Add conditionals for kinematics, leveling
This commit is contained in:
Scott Lahteine
parent
21514568fd
commit
6ab54c60b1
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@ -61,12 +61,16 @@
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#define NORMAL_AXIS X_AXIS
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#endif
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#define IS_SCARA (ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA))
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#define IS_KINEMATIC (ENABLED(DELTA) || IS_SCARA)
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#define IS_CARTESIAN !IS_KINEMATIC
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/**
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* SCARA
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* SCARA cannot use SLOWDOWN and requires QUICKHOME
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*/
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#if ENABLED(SCARA)
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#if IS_SCARA
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#undef SLOWDOWN
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#define QUICK_HOME //SCARA needs Quickhome
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#define QUICK_HOME
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#endif
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/**
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@ -132,12 +136,6 @@
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#define HOMING_Z_WITH_PROBE (HAS_BED_PROBE && Z_HOME_DIR < 0 && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN))
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// Boundaries for probing based on set limits
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#define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
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#define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
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#define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
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#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
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#define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
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/**
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@ -657,17 +655,27 @@
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
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#endif
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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#define DELTA_BED_LEVELING_GRID
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#endif
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#endif
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/**
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* When not using other bed leveling...
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* Specify the exact style of auto bed leveling
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*
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* 3POINT - 3 Point Probing with the least-squares solution.
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* LINEAR - Grid Probing with the least-squares solution.
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* NONLINEAR - Grid Probing with a mesh solution. Best for large beds.
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*/
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(AUTO_BED_LEVELING_GRID) && DISABLED(DELTA_BED_LEVELING_GRID)
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if DISABLED(AUTO_BED_LEVELING_GRID)
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#define AUTO_BED_LEVELING_LINEAR
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#define AUTO_BED_LEVELING_3POINT
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#elif IS_KINEMATIC
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#define AUTO_BED_LEVELING_NONLINEAR
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#else
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#define AUTO_BED_LEVELING_LINEAR
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#endif
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#endif
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#define PLANNER_LEVELING (ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_LINEAR))
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/**
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* Buzzer/Speaker
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@ -702,4 +710,18 @@
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#define Z_PROBE_TRAVEL_HEIGHT Z_HOMING_HEIGHT
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#endif
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#if IS_KINEMATIC
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// Check for this in the code instead
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#define MIN_PROBE_X X_MIN_POS
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#define MAX_PROBE_X X_MAX_POS
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#define MIN_PROBE_Y Y_MIN_POS
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#define MAX_PROBE_Y Y_MAX_POS
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#else
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// Boundaries for probing based on set limits
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#define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
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#define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
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#define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
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#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
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#endif
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#endif // CONDITIONALS_POST_H
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@ -313,7 +313,7 @@ float code_value_temp_diff();
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extern int delta_grid_spacing[2];
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void adjust_delta(float cartesian[XYZ]);
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#endif
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#elif ENABLED(SCARA)
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#elif IS_SCARA
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extern float delta[ABC];
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extern float axis_scaling[ABC]; // Build size scaling
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void inverse_kinematics(const float cartesian[XYZ]);
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@ -36,12 +36,11 @@
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#include "vector_3.h"
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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#include "qr_solve.h"
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#endif
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#endif // AUTO_BED_LEVELING_FEATURE
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#endif
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#if ENABLED(MESH_BED_LEVELING)
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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#include "qr_solve.h"
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#elif ENABLED(MESH_BED_LEVELING)
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#include "mesh_bed_leveling.h"
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#endif
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@ -497,7 +496,12 @@ static uint8_t target_extruder;
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#endif
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#if ENABLED(SCARA)
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#if IS_SCARA
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// Float constants for SCARA calculations
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const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
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L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
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L2_2 = sq(float(L2));
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float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
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delta[ABC],
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axis_scaling[ABC] = { 1, 1, 1 }, // Build size scaling, default to 1
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@ -651,7 +655,7 @@ inline void sync_plan_position() {
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}
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inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
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#if ENABLED(DELTA) || ENABLED(SCARA)
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#if IS_KINEMATIC
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inline void sync_plan_position_delta() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
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@ -2161,7 +2165,7 @@ static void clean_up_after_endstop_or_probe_move() {
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// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
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refresh_cmd_timeout();
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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planner.bed_level_matrix.set_to_identity();
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#endif
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@ -2272,7 +2276,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if DISABLED(DELTA)
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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/**
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* Get the stepper positions, apply the rotation matrix
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@ -2302,9 +2306,7 @@ static void clean_up_after_endstop_or_probe_move() {
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return pos;
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}
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#endif // !DELTA
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#if ENABLED(DELTA)
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#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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/**
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* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
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@ -2870,7 +2872,7 @@ inline void gcode_G4() {
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SERIAL_ECHOPGM("Machine Type: ");
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#if ENABLED(DELTA)
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SERIAL_ECHOLNPGM("Delta");
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#elif ENABLED(SCARA)
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#elif IS_SCARA
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SERIAL_ECHOLNPGM("SCARA");
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#elif ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
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SERIAL_ECHOLNPGM("Core");
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@ -2947,11 +2949,12 @@ inline void gcode_G28() {
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stepper.synchronize();
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// For auto bed leveling, clear the level matrix
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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planner.bed_level_matrix.set_to_identity();
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#if ENABLED(DELTA)
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reset_bed_level();
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#endif
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#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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reset_bed_level();
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#endif
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// Always home with tool 0 active
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@ -3533,7 +3536,7 @@ inline void gcode_G28() {
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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#if DISABLED(DELTA)
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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bool do_topography_map = verbose_level > 2 || code_seen('T');
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#endif
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@ -3544,7 +3547,7 @@ inline void gcode_G28() {
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int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
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#if DISABLED(DELTA)
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int();
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if (auto_bed_leveling_grid_points < 2) {
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SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
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@ -3594,17 +3597,19 @@ inline void gcode_G28() {
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if (!dryrun) {
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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// Reset the bed_level_matrix because leveling
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// needs to be done without leveling enabled.
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planner.bed_level_matrix.set_to_identity();
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#endif
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//
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// Re-orient the current position without leveling
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// based on where the steppers are positioned.
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//
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#if ENABLED(DELTA) || ENABLED(SCARA)
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#if IS_KINEMATIC
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#if ENABLED(DELTA)
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#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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reset_bed_level();
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#endif
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@ -3639,12 +3644,14 @@ inline void gcode_G28() {
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const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
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yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
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#if ENABLED(DELTA)
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#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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delta_grid_spacing[X_AXIS] = xGridSpacing;
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delta_grid_spacing[Y_AXIS] = yGridSpacing;
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float zoffset = zprobe_zoffset;
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if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
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#else // !DELTA
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#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
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/**
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* solve the plane equation ax + by + d = z
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* A is the matrix with rows [x y 1] for all the probed points
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@ -3660,7 +3667,8 @@ inline void gcode_G28() {
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eqnBVector[abl2], // "B" vector of Z points
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mean = 0.0;
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int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
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#endif // !DELTA
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#endif // AUTO_BED_LEVELING_LINEAR
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int probePointCounter = 0;
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bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
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@ -3694,16 +3702,19 @@ inline void gcode_G28() {
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float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
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#if DISABLED(DELTA)
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mean += measured_z;
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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mean += measured_z;
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eqnBVector[probePointCounter] = measured_z;
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eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
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eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
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eqnAMatrix[probePointCounter + 2 * abl2] = 1;
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indexIntoAB[xCount][yCount] = probePointCounter;
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#else
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#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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bed_level[xCount][yCount] = measured_z + zoffset;
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#endif
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probePointCounter++;
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@ -3713,7 +3724,7 @@ inline void gcode_G28() {
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} //xProbe
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} //yProbe
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#else // !AUTO_BED_LEVELING_GRID
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#elif ENABLED(AUTO_BED_LEVELING_3POINT)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
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@ -3759,12 +3770,12 @@ inline void gcode_G28() {
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// Calculate leveling, print reports, correct the position
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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#if ENABLED(DELTA)
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#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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if (!dryrun) extrapolate_unprobed_bed_level();
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print_bed_level();
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#else // !DELTA
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#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
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// solve lsq problem
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double plane_equation_coefficients[3];
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@ -3860,11 +3871,11 @@ inline void gcode_G28() {
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}
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} //do_topography_map
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#endif //!DELTA
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#endif // AUTO_BED_LEVELING_LINEAR
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#endif // AUTO_BED_LEVELING_GRID
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#if DISABLED(DELTA)
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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if (verbose_level > 0)
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planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
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@ -4358,10 +4369,10 @@ inline void gcode_M42() {
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if (verbose_level > 2)
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SERIAL_PROTOCOLLNPGM("Positioning the probe...");
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#if ENABLED(DELTA)
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#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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// we don't do bed level correction in M48 because we want the raw data when we probe
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reset_bed_level();
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#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
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#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
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// we don't do bed level correction in M48 because we want the raw data when we probe
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planner.bed_level_matrix.set_to_identity();
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#endif
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@ -6361,7 +6372,7 @@ inline void gcode_M503() {
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lastpos[i] = destination[i] = current_position[i];
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// Define runplan for move axes
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#if ENABLED(DELTA)
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#if IS_KINEMATIC
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#define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
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#else
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@ -6482,7 +6493,7 @@ inline void gcode_M503() {
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destination[E_AXIS] = lastpos[E_AXIS];
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planner.set_e_position_mm(current_position[E_AXIS]);
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#if ENABLED(DELTA)
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#if IS_KINEMATIC
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// Move XYZ to starting position, then E
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inverse_kinematics(lastpos);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
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@ -6925,7 +6936,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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* Z software endstop. But this is technically correct (and
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* there is no viable alternative).
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*/
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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// Offset extruder, make sure to apply the bed level rotation matrix
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vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
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hotend_offset[Y_AXIS][tmp_extruder],
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@ -7961,7 +7972,7 @@ void ok_to_send() {
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stepper.get_axis_position_mm(C_AXIS));
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}
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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// Adjust print surface height by linear interpolation over the bed_level array.
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void adjust_delta(float cartesian[XYZ]) {
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@ -8001,7 +8012,7 @@ void ok_to_send() {
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SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
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*/
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}
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#endif // AUTO_BED_LEVELING_FEATURE
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#endif // AUTO_BED_LEVELING_NONLINEAR
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#endif // DELTA
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@ -8076,7 +8087,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
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}
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#endif // MESH_BED_LEVELING
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#if ENABLED(DELTA) || ENABLED(SCARA)
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#if IS_KINEMATIC
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inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
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float difference[NUM_AXIS];
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@ -8103,7 +8114,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
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inverse_kinematics(target);
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#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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if (!bed_leveling_in_progress) adjust_delta(target);
|
||||
#endif
|
||||
|
||||
|
|
@ -8115,7 +8126,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
|
|||
return true;
|
||||
}
|
||||
|
||||
#endif // DELTA || SCARA
|
||||
#endif // IS_KINEMATIC
|
||||
|
||||
#if ENABLED(DUAL_X_CARRIAGE)
|
||||
|
||||
|
|
@ -8161,7 +8172,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
|
|||
|
||||
#endif // DUAL_X_CARRIAGE
|
||||
|
||||
#if DISABLED(DELTA) && DISABLED(SCARA)
|
||||
#if !IS_KINEMATIC
|
||||
|
||||
inline bool prepare_move_to_destination_cartesian() {
|
||||
// Do not use feedrate_percentage for E or Z only moves
|
||||
|
|
@ -8181,7 +8192,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
|
|||
return true;
|
||||
}
|
||||
|
||||
#endif // !DELTA && !SCARA
|
||||
#endif // !IS_KINEMATIC
|
||||
|
||||
#if ENABLED(PREVENT_COLD_EXTRUSION)
|
||||
|
||||
|
|
@ -8220,7 +8231,7 @@ void prepare_move_to_destination() {
|
|||
prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
|
||||
#endif
|
||||
|
||||
#if ENABLED(DELTA) || ENABLED(SCARA)
|
||||
#if IS_KINEMATIC
|
||||
if (!prepare_kinematic_move_to(destination)) return;
|
||||
#else
|
||||
#if ENABLED(DUAL_X_CARRIAGE)
|
||||
|
|
@ -8356,9 +8367,9 @@ void prepare_move_to_destination() {
|
|||
|
||||
clamp_to_software_endstops(arc_target);
|
||||
|
||||
#if ENABLED(DELTA) || ENABLED(SCARA)
|
||||
#if IS_KINEMATIC
|
||||
inverse_kinematics(arc_target);
|
||||
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
|
||||
adjust_delta(arc_target);
|
||||
#endif
|
||||
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
|
||||
|
|
@ -8368,9 +8379,9 @@ void prepare_move_to_destination() {
|
|||
}
|
||||
|
||||
// Ensure last segment arrives at target location.
|
||||
#if ENABLED(DELTA) || ENABLED(SCARA)
|
||||
#if IS_KINEMATIC
|
||||
inverse_kinematics(target);
|
||||
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
|
||||
adjust_delta(target);
|
||||
#endif
|
||||
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
|
||||
|
|
|
|||
|
|
@ -330,7 +330,7 @@ void Config_StoreSettings() {
|
|||
#endif
|
||||
EEPROM_WRITE(lcd_contrast);
|
||||
|
||||
#if ENABLED(SCARA)
|
||||
#if IS_SCARA
|
||||
EEPROM_WRITE(axis_scaling); // 3 floats
|
||||
#else
|
||||
dummy = 1.0f;
|
||||
|
|
@ -520,7 +520,7 @@ void Config_RetrieveSettings() {
|
|||
#endif
|
||||
EEPROM_READ(lcd_contrast);
|
||||
|
||||
#if ENABLED(SCARA)
|
||||
#if IS_SCARA
|
||||
EEPROM_READ(axis_scaling); // 3 floats
|
||||
#else
|
||||
EEPROM_READ(dummy);
|
||||
|
|
@ -584,7 +584,7 @@ void Config_ResetDefault() {
|
|||
planner.axis_steps_per_mm[i] = tmp1[i];
|
||||
planner.max_feedrate_mm_s[i] = tmp2[i];
|
||||
planner.max_acceleration_mm_per_s2[i] = tmp3[i];
|
||||
#if ENABLED(SCARA)
|
||||
#if IS_SCARA
|
||||
if (i < COUNT(axis_scaling))
|
||||
axis_scaling[i] = 1;
|
||||
#endif
|
||||
|
|
@ -716,7 +716,7 @@ void Config_PrintSettings(bool forReplay) {
|
|||
|
||||
CONFIG_ECHO_START;
|
||||
|
||||
#if ENABLED(SCARA)
|
||||
#if IS_SCARA
|
||||
if (!forReplay) {
|
||||
SERIAL_ECHOLNPGM("Scaling factors:");
|
||||
CONFIG_ECHO_START;
|
||||
|
|
|
|||
|
|
@ -98,7 +98,7 @@ float Planner::min_feedrate_mm_s,
|
|||
Planner::max_e_jerk,
|
||||
Planner::min_travel_feedrate_mm_s;
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
|
||||
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
|
||||
#endif
|
||||
|
||||
|
|
@ -138,7 +138,7 @@ void Planner::init() {
|
|||
memset(position, 0, sizeof(position)); // clear position
|
||||
LOOP_XYZE(i) previous_speed[i] = 0.0;
|
||||
previous_nominal_speed = 0.0;
|
||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
|
||||
bed_level_matrix.set_to_identity();
|
||||
#endif
|
||||
}
|
||||
|
|
@ -521,7 +521,7 @@ void Planner::check_axes_activity() {
|
|||
#endif
|
||||
}
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
|
||||
#if PLANNER_LEVELING
|
||||
|
||||
void Planner::apply_leveling(
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
|
|
@ -551,7 +551,7 @@ void Planner::check_axes_activity() {
|
|||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif // PLANNER_LEVELING
|
||||
|
||||
/**
|
||||
* Planner::buffer_line
|
||||
|
|
@ -1193,7 +1193,7 @@ void Planner::reset_acceleration_rates() {
|
|||
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
|
||||
void Planner::refresh_positioning() {
|
||||
LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
|
||||
#if ENABLED(DELTA) || ENABLED(SCARA)
|
||||
#if IS_KINEMATIC
|
||||
inverse_kinematics(current_position);
|
||||
set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -188,7 +188,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
|
|||
bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
|
||||
clamp_to_software_endstops(bez_target);
|
||||
|
||||
#if ENABLED(DELTA) || ENABLED(SCARA)
|
||||
#if IS_KINEMATIC
|
||||
inverse_kinematics(bez_target);
|
||||
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
adjust_delta(bez_target);
|
||||
|
|
|
|||
|
|
@ -22,7 +22,7 @@
|
|||
|
||||
#include "qr_solve.h"
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_GRID)
|
||||
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <math.h>
|
||||
|
|
|
|||
|
|
@ -1418,7 +1418,7 @@ void kill_screen(const char* lcd_msg) {
|
|||
*
|
||||
*/
|
||||
|
||||
#if ENABLED(DELTA) || ENABLED(SCARA)
|
||||
#if IS_KINEMATIC
|
||||
#define _MOVE_XYZ_ALLOWED (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
|
||||
#else
|
||||
#define _MOVE_XYZ_ALLOWED true
|
||||
|
|
@ -1823,7 +1823,7 @@ void kill_screen(const char* lcd_msg) {
|
|||
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
|
||||
MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
|
||||
#endif
|
||||
#if ENABLED(SCARA)
|
||||
#if IS_SCARA
|
||||
MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS], 0.5, 2);
|
||||
MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS], 0.5, 2);
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in a new issue