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Use M665 to set SCARA angle offsets

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This commit is contained in:
Scott Lahteine 2017-05-24 17:19:02 -05:00
parent 5ed63a5724
commit 361cbba113
1 changed files with 42 additions and 0 deletions
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42
Marlin/Marlin_main.cpp
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@ -7678,6 +7678,10 @@ inline void gcode_M205() {
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*
* *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
* *** M206 for SCARA will remain enabled in 1.1.x for compatibility.
* *** In the next 1.2 release, it will simply be disabled by default.
*/
inline void gcode_M206() {
LOOP_XYZ(i)
@ -7757,6 +7761,44 @@ inline void gcode_M205() {
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
}
#elif IS_SCARA
/**
* M665: Set SCARA settings
*
* Parameters:
*
* S[segments-per-second] - Segments-per-second
* P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
* T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
*
* A, P, and X are all aliases for the shoulder angle
* B, T, and Y are all aliases for the elbow angle
*/
inline void gcode_M665() {
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
const uint8_t sumAPX = hasA + hasP + hasX;
if (sumAPX == 1)
home_offset[A_AXIS] = parser.value_float();
else if (sumAPX > 1) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
return;
}
const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
const uint8_t sumBTY = hasB + hasT + hasY;
if (sumBTY == 1)
home_offset[B_AXIS] = parser.value_float();
else if (sumBTY > 1) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
return;
}
}
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
/**