107 lines
3.4 KiB
C++
107 lines
3.4 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 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 IS_KINEMATIC
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#include "../gcode.h"
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#include "../../module/motion.h"
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#if ENABLED(DELTA)
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#include "../../module/delta.h"
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/**
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* M665: Set delta configurations
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*
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* H = delta height
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* L = diagonal rod
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* R = delta radius
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* S = segments per second
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* X = Alpha (Tower 1) angle trim
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* Y = Beta (Tower 2) angle trim
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* Z = Gamma (Tower 3) angle trim
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*/
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void GcodeSuite::M665() {
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if (parser.seen('H')) delta_height = parser.value_linear_units();
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if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
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if (parser.seen('R')) delta_radius = parser.value_linear_units();
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if (parser.seen('S')) delta_segments_per_second = parser.value_float();
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if (parser.seen('X')) delta_tower_angle_trim.a = parser.value_float();
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if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
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if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();
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recalc_delta_settings();
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}
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#elif IS_SCARA
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#include "../../module/scara.h"
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/**
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* M665: Set SCARA settings
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*
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* Parameters:
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*
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* S[segments-per-second] - Segments-per-second
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* P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
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* T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
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* Z[z-offset] - Z offset, added to Z
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*
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* A, P, and X are all aliases for the shoulder angle
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* B, T, and Y are all aliases for the elbow angle
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*/
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void GcodeSuite::M665() {
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if (parser.seenval('S')) delta_segments_per_second = parser.value_float();
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#if HAS_SCARA_OFFSET
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if (parser.seenval('Z')) scara_home_offset.z = parser.value_linear_units();
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const bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X');
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const uint8_t sumAPX = hasA + hasP + hasX;
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if (sumAPX) {
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if (sumAPX == 1)
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scara_home_offset.a = parser.value_float();
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else {
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SERIAL_ERROR_MSG("Only one of A, P, or X is allowed.");
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return;
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}
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}
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const bool hasB = parser.seenval('B'), hasT = parser.seenval('T'), hasY = parser.seenval('Y');
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const uint8_t sumBTY = hasB + hasT + hasY;
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if (sumBTY) {
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if (sumBTY == 1)
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scara_home_offset.b = parser.value_float();
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else {
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SERIAL_ERROR_MSG("Only one of B, T, or Y is allowed.");
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return;
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}
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}
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#endif // HAS_SCARA_OFFSET
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}
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#endif
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#endif // IS_KINEMATIC
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