✨ Polargraph M665 settings (#24401)
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@ -306,7 +306,7 @@ typedef struct {
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LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
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#endif
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if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
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if (position_is_reachable(s) && position_is_reachable(e))
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print_line_from_here_to_there(s, e);
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}
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}
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@ -86,7 +86,7 @@
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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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* S[segments] - Segments-per-second
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*
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* Without NO_WORKSPACE_OFFSETS:
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*
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@ -152,18 +152,35 @@
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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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* S[segments] - Segments-per-second
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* L[left] - Work area minimum X
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* R[right] - Work area maximum X
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* T[top] - Work area maximum Y
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* B[bottom] - Work area minimum Y
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* H[length] - Maximum belt length
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*/
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void GcodeSuite::M665() {
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if (parser.seenval('S'))
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segments_per_second = parser.value_float();
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else
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M665_report();
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if (!parser.seen_any()) return M665_report();
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if (parser.seenval('S')) segments_per_second = parser.value_float();
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if (parser.seenval('L')) draw_area_min.x = parser.value_linear_units();
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if (parser.seenval('R')) draw_area_max.x = parser.value_linear_units();
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if (parser.seenval('T')) draw_area_max.y = parser.value_linear_units();
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if (parser.seenval('B')) draw_area_min.y = parser.value_linear_units();
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if (parser.seenval('H')) polargraph_max_belt_len = parser.value_linear_units();
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draw_area_size.x = draw_area_max.x - draw_area_min.x;
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draw_area_size.y = draw_area_max.y - draw_area_min.y;
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}
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void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
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report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS " (" STR_S_SEG_PER_SEC ")"));
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SERIAL_ECHOLNPGM(" M665 S", segments_per_second);
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report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS));
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SERIAL_ECHOLNPGM_P(
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PSTR(" M665 S"), LINEAR_UNIT(segments_per_second),
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PSTR(" L"), LINEAR_UNIT(draw_area_min.x),
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PSTR(" R"), LINEAR_UNIT(draw_area_max.x),
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SP_T_STR, LINEAR_UNIT(draw_area_max.y),
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SP_B_STR, LINEAR_UNIT(draw_area_min.y),
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PSTR(" H"), LINEAR_UNIT(polargraph_max_belt_len)
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);
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}
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#endif
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@ -933,7 +933,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
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#endif
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#if IS_KINEMATIC
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case 665: M665(); break; // M665: Set Delta/SCARA parameters
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case 665: M665(); break; // M665: Set Kinematics parameters
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#endif
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#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
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@ -262,6 +262,7 @@
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* M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
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* M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
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* Set SCARA configurations: "M665 S<segments-per-second> P<theta-psi-offset> T<theta-offset> Z<z-offset> (Requires MORGAN_SCARA or MP_SCARA)
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* Set Polargraph draw area and belt length: "M665 S<segments-per-second> L<draw-area-left> R<draw-area-right> T<draw-area-top> B<draw-area-bottom> H<max-belt-length>"
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* M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
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* M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
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* M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
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@ -300,6 +300,73 @@ void report_current_position_projected() {
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#endif
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#if IS_KINEMATIC
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bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset/*=0*/) {
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bool can_reach;
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#if ENABLED(DELTA)
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can_reach = HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
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#elif ENABLED(AXEL_TPARA)
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const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
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can_reach = (
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R2 <= sq(L1 + L2) - inset
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#if MIDDLE_DEAD_ZONE_R > 0
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&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
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#endif
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);
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#elif IS_SCARA
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const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
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can_reach = (
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R2 <= sq(L1 + L2) - inset
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#if MIDDLE_DEAD_ZONE_R > 0
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&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
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#endif
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);
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#elif ENABLED(POLARGRAPH)
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const float d1 = rx - (draw_area_min.x),
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d2 = (draw_area_max.x) - rx,
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y = ry - (draw_area_max.y),
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a = HYPOT(d1, y),
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b = HYPOT(d2, y);
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can_reach = (
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a < polargraph_max_belt_len + 1
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&& b < polargraph_max_belt_len + 1
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&& (a + b) > _MIN(draw_area_size.x, draw_area_size.y)
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);
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#endif
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return can_reach;
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}
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#else // CARTESIAN
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// Return true if the given position is within the machine bounds.
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bool position_is_reachable(const_float_t rx, const_float_t ry) {
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if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
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#if ENABLED(DUAL_X_CARRIAGE)
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if (active_extruder)
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return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
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else
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return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
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#else
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return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
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#endif
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}
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#endif // CARTESIAN
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void home_if_needed(const bool keeplev/*=false*/) {
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if (!all_axes_trusted()) gcode.home_all_axes(keeplev);
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}
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@ -549,63 +549,21 @@ void home_if_needed(const bool keeplev=false);
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#endif
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// Return true if the given point is within the printable area
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inline bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0) {
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#if ENABLED(DELTA)
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return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
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#elif ENABLED(POLARGRAPH)
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const float x1 = rx - (X_MIN_POS), x2 = (X_MAX_POS) - rx, y = ry - (Y_MAX_POS),
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a = HYPOT(x1, y), b = HYPOT(x2, y);
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return a < (POLARGRAPH_MAX_BELT_LEN) + 1
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&& b < (POLARGRAPH_MAX_BELT_LEN) + 1
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&& (a + b) > _MIN(X_BED_SIZE, Y_BED_SIZE);
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#elif ENABLED(AXEL_TPARA)
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const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
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return (
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R2 <= sq(L1 + L2) - inset
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#if MIDDLE_DEAD_ZONE_R > 0
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&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
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#endif
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);
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#elif IS_SCARA
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const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
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return (
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R2 <= sq(L1 + L2) - inset
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#if MIDDLE_DEAD_ZONE_R > 0
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&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
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#endif
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);
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#endif
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}
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bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0);
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inline bool position_is_reachable(const xy_pos_t &pos, const float inset=0) {
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return position_is_reachable(pos.x, pos.y, inset);
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}
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#else // CARTESIAN
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#else
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// Return true if the given position is within the machine bounds.
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inline bool position_is_reachable(const_float_t rx, const_float_t ry) {
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if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
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#if ENABLED(DUAL_X_CARRIAGE)
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if (active_extruder)
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return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
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else
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return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
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#else
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return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
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#endif
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bool position_is_reachable(const_float_t rx, const_float_t ry);
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inline bool position_is_reachable(const xy_pos_t &pos) {
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return position_is_reachable(pos.x, pos.y);
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}
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inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
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#endif // CARTESIAN
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#endif
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/**
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* Duplication mode
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@ -39,8 +39,15 @@
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float segments_per_second; // Initialized by settings.load()
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xy_pos_t draw_area_min = { X_MIN_POS, Y_MIN_POS },
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draw_area_max = { X_MAX_POS, Y_MAX_POS };
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xy_float_t draw_area_size = { X_MAX_POS - X_MIN_POS, Y_MAX_POS - Y_MIN_POS };
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float polargraph_max_belt_len = HYPOT(draw_area_size.x, draw_area_size.y);
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void inverse_kinematics(const xyz_pos_t &raw) {
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const float x1 = raw.x - (X_MIN_POS), x2 = (X_MAX_POS) - raw.x, y = raw.y - (Y_MAX_POS);
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const float x1 = raw.x - (draw_area_min.x), x2 = (draw_area_max.x) - raw.x, y = raw.y - (draw_area_max.y);
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delta.set(HYPOT(x1, y), HYPOT(x2, y), raw.z);
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}
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@ -29,5 +29,8 @@
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#include "../core/macros.h"
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extern float segments_per_second;
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extern xy_pos_t draw_area_min, draw_area_max;
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extern xy_float_t draw_area_size;
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extern float polargraph_max_belt_len;
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void inverse_kinematics(const xyz_pos_t &raw);
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