_1 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_2 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_3 0.0
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate
+
+  // delta radius and diaginal rod adjustments measured in mm
+  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
 
 #endif
 

Marlin/example_configurations/delta/generic/Configuration.h

@@ -461,28 +461,30 @@
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
+
+
+  // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
+  #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
+  
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  //#define DELTA_AUTO_CALIBRATION
+  #define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
-    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
-  //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
+  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
-  #define DELTA_RADIUS_TRIM_TOWER_1 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_2 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_3 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_1 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_2 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_3 0.0
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate
+
+  // delta radius and diaginal rod adjustments measured in mm
+  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
 
 #endif
 

Marlin/example_configurations/delta/kossel_mini/Configuration.h

@@ -461,28 +461,28 @@
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
+  // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
+  #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
+  
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  //#define DELTA_AUTO_CALIBRATION
+  #define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
-    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
-  //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
+  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
-  #define DELTA_RADIUS_TRIM_TOWER_1 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_2 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_3 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_1 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_2 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_3 0.0
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate
+
+  // delta radius and diaginal rod adjustments measured in mm
+  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
 
 #endif
 

Marlin/example_configurations/delta/kossel_pro/Configuration.h

@@ -448,28 +448,30 @@
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
+
+
+  // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
+  #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
+  
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  //#define DELTA_AUTO_CALIBRATION
+  #define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
-    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
-  //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
+  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
-  #define DELTA_RADIUS_TRIM_TOWER_1 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_2 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_3 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_1 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_2 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_3 0.0
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate
+
+  // delta radius and diaginal rod adjustments measured in mm
+  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
 
 #endif
 

Marlin/example_configurations/delta/kossel_xl/Configuration.h

@@ -466,28 +466,28 @@
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
+  // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
+  #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
+  
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  //#define DELTA_AUTO_CALIBRATION
+  #define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
-    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-2,1-7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
-  //#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
+  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
-  #define DELTA_RADIUS_TRIM_TOWER_1 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_2 0.0
-  #define DELTA_RADIUS_TRIM_TOWER_3 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
-  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_1 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_2 0.0
-  #define DELTA_TOWER_ANGLE_TRIM_3 0.0
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { -0.00, -0.00 } // get these from auto calibrate
+
+  // delta radius and diaginal rod adjustments measured in mm
+  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
 
 #endif
 

Marlin/ultralcd.cpp

@@ -1805,20 +1805,14 @@ void kill_screen(const char* lcd_msg) {
       lcd_goto_screen(_lcd_calibrate_homing);
     }
 
-    #if ENABLED(DELTA_AUTO_CALIBRATION)
-      #define _DELTA_TOWER_MOVE_RADIUS DELTA_CALIBRATION_RADIUS
-    #else
-      #define _DELTA_TOWER_MOVE_RADIUS DELTA_PRINTABLE_RADIUS
-    #endif
-
     // Move directly to the tower position with uninterpolated moves
     // If we used interpolated moves it would cause this to become re-entrant
     void _goto_tower_pos(const float &a) {
       current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5;
       line_to_current(Z_AXIS);
 
-      current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : sin(a) * -(_DELTA_TOWER_MOVE_RADIUS);
-      current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : cos(a) *  (_DELTA_TOWER_MOVE_RADIUS);
+      current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : sin(a) * -(delta_calibration_radius);
+      current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : cos(a) *  (delta_calibration_radius);
       line_to_current(Z_AXIS);
 
       current_position[Z_AXIS] = 4.0;