🐛 Fix and improve Polargraph (#24847)

Co-Authored-By: Scott Lahteine <thinkyhead@users.noreply.github.com>

Marlin/src/feature/host_actions.cpp

@@ -111,20 +111,29 @@ void HostUI::action(FSTR_P const fstr, const bool eol) {
     if (eol) SERIAL_EOL();
   }
 
-  void HostUI::prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char/*='\0'*/) {
+  void HostUI::prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char/*='\0'*/) {
     prompt(ptype, false);
     PORT_REDIRECT(SerialMask::All);
     SERIAL_CHAR(' ');
-    SERIAL_ECHOF(fstr);
+    if (pgm)
+      SERIAL_ECHOPGM_P(str);
+    else
+      SERIAL_ECHO(str);
     if (extra_char != '\0') SERIAL_CHAR(extra_char);
     SERIAL_EOL();
   }
+
   void HostUI::prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char/*='\0'*/) {
     prompt_end();
     host_prompt_reason = reason;
     prompt_plus(F("begin"), fstr, extra_char);
   }
-  void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); }
+  void HostUI::prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char/*='\0'*/) {
+    prompt_end();
+    host_prompt_reason = reason;
+    prompt_plus(F("begin"), cstr, extra_char);
+  }
+
   void HostUI::prompt_end() { prompt(F("end")); }
   void HostUI::prompt_show() { prompt(F("show")); }
 
@@ -133,14 +142,26 @@ void HostUI::action(FSTR_P const fstr, const bool eol) {
     if (btn2) prompt_button(btn2);
     prompt_show();
   }
+
+  void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); }
+  void HostUI::prompt_button(const char * const cstr) { prompt_plus(F("button"), cstr); }
+
   void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
     prompt_begin(reason, fstr);
     _prompt_show(btn1, btn2);
   }
+  void HostUI::prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
+    prompt_begin(reason, cstr);
+    _prompt_show(btn1, btn2);
+  }
   void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
     prompt_begin(reason, fstr, extra_char);
     _prompt_show(btn1, btn2);
   }
+  void HostUI::prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
+    prompt_begin(reason, cstr, extra_char);
+    _prompt_show(btn1, btn2);
+  }
 
   #if ENABLED(ADVANCED_PAUSE_FEATURE)
     void HostUI::filament_load_prompt() {

Marlin/src/feature/host_actions.h

@@ -79,7 +79,14 @@ class HostUI {
   #if ENABLED(HOST_PROMPT_SUPPORT)
     private:
     static void prompt(FSTR_P const ptype, const bool eol=true);
-    static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0');
+    static void prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char='\0');
+    static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0') {
+      prompt_plus(true, ptype, FTOP(fstr), extra_char);
+    }
+    static void prompt_plus(FSTR_P const ptype, const char * const cstr, const char extra_char='\0') {
+      prompt_plus(false, ptype, cstr, extra_char);
+    }
+
     static void prompt_show();
     static void _prompt_show(FSTR_P const btn1, FSTR_P const btn2);
 
@@ -93,10 +100,17 @@ class HostUI {
     static void notify(const char * const message);
 
     static void prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char='\0');
-    static void prompt_button(FSTR_P const fstr);
+    static void prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char='\0');
     static void prompt_end();
+
+    static void prompt_button(FSTR_P const fstr);
+    static void prompt_button(const char * const cstr);
+
     static void prompt_do(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
+    static void prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
     static void prompt_do(const PromptReason reason, FSTR_P const pstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
+    static void prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
+
     static void prompt_open(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr) {
       if (host_prompt_reason == PROMPT_NOT_DEFINED) prompt_do(reason, pstr, btn1, btn2);
     }

Marlin/src/gcode/calibrate/M665.cpp

@@ -167,8 +167,6 @@
     if (parser.seenval('T')) draw_area_max.y = parser.value_linear_units();
     if (parser.seenval('B')) draw_area_min.y = parser.value_linear_units();
     if (parser.seenval('H')) polargraph_max_belt_len = parser.value_linear_units();
-    draw_area_size.x = draw_area_max.x - draw_area_min.x;
-    draw_area_size.y = draw_area_max.y - draw_area_min.y;
   }
 
   void GcodeSuite::M665_report(const bool forReplay/*=true*/) {

Marlin/src/gcode/lcd/M0_M1.cpp

@@ -85,7 +85,12 @@ void GcodeSuite::M0_M1() {
 
   #endif
 
-  TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, parser.codenum ? F("M1 Stop") : F("M0 Stop"), FPSTR(CONTINUE_STR)));
+  #if ENABLED(HOST_PROMPT_SUPPORT)
+    if (parser.string_arg)
+      hostui.prompt_do(PROMPT_USER_CONTINUE, parser.string_arg, FPSTR(CONTINUE_STR));
+    else
+      hostui.prompt_do(PROMPT_USER_CONTINUE, parser.codenum ? F("M1 Stop") : F("M0 Stop"), FPSTR(CONTINUE_STR));
+  #endif
 
   TERN_(HAS_RESUME_CONTINUE, wait_for_user_response(ms));
 

Marlin/src/inc/Conditionals_post.h

@@ -155,7 +155,7 @@
   #define W_BED_SIZE W_MAX_LENGTH
 #endif
 
-// Require 0,0 bed center for Delta and SCARA
+// Require 0,0 bed center for Delta, SCARA, and Polargraph
 #if IS_KINEMATIC
   #define BED_CENTER_AT_0_0
 #endif

Marlin/src/inc/SanityCheck.h

@@ -829,7 +829,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 /**
  * Granular software endstops (Marlin >= 1.1.7)
  */
-#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && DISABLED(MIN_SOFTWARE_ENDSTOP_Z)
+#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && NONE(MIN_SOFTWARE_ENDSTOP_Z, POLARGRAPH)
   #if IS_KINEMATIC
     #error "MIN_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MIN_SOFTWARE_ENDSTOP_Z."
   #elif NONE(MIN_SOFTWARE_ENDSTOP_X, MIN_SOFTWARE_ENDSTOP_Y)
@@ -837,7 +837,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   #endif
 #endif
 
-#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && DISABLED(MAX_SOFTWARE_ENDSTOP_Z)
+#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && NONE(MAX_SOFTWARE_ENDSTOP_Z, POLARGRAPH)
   #if IS_KINEMATIC
     #error "MAX_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MAX_SOFTWARE_ENDSTOP_Z."
   #elif NONE(MAX_SOFTWARE_ENDSTOP_X, MAX_SOFTWARE_ENDSTOP_Y)

Marlin/src/lcd/language/language_en.h

@@ -418,6 +418,12 @@ namespace Language_en {
   LSTR MSG_FILAMENT_DIAM_E                = _UxGT("Fil. Dia. *");
   LSTR MSG_FILAMENT_UNLOAD                = _UxGT("Unload mm");
   LSTR MSG_FILAMENT_LOAD                  = _UxGT("Load mm");
+  LSTR MSG_SEGMENTS_PER_SECOND            = _UxGT("Segments/Sec");
+  LSTR MSG_DRAW_MIN_X                     = _UxGT("Draw Min X");
+  LSTR MSG_DRAW_MAX_X                     = _UxGT("Draw Max X");
+  LSTR MSG_DRAW_MIN_Y                     = _UxGT("Draw Min Y");
+  LSTR MSG_DRAW_MAX_Y                     = _UxGT("Draw Max Y");
+  LSTR MSG_MAX_BELT_LEN                   = _UxGT("Max Belt Len");
   LSTR MSG_ADVANCE_K                      = _UxGT("Advance K");
   LSTR MSG_ADVANCE_K_E                    = _UxGT("Advance K *");
   LSTR MSG_CONTRAST                       = _UxGT("LCD Contrast");

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -632,10 +632,20 @@ void menu_advanced_settings() {
 
   #if DISABLED(SLIM_LCD_MENUS)
 
+    #if ENABLED(POLARGRAPH)
+      // M665 - Polargraph Settings
+      if (!is_busy) {
+        EDIT_ITEM_FAST(float4, MSG_SEGMENTS_PER_SECOND, &segments_per_second, 100, 9999);               // M665 S
+        EDIT_ITEM_FAST(float51sign, MSG_DRAW_MIN_X, &draw_area_min.x, X_MIN_POS, draw_area_max.x - 10); // M665 L
+        EDIT_ITEM_FAST(float51sign, MSG_DRAW_MAX_X, &draw_area_max.x, draw_area_min.x + 10, X_MAX_POS); // M665 R
+        EDIT_ITEM_FAST(float51sign, MSG_DRAW_MIN_Y, &draw_area_min.y, Y_MIN_POS, draw_area_max.y - 10); // M665 T
+        EDIT_ITEM_FAST(float51sign, MSG_DRAW_MAX_Y, &draw_area_max.y, draw_area_min.y + 10, Y_MAX_POS); // M665 B
+        EDIT_ITEM_FAST(float51sign, MSG_MAX_BELT_LEN, &polargraph_max_belt_len, 500, 2000);             // M665 H
+      }
+    #endif
+
     #if HAS_M206_COMMAND
-      //
+      // M428 - Set Home Offsets
-      // Set Home Offsets
-      //
       ACTION_ITEM(MSG_SET_HOME_OFFSETS, []{ queue.inject(F("M428")); ui.return_to_status(); });
     #endif
 

Marlin/src/module/motion.cpp

@@ -341,7 +341,6 @@ void report_current_position_projected() {
       can_reach = (
            a < polargraph_max_belt_len + 1
         && b < polargraph_max_belt_len + 1
-        && (a + b) > _MIN(draw_area_size.x, draw_area_size.y)
       );
 
     #endif
@@ -562,7 +561,8 @@ void do_blocking_move_to(NUM_AXIS_ARGS(const float), const_feedRate_t fr_mm_s/*=
     const feedRate_t w_feedrate = fr_mm_s ?: homing_feedrate(W_AXIS)
   );
 
-  #if IS_KINEMATIC
+  #if IS_KINEMATIC && DISABLED(POLARGRAPH)
+    // kinematic machines are expected to home to a point 1.5x their range? never reachable.
     if (!position_is_reachable(x, y)) return;
     destination = current_position;          // sync destination at the start
   #endif
@@ -919,11 +919,16 @@ void restore_feedrate_and_scaling() {
         constexpr xy_pos_t offs{0};
       #endif
 
-      if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) {
+      #if ENABLED(POLARGRAPH)
-        const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
+        LIMIT(target.x, draw_area_min.x, draw_area_max.x);
-        if (dist_2 > delta_max_radius_2)
+        LIMIT(target.y, draw_area_min.y, draw_area_max.y);
-          target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66
+      #else
-      }
+        if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) {
+          const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
+          if (dist_2 > delta_max_radius_2)
+            target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66
+        }
+      #endif
 
     #else
 

Marlin/src/module/planner.cpp

@@ -2244,7 +2244,6 @@ bool Planner::_populate_block(
 
   TERN_(MIXING_EXTRUDER, mixer.populate_block(block->b_color));
 
-
   #if HAS_FAN
     FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i];
   #endif

Marlin/src/module/polargraph.cpp

@@ -37,17 +37,12 @@
 #include "../lcd/marlinui.h"
 #include "../MarlinCore.h"
 
-float segments_per_second; // Initialized by settings.load()
+// Initialized by settings.load()
-
+float segments_per_second, polargraph_max_belt_len;
-xy_pos_t draw_area_min = { X_MIN_POS, Y_MIN_POS },
+xy_pos_t draw_area_min, draw_area_max;
-         draw_area_max = { X_MAX_POS, Y_MAX_POS };
-
-xy_float_t draw_area_size = { X_MAX_POS - X_MIN_POS, Y_MAX_POS - Y_MIN_POS };
-
-float polargraph_max_belt_len = HYPOT(draw_area_size.x, draw_area_size.y);
 
 void inverse_kinematics(const xyz_pos_t &raw) {
-  const float x1 = raw.x - (draw_area_min.x), x2 = (draw_area_max.x) - raw.x, y = raw.y - (draw_area_max.y);
+  const float x1 = raw.x - draw_area_min.x, x2 = draw_area_max.x - raw.x, y = raw.y - draw_area_max.y;
   delta.set(HYPOT(x1, y), HYPOT(x2, y), raw.z);
 }
 

Marlin/src/module/polargraph.h

@@ -30,7 +30,6 @@
 
 extern float segments_per_second;
 extern xy_pos_t draw_area_min, draw_area_max;
-extern xy_float_t draw_area_size;
 extern float polargraph_max_belt_len;
 
 void inverse_kinematics(const xyz_pos_t &raw);

Marlin/src/module/settings.cpp

@@ -257,7 +257,7 @@ typedef struct SettingsDataStruct {
   // HAS_BED_PROBE
   //
 
-  xyz_pos_t probe_offset;
+  xyz_pos_t probe_offset;                               // M851 X Y Z
 
   //
   // ABL_PLANAR
@@ -319,7 +319,7 @@ typedef struct SettingsDataStruct {
   #endif
 
   //
-  // Kinematic Settings
+  // Kinematic Settings (Delta, SCARA, TPARA, Polargraph...)
   //
   #if IS_KINEMATIC
     float segments_per_second;                          // M665 S
@@ -330,7 +330,11 @@ typedef struct SettingsDataStruct {
             delta_diagonal_rod;                         // M665 L
       abc_float_t delta_tower_angle_trim,               // M665 X Y Z
                   delta_diagonal_rod_trim;              // M665 A B C
+    #elif ENABLED(POLARGRAPH)
+      xy_pos_t draw_area_min, draw_area_max;            // M665 L R T B
+      float polargraph_max_belt_len;                    // M665 H
     #endif
+
   #endif
 
   //
@@ -468,7 +472,7 @@ typedef struct SettingsDataStruct {
   //
   // SKEW_CORRECTION
   //
-  skew_factor_t planner_skew_factor;                    // M852 I J K  planner.skew_factor
+  skew_factor_t planner_skew_factor;                    // M852 I J K
 
   //
   // ADVANCED_PAUSE_FEATURE
@@ -988,7 +992,7 @@ void MarlinSettings::postprocess() {
     }
 
     //
-    // Kinematic Settings
+    // Kinematic Settings (Delta, SCARA, TPARA, Polargraph...)
     //
     #if IS_KINEMATIC
     {
@@ -1001,6 +1005,11 @@ void MarlinSettings::postprocess() {
         EEPROM_WRITE(delta_diagonal_rod);        // 1 float
         EEPROM_WRITE(delta_tower_angle_trim);    // 3 floats
         EEPROM_WRITE(delta_diagonal_rod_trim);   // 3 floats
+      #elif ENABLED(POLARGRAPH)
+        _FIELD_TEST(draw_area_min);
+        EEPROM_WRITE(draw_area_min);             // 2 floats
+        EEPROM_WRITE(draw_area_max);             // 2 floats
+        EEPROM_WRITE(polargraph_max_belt_len);   // 1 float
       #endif
     }
     #endif
@@ -1923,7 +1932,7 @@ void MarlinSettings::postprocess() {
       }
 
       //
-      // Kinematic Segments-per-second
+      // Kinematic Settings (Delta, SCARA, TPARA, Polargraph...)
       //
       #if IS_KINEMATIC
       {
@@ -1936,6 +1945,11 @@ void MarlinSettings::postprocess() {
           EEPROM_READ(delta_diagonal_rod);        // 1 float
           EEPROM_READ(delta_tower_angle_trim);    // 3 floats
           EEPROM_READ(delta_diagonal_rod_trim);   // 3 floats
+        #elif ENABLED(POLARGRAPH)
+          _FIELD_TEST(draw_area_min);
+          EEPROM_READ(draw_area_min);             // 2 floats
+          EEPROM_READ(draw_area_max);             // 2 floats
+          EEPROM_READ(polargraph_max_belt_len);   // 1 float
         #endif
       }
       #endif
@@ -2979,7 +2993,7 @@ void MarlinSettings::reset() {
   #endif
 
   //
-  // Kinematic settings
+  // Kinematic Settings (Delta, SCARA, TPARA, Polargraph...)
   //
 
   #if IS_KINEMATIC
@@ -2996,6 +3010,10 @@ void MarlinSettings::reset() {
       delta_diagonal_rod = DELTA_DIAGONAL_ROD;
       delta_tower_angle_trim = dta;
       delta_diagonal_rod_trim = ddr;
+    #elif ENABLED(POLARGRAPH)
+      draw_area_min.set(X_MIN_POS, Y_MIN_POS);
+      draw_area_max.set(X_MAX_POS, Y_MAX_POS);
+      polargraph_max_belt_len = POLARGRAPH_MAX_BELT_LEN;
     #endif
   #endif
 
@@ -3492,9 +3510,7 @@ void MarlinSettings::reset() {
     //
     // LCD Preheat Settings
     //
-    #if HAS_PREHEAT
+    TERN_(HAS_PREHEAT, gcode.M145_report(forReplay));
-      gcode.M145_report(forReplay);
-    #endif
 
     //
     // PID