Firmware2/Marlin/src/gcode/calibrate/M665.cpp

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
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#include "../../inc/MarlinConfig.h"
#if IS_KINEMATIC
#include "../gcode.h"
#include "../../module/motion.h"
#if ENABLED(DELTA)
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#include "../../module/delta.h"
/**
* M665: Set delta configurations
*
* H = delta height
* L = diagonal rod
* R = delta radius
* S = segments per second
* B = delta calibration radius
* X = Alpha (Tower 1) angle trim
* Y = Beta (Tower 2) angle trim
* Z = Rotate A and B by this angle
*/
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void GcodeSuite::M665() {
if (parser.seen('H')) {
home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT;
update_software_endstops(Z_AXIS);
}
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
if (parser.seen('R')) delta_radius = parser.value_linear_units();
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
if (parser.seen('B')) delta_calibration_radius = parser.value_float();
if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float();
if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float();
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if (parser.seen('Z')) delta_tower_angle_trim[C_AXIS] = parser.value_float();
recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
}
#elif IS_SCARA
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#include "../../module/scara.h"
/**
* M665: Set SCARA settings
*
* Parameters:
*
* S[segments-per-second] - Segments-per-second
* P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
* T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
*
* A, P, and X are all aliases for the shoulder angle
* B, T, and Y are all aliases for the elbow angle
*/
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void GcodeSuite::M665() {
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
const uint8_t sumAPX = hasA + hasP + hasX;
if (sumAPX == 1)
home_offset[A_AXIS] = parser.value_float();
else if (sumAPX > 1) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
return;
}
const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
const uint8_t sumBTY = hasB + hasT + hasY;
if (sumBTY == 1)
home_offset[B_AXIS] = parser.value_float();
else if (sumBTY > 1) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
return;
}
}
#endif
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#endif // IS_KINEMATIC