Tweaks to motion.h reachable tests
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@ -36,6 +36,9 @@
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#include "../module/scara.h"
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#endif
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// Error margin to work around float imprecision
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constexpr float slop = 0.0001;
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extern bool relative_mode;
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extern float current_position[XYZE], // High-level current tool position
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@ -265,22 +268,16 @@ void homeaxis(const AxisEnum axis);
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#else // CARTESIAN
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// Return true if the given position is within the machine bounds.
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// Return true if the given position is within the machine bounds.
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inline bool position_is_reachable(const float &rx, const float &ry) {
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if (!WITHIN(ry, Y_MIN_POS - slop, Y_MAX_POS + slop)) return false;
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#if ENABLED(DUAL_X_CARRIAGE)
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if (active_extruder == 0) {
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// Add 0.001 margin to deal with float imprecision
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return WITHIN(rx, X1_MIN_POS - 0.001f, X1_MAX_POS + 0.001f)
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&& WITHIN(ry, Y_MIN_POS - 0.001f, Y_MAX_POS + 0.001f);
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} else {
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// Add 0.001 margin to deal with float imprecision
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return WITHIN(rx, X2_MIN_POS - 0.001f, X2_MAX_POS + 0.001f)
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&& WITHIN(ry, Y_MIN_POS - 0.001f, Y_MAX_POS + 0.001f);
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}
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if (active_extruder)
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return WITHIN(rx, X2_MIN_POS - slop, X2_MAX_POS + slop);
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else
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return WITHIN(rx, X1_MIN_POS - slop, X1_MAX_POS + slop);
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#else
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// Add 0.001 margin to deal with float imprecision
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return WITHIN(rx, X_MIN_POS - 0.001f, X_MAX_POS + 0.001f)
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&& WITHIN(ry, Y_MIN_POS - 0.001f, Y_MAX_POS + 0.001f);
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return WITHIN(rx, X_MIN_POS - slop, X_MAX_POS + slop);
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#endif
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}
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@ -294,8 +291,8 @@ void homeaxis(const AxisEnum axis);
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*/
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inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
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return position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER))
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&& WITHIN(rx, MIN_PROBE_X - 0.001f, MAX_PROBE_X + 0.001f)
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&& WITHIN(ry, MIN_PROBE_Y - 0.001f, MAX_PROBE_Y + 0.001f);
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&& WITHIN(rx, MIN_PROBE_X - slop, MAX_PROBE_X + slop)
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&& WITHIN(ry, MIN_PROBE_Y - slop, MAX_PROBE_Y + slop);
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}
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#endif
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