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Fix position_is_reachable_by_probe, add comments

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Fix #10029
This commit is contained in:
Scott Lahteine 2018-03-09 21:18:50 -06:00
parent fd3e243989
commit 0d13c5d077
1 changed files with 16 additions and 8 deletions
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24
Marlin/Marlin.h
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@ -503,6 +503,7 @@ void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s
extern const float L1, L2;
#endif
// Return true if the given point is within the printable area
inline bool position_is_reachable(const float &rx, const float &ry) {
#if ENABLED(DELTA)
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
@ -518,28 +519,35 @@ void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s
#endif
}
// Return true if the both nozzle and the probe can reach the given point.
// Note: This won't work on SCARA since the probe offset rotates with the arm.
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
// Both the nozzle and the probe must be able to reach the point.
// This won't work on SCARA since the probe offset rotates with the arm.
return position_is_reachable(rx, ry)
&& position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER));
}
#else // CARTESIAN
// Return true if the given position is within the machine bounds.
inline bool position_is_reachable(const float &rx, const float &ry) {
// Add 0.001 margin to deal with float imprecision
return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
&& WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
}
/**
* Return whether the given position is within the bed, and whether the nozzle
* can reach the position required to put the probe at the given position.
*
* Example: For a probe offset of -10,+10, then for the probe to reach 0,0 the
* nozzle must be be able to reach +10,-10.
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
const float nx = rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ry - (Y_PROBE_OFFSET_FROM_EXTRUDER);
return position_is_reachable(rx, ry)
&& WITHIN(nx, X_MIN_BED - 0.001, X_MAX_BED + 0.001)
&& WITHIN(ny, Y_MIN_BED - 0.001, Y_MAX_BED + 0.001);
const float nx = rx - (X_PROBE_OFFSET_FROM_EXTRUDER),
ny = ry - (Y_PROBE_OFFSET_FROM_EXTRUDER);
return position_is_reachable(nx, ny)
&& WITHIN(rx, X_MIN_BED - 0.001, X_MAX_BED + 0.001)
&& WITHIN(ry, Y_MIN_BED - 0.001, Y_MAX_BED + 0.001);
}
#endif // CARTESIAN