🚸 G33 R and O options (#22707)
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@ -69,6 +69,8 @@ enum CalEnum : char { // the 7 main calibration points -
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float lcd_probe_pt(const xy_pos_t &xy);
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float dcr;
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void ac_home() {
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endstops.enable(true);
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TERN_(SENSORLESS_HOMING, probe.set_homing_current(true));
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@ -175,9 +177,9 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
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/**
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* - Probe a point
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*/
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static float calibration_probe(const xy_pos_t &xy, const bool stow) {
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static float calibration_probe(const xy_pos_t &xy, const bool stow, const bool probe_at_offset) {
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#if HAS_BED_PROBE
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return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true, false);
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return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true, probe_at_offset);
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#else
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UNUSED(stow);
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return lcd_probe_pt(xy);
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@ -187,7 +189,7 @@ static float calibration_probe(const xy_pos_t &xy, const bool stow) {
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/**
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* - Probe a grid
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*/
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static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
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static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each, const bool probe_at_offset) {
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const bool _0p_calibration = probe_points == 0,
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_1p_calibration = probe_points == 1 || probe_points == -1,
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_4p_calibration = probe_points == 2,
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@ -209,11 +211,9 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
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if (!_0p_calibration) {
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const float dcr = delta_calibration_radius();
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if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
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const xy_pos_t center{0};
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z_pt[CEN] += calibration_probe(center, stow_after_each);
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z_pt[CEN] += calibration_probe(center, stow_after_each, probe_at_offset);
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if (isnan(z_pt[CEN])) return false;
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}
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@ -224,7 +224,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
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const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
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r = dcr * 0.1;
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const xy_pos_t vec = { cos(a), sin(a) };
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z_pt[CEN] += calibration_probe(vec * r, stow_after_each);
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z_pt[CEN] += calibration_probe(vec * r, stow_after_each, probe_at_offset);
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if (isnan(z_pt[CEN])) return false;
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}
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z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
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@ -249,7 +249,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
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r = dcr * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
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interpol = FMOD(rad, 1);
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const xy_pos_t vec = { cos(a), sin(a) };
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const float z_temp = calibration_probe(vec * r, stow_after_each);
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const float z_temp = calibration_probe(vec * r, stow_after_each, probe_at_offset);
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if (isnan(z_temp)) return false;
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// split probe point to neighbouring calibration points
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z_pt[uint8_t(LROUND(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
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@ -276,7 +276,6 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
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static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_at_pt_axis[NPP + 1]) {
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xyz_pos_t pos{0};
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const float dcr = delta_calibration_radius();
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LOOP_CAL_ALL(rad) {
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const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
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r = (rad == CEN ? 0.0f : dcr);
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@ -287,7 +286,7 @@ static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_
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}
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static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], float z_pt[NPP + 1]) {
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const float r_quot = delta_calibration_radius() / delta_radius;
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const float r_quot = dcr / delta_radius;
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#define ZPP(N,I,A) (((1.0f + r_quot * (N)) / 3.0f) * mm_at_pt_axis[I].A)
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#define Z00(I, A) ZPP( 0, I, A)
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@ -328,7 +327,7 @@ static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], abc_float_t d
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}
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static float auto_tune_h() {
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const float r_quot = delta_calibration_radius() / delta_radius;
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const float r_quot = dcr / delta_radius;
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return RECIPROCAL(r_quot / (2.0f / 3.0f)); // (2/3)/CR
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}
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@ -373,6 +372,8 @@ static float auto_tune_a() {
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* P3 Probe all positions: center, towers and opposite towers. Calibrate all.
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* P4-P10 Probe all positions at different intermediate locations and average them.
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*
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* Rn.nn override default calibration Radius
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*
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* T Don't calibrate tower angle corrections
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*
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* Cn.nn Calibration precision; when omitted calibrates to maximum precision
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@ -387,6 +388,8 @@ static float auto_tune_a() {
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*
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* E Engage the probe for each point
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*
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* O Probe at offset points (this is wrong but it seems to work)
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*
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* With SENSORLESS_PROBING:
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* Use these flags to calibrate stall sensitivity: (e.g., `G33 P1 Y Z` to calibrate X only.)
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* X Don't activate stallguard on X.
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@ -403,7 +406,27 @@ void GcodeSuite::G33() {
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return;
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}
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const bool towers_set = !parser.seen_test('T');
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const bool probe_at_offset = TERN0(HAS_PROBE_XY_OFFSET, parser.boolval('O')),
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towers_set = !parser.seen_test('T');
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float max_dcr = dcr = DELTA_PRINTABLE_RADIUS;
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#if HAS_PROBE_XY_OFFSET
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// For offset probes the calibration radius is set to a safe but non-optimal value
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dcr -= HYPOT(probe.offset_xy.x, probe.offset_xy.y);
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if (probe_at_offset) {
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// With probe positions both probe and nozzle need to be within the printable area
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max_dcr = dcr;
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}
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// else with nozzle positions there is a risk of the probe being outside the bed
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// but as long the nozzle stays within the printable area there is no risk of
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// the effector crashing into the towers.
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#endif
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if (parser.seenval('R')) dcr = parser.value_float();
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if (!WITHIN(dcr, 0, max_dcr)) {
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SERIAL_ECHOLNPGM("?calibration (R)adius implausible.");
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return;
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}
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const float calibration_precision = parser.floatval('C', 0.0f);
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if (calibration_precision < 0) {
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@ -453,18 +476,6 @@ void GcodeSuite::G33() {
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SERIAL_ECHOLNPGM("G33 Auto Calibrate");
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const float dcr = delta_calibration_radius();
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if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
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LOOP_CAL_RAD(axis) {
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const float a = RADIANS(210 + (360 / NPP) * (axis - 1));
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if (!position_is_reachable(cos(a) * dcr, sin(a) * dcr)) {
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SERIAL_ECHOLNPGM("?Bed calibration radius implausible.");
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return;
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}
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}
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}
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// Report settings
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PGM_P const checkingac = PSTR("Checking... AC");
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SERIAL_ECHOPGM_P(checkingac);
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@ -487,7 +498,7 @@ void GcodeSuite::G33() {
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// Probe the points
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zero_std_dev_old = zero_std_dev;
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if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each)) {
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if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each, probe_at_offset)) {
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SERIAL_ECHOLNPGM("Correct delta settings with M665 and M666");
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return ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index));
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}
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@ -526,11 +537,11 @@ void GcodeSuite::G33() {
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#define Z0(I) ZP(0, I)
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// calculate factors
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if (_7p_9_center) calibration_radius_factor = 0.9f;
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if (_7p_9_center) dcr *= 0.9f;
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h_factor = auto_tune_h();
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r_factor = auto_tune_r();
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a_factor = auto_tune_a();
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calibration_radius_factor = 1.0f;
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dcr /= 0.9f;
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switch (probe_points) {
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case 0:
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@ -88,8 +88,9 @@ void _man_probe_pt(const xy_pos_t &xy) {
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}
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void _goto_tower_a(const_float_t a) {
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constexpr float dcr = DELTA_PRINTABLE_RADIUS;
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xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };
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_man_probe_pt(tower_vec * delta_calibration_radius());
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_man_probe_pt(tower_vec * dcr);
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}
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void _goto_tower_x() { _goto_tower_a(210); }
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void _goto_tower_y() { _goto_tower_a(330); }
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@ -82,28 +82,6 @@ void recalc_delta_settings() {
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set_all_unhomed();
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}
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/**
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* Get a safe radius for calibration
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*/
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#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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float calibration_radius_factor = 1;
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#endif
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float delta_calibration_radius() {
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return calibration_radius_factor * (
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#if HAS_BED_PROBE
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FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), PROBING_MARGIN))
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#else
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DELTA_PRINTABLE_RADIUS
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#endif
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);
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}
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#endif
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/**
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* Delta Inverse Kinematics
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*
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@ -45,19 +45,6 @@ extern abc_float_t delta_diagonal_rod_trim;
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*/
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void recalc_delta_settings();
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/**
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* Get a safe radius for calibration
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*/
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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extern float calibration_radius_factor;
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#else
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constexpr float calibration_radius_factor = 1;
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#endif
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#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
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float delta_calibration_radius();
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#endif
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/**
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* Delta Inverse Kinematics
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*
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