85 lines
2.4 KiB
C++
85 lines
2.4 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(MORGAN_SCARA)
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#include "../gcode.h"
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#include "../../module/scara.h"
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#include "../../module/motion.h"
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#include "../../Marlin.h" // for IsRunning()
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inline bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
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if (IsRunning()) {
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forward_kinematics_SCARA(delta_a, delta_b);
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destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
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destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
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destination[Z_AXIS] = current_position[Z_AXIS];
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prepare_move_to_destination();
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return true;
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}
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return false;
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}
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/**
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* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
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*/
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bool GcodeSuite::M360() {
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SERIAL_ECHOLNPGM(" Cal: Theta 0");
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return SCARA_move_to_cal(0, 120);
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}
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/**
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* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
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*/
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bool GcodeSuite::M361() {
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SERIAL_ECHOLNPGM(" Cal: Theta 90");
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return SCARA_move_to_cal(90, 130);
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}
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/**
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* M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
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*/
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bool GcodeSuite::M362() {
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SERIAL_ECHOLNPGM(" Cal: Psi 0");
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return SCARA_move_to_cal(60, 180);
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}
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/**
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* M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
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*/
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bool GcodeSuite::M363() {
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SERIAL_ECHOLNPGM(" Cal: Psi 90");
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return SCARA_move_to_cal(50, 90);
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}
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/**
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* M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
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*/
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bool GcodeSuite::M364() {
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SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
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return SCARA_move_to_cal(45, 135);
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}
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#endif // MORGAN_SCARA
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