From 6ab54c60b151aa52492bfec1a797a5475fb9027e Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 11 Sep 2016 20:11:30 -0500 Subject: [PATCH] Add conditionals for kinematics, leveling --- Marlin/Conditionals_post.h | 52 ++++++++++----- Marlin/Marlin.h | 2 +- Marlin/Marlin_main.cpp | 115 ++++++++++++++++++--------------- Marlin/configuration_store.cpp | 8 +-- Marlin/planner.cpp | 10 +-- Marlin/planner_bezier.cpp | 2 +- Marlin/qr_solve.cpp | 2 +- Marlin/ultralcd.cpp | 4 +- 8 files changed, 114 insertions(+), 81 deletions(-) diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h index 239780f346..9861c2b295 100644 --- a/Marlin/Conditionals_post.h +++ b/Marlin/Conditionals_post.h @@ -61,12 +61,16 @@ #define NORMAL_AXIS X_AXIS #endif + #define IS_SCARA (ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA)) + #define IS_KINEMATIC (ENABLED(DELTA) || IS_SCARA) + #define IS_CARTESIAN !IS_KINEMATIC + /** - * SCARA + * SCARA cannot use SLOWDOWN and requires QUICKHOME */ - #if ENABLED(SCARA) + #if IS_SCARA #undef SLOWDOWN - #define QUICK_HOME //SCARA needs Quickhome + #define QUICK_HOME #endif /** @@ -132,12 +136,6 @@ #define HOMING_Z_WITH_PROBE (HAS_BED_PROBE && Z_HOME_DIR < 0 && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)) - // Boundaries for probing based on set limits - #define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER)) - #define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER)) - #define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER)) - #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER)) - #define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0) /** @@ -657,18 +655,28 @@ #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3 #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 #endif - #if ENABLED(AUTO_BED_LEVELING_GRID) - #define DELTA_BED_LEVELING_GRID - #endif #endif /** - * When not using other bed leveling... + * Specify the exact style of auto bed leveling + * + * 3POINT - 3 Point Probing with the least-squares solution. + * LINEAR - Grid Probing with the least-squares solution. + * NONLINEAR - Grid Probing with a mesh solution. Best for large beds. */ - #if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(AUTO_BED_LEVELING_GRID) && DISABLED(DELTA_BED_LEVELING_GRID) - #define AUTO_BED_LEVELING_3POINT + #if ENABLED(AUTO_BED_LEVELING_FEATURE) + #if DISABLED(AUTO_BED_LEVELING_GRID) + #define AUTO_BED_LEVELING_LINEAR + #define AUTO_BED_LEVELING_3POINT + #elif IS_KINEMATIC + #define AUTO_BED_LEVELING_NONLINEAR + #else + #define AUTO_BED_LEVELING_LINEAR + #endif #endif + #define PLANNER_LEVELING (ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_LINEAR)) + /** * Buzzer/Speaker */ @@ -702,4 +710,18 @@ #define Z_PROBE_TRAVEL_HEIGHT Z_HOMING_HEIGHT #endif + #if IS_KINEMATIC + // Check for this in the code instead + #define MIN_PROBE_X X_MIN_POS + #define MAX_PROBE_X X_MAX_POS + #define MIN_PROBE_Y Y_MIN_POS + #define MAX_PROBE_Y Y_MAX_POS + #else + // Boundaries for probing based on set limits + #define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER)) + #define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER)) + #define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER)) + #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER)) + #endif + #endif // CONDITIONALS_POST_H diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index da9bc0de90..e0a540c263 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -313,7 +313,7 @@ float code_value_temp_diff(); extern int delta_grid_spacing[2]; void adjust_delta(float cartesian[XYZ]); #endif -#elif ENABLED(SCARA) +#elif IS_SCARA extern float delta[ABC]; extern float axis_scaling[ABC]; // Build size scaling void inverse_kinematics(const float cartesian[XYZ]); diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 4ea114504f..73376b4d1c 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -36,12 +36,11 @@ #if ENABLED(AUTO_BED_LEVELING_FEATURE) #include "vector_3.h" - #if ENABLED(AUTO_BED_LEVELING_GRID) - #include "qr_solve.h" - #endif -#endif // AUTO_BED_LEVELING_FEATURE +#endif -#if ENABLED(MESH_BED_LEVELING) +#if ENABLED(AUTO_BED_LEVELING_LINEAR) + #include "qr_solve.h" +#elif ENABLED(MESH_BED_LEVELING) #include "mesh_bed_leveling.h" #endif @@ -497,7 +496,12 @@ static uint8_t target_extruder; #endif -#if ENABLED(SCARA) +#if IS_SCARA + // Float constants for SCARA calculations + const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2, + L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2, + L2_2 = sq(float(L2)); + float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND, delta[ABC], axis_scaling[ABC] = { 1, 1, 1 }, // Build size scaling, default to 1 @@ -651,7 +655,7 @@ inline void sync_plan_position() { } inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); } -#if ENABLED(DELTA) || ENABLED(SCARA) +#if IS_KINEMATIC inline void sync_plan_position_delta() { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position); @@ -2161,7 +2165,7 @@ static void clean_up_after_endstop_or_probe_move() { // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding refresh_cmd_timeout(); - #if ENABLED(AUTO_BED_LEVELING_FEATURE) + #if ENABLED(AUTO_BED_LEVELING_LINEAR) planner.bed_level_matrix.set_to_identity(); #endif @@ -2272,7 +2276,7 @@ static void clean_up_after_endstop_or_probe_move() { #if ENABLED(AUTO_BED_LEVELING_FEATURE) - #if DISABLED(DELTA) + #if ENABLED(AUTO_BED_LEVELING_LINEAR) /** * Get the stepper positions, apply the rotation matrix @@ -2302,9 +2306,7 @@ static void clean_up_after_endstop_or_probe_move() { return pos; } - #endif // !DELTA - - #if ENABLED(DELTA) + #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR) /** * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING @@ -2870,7 +2872,7 @@ inline void gcode_G4() { SERIAL_ECHOPGM("Machine Type: "); #if ENABLED(DELTA) SERIAL_ECHOLNPGM("Delta"); - #elif ENABLED(SCARA) + #elif IS_SCARA SERIAL_ECHOLNPGM("SCARA"); #elif ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ) SERIAL_ECHOLNPGM("Core"); @@ -2947,11 +2949,12 @@ inline void gcode_G28() { stepper.synchronize(); // For auto bed leveling, clear the level matrix - #if ENABLED(AUTO_BED_LEVELING_FEATURE) + #if ENABLED(AUTO_BED_LEVELING_LINEAR) planner.bed_level_matrix.set_to_identity(); - #if ENABLED(DELTA) - reset_bed_level(); - #endif + #endif + + #if ENABLED(AUTO_BED_LEVELING_NONLINEAR) + reset_bed_level(); #endif // Always home with tool 0 active @@ -3533,7 +3536,7 @@ inline void gcode_G28() { #if ENABLED(AUTO_BED_LEVELING_GRID) - #if DISABLED(DELTA) + #if ENABLED(AUTO_BED_LEVELING_LINEAR) bool do_topography_map = verbose_level > 2 || code_seen('T'); #endif @@ -3544,7 +3547,7 @@ inline void gcode_G28() { int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS; - #if DISABLED(DELTA) + #if ENABLED(AUTO_BED_LEVELING_LINEAR) if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int(); if (auto_bed_leveling_grid_points < 2) { SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum)."); @@ -3594,17 +3597,19 @@ inline void gcode_G28() { if (!dryrun) { - // Reset the bed_level_matrix because leveling - // needs to be done without leveling enabled. - planner.bed_level_matrix.set_to_identity(); + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + // Reset the bed_level_matrix because leveling + // needs to be done without leveling enabled. + planner.bed_level_matrix.set_to_identity(); + #endif // // Re-orient the current position without leveling // based on where the steppers are positioned. // - #if ENABLED(DELTA) || ENABLED(SCARA) + #if IS_KINEMATIC - #if ENABLED(DELTA) + #if ENABLED(AUTO_BED_LEVELING_NONLINEAR) reset_bed_level(); #endif @@ -3639,12 +3644,14 @@ inline void gcode_G28() { const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1), yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1); - #if ENABLED(DELTA) + #if ENABLED(AUTO_BED_LEVELING_NONLINEAR) delta_grid_spacing[X_AXIS] = xGridSpacing; delta_grid_spacing[Y_AXIS] = yGridSpacing; float zoffset = zprobe_zoffset; if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS); - #else // !DELTA + + #elif ENABLED(AUTO_BED_LEVELING_LINEAR) + /** * solve the plane equation ax + by + d = z * A is the matrix with rows [x y 1] for all the probed points @@ -3660,7 +3667,8 @@ inline void gcode_G28() { eqnBVector[abl2], // "B" vector of Z points mean = 0.0; int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points]; - #endif // !DELTA + + #endif // AUTO_BED_LEVELING_LINEAR int probePointCounter = 0; bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION] @@ -3694,16 +3702,19 @@ inline void gcode_G28() { float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); - #if DISABLED(DELTA) - mean += measured_z; + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + mean += measured_z; eqnBVector[probePointCounter] = measured_z; eqnAMatrix[probePointCounter + 0 * abl2] = xProbe; eqnAMatrix[probePointCounter + 1 * abl2] = yProbe; eqnAMatrix[probePointCounter + 2 * abl2] = 1; indexIntoAB[xCount][yCount] = probePointCounter; - #else + + #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR) + bed_level[xCount][yCount] = measured_z + zoffset; + #endif probePointCounter++; @@ -3713,7 +3724,7 @@ inline void gcode_G28() { } //xProbe } //yProbe - #else // !AUTO_BED_LEVELING_GRID + #elif ENABLED(AUTO_BED_LEVELING_3POINT) #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling"); @@ -3759,12 +3770,12 @@ inline void gcode_G28() { // Calculate leveling, print reports, correct the position #if ENABLED(AUTO_BED_LEVELING_GRID) - #if ENABLED(DELTA) + #if ENABLED(AUTO_BED_LEVELING_NONLINEAR) if (!dryrun) extrapolate_unprobed_bed_level(); print_bed_level(); - #else // !DELTA + #elif ENABLED(AUTO_BED_LEVELING_LINEAR) // solve lsq problem double plane_equation_coefficients[3]; @@ -3860,11 +3871,11 @@ inline void gcode_G28() { } } //do_topography_map - #endif //!DELTA + #endif // AUTO_BED_LEVELING_LINEAR #endif // AUTO_BED_LEVELING_GRID - #if DISABLED(DELTA) + #if ENABLED(AUTO_BED_LEVELING_LINEAR) if (verbose_level > 0) planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:"); @@ -4358,10 +4369,10 @@ inline void gcode_M42() { if (verbose_level > 2) SERIAL_PROTOCOLLNPGM("Positioning the probe..."); - #if ENABLED(DELTA) + #if ENABLED(AUTO_BED_LEVELING_NONLINEAR) // we don't do bed level correction in M48 because we want the raw data when we probe reset_bed_level(); - #elif ENABLED(AUTO_BED_LEVELING_FEATURE) + #elif ENABLED(AUTO_BED_LEVELING_LINEAR) // we don't do bed level correction in M48 because we want the raw data when we probe planner.bed_level_matrix.set_to_identity(); #endif @@ -6361,7 +6372,7 @@ inline void gcode_M503() { lastpos[i] = destination[i] = current_position[i]; // Define runplan for move axes - #if ENABLED(DELTA) + #if IS_KINEMATIC #define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \ planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder); #else @@ -6482,7 +6493,7 @@ inline void gcode_M503() { destination[E_AXIS] = lastpos[E_AXIS]; planner.set_e_position_mm(current_position[E_AXIS]); - #if ENABLED(DELTA) + #if IS_KINEMATIC // Move XYZ to starting position, then E inverse_kinematics(lastpos); planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder); @@ -6925,7 +6936,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n * Z software endstop. But this is technically correct (and * there is no viable alternative). */ - #if ENABLED(AUTO_BED_LEVELING_FEATURE) + #if ENABLED(AUTO_BED_LEVELING_LINEAR) // Offset extruder, make sure to apply the bed level rotation matrix vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder], hotend_offset[Y_AXIS][tmp_extruder], @@ -7961,7 +7972,7 @@ void ok_to_send() { stepper.get_axis_position_mm(C_AXIS)); } - #if ENABLED(AUTO_BED_LEVELING_FEATURE) + #if ENABLED(AUTO_BED_LEVELING_NONLINEAR) // Adjust print surface height by linear interpolation over the bed_level array. void adjust_delta(float cartesian[XYZ]) { @@ -8001,7 +8012,7 @@ void ok_to_send() { SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset); */ } - #endif // AUTO_BED_LEVELING_FEATURE + #endif // AUTO_BED_LEVELING_NONLINEAR #endif // DELTA @@ -8076,7 +8087,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_ } #endif // MESH_BED_LEVELING -#if ENABLED(DELTA) || ENABLED(SCARA) +#if IS_KINEMATIC inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) { float difference[NUM_AXIS]; @@ -8103,7 +8114,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_ inverse_kinematics(target); - #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE) + #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR) if (!bed_leveling_in_progress) adjust_delta(target); #endif @@ -8115,7 +8126,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_ return true; } -#endif // DELTA || SCARA +#endif // IS_KINEMATIC #if ENABLED(DUAL_X_CARRIAGE) @@ -8161,7 +8172,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_ #endif // DUAL_X_CARRIAGE -#if DISABLED(DELTA) && DISABLED(SCARA) +#if !IS_KINEMATIC inline bool prepare_move_to_destination_cartesian() { // Do not use feedrate_percentage for E or Z only moves @@ -8181,7 +8192,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_ return true; } -#endif // !DELTA && !SCARA +#endif // !IS_KINEMATIC #if ENABLED(PREVENT_COLD_EXTRUSION) @@ -8220,7 +8231,7 @@ void prepare_move_to_destination() { prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]); #endif - #if ENABLED(DELTA) || ENABLED(SCARA) + #if IS_KINEMATIC if (!prepare_kinematic_move_to(destination)) return; #else #if ENABLED(DUAL_X_CARRIAGE) @@ -8356,9 +8367,9 @@ void prepare_move_to_destination() { clamp_to_software_endstops(arc_target); - #if ENABLED(DELTA) || ENABLED(SCARA) + #if IS_KINEMATIC inverse_kinematics(arc_target); - #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE) + #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR) adjust_delta(arc_target); #endif planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder); @@ -8368,9 +8379,9 @@ void prepare_move_to_destination() { } // Ensure last segment arrives at target location. - #if ENABLED(DELTA) || ENABLED(SCARA) + #if IS_KINEMATIC inverse_kinematics(target); - #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE) + #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR) adjust_delta(target); #endif planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder); diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index f54cd88a2f..0dd1ce6da4 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -330,7 +330,7 @@ void Config_StoreSettings() { #endif EEPROM_WRITE(lcd_contrast); - #if ENABLED(SCARA) + #if IS_SCARA EEPROM_WRITE(axis_scaling); // 3 floats #else dummy = 1.0f; @@ -520,7 +520,7 @@ void Config_RetrieveSettings() { #endif EEPROM_READ(lcd_contrast); - #if ENABLED(SCARA) + #if IS_SCARA EEPROM_READ(axis_scaling); // 3 floats #else EEPROM_READ(dummy); @@ -584,7 +584,7 @@ void Config_ResetDefault() { planner.axis_steps_per_mm[i] = tmp1[i]; planner.max_feedrate_mm_s[i] = tmp2[i]; planner.max_acceleration_mm_per_s2[i] = tmp3[i]; - #if ENABLED(SCARA) + #if IS_SCARA if (i < COUNT(axis_scaling)) axis_scaling[i] = 1; #endif @@ -716,7 +716,7 @@ void Config_PrintSettings(bool forReplay) { CONFIG_ECHO_START; - #if ENABLED(SCARA) + #if IS_SCARA if (!forReplay) { SERIAL_ECHOLNPGM("Scaling factors:"); CONFIG_ECHO_START; diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index bcad2c9069..f8dc5efd2b 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -98,7 +98,7 @@ float Planner::min_feedrate_mm_s, Planner::max_e_jerk, Planner::min_travel_feedrate_mm_s; -#if ENABLED(AUTO_BED_LEVELING_FEATURE) +#if ENABLED(AUTO_BED_LEVELING_LINEAR) matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level #endif @@ -138,7 +138,7 @@ void Planner::init() { memset(position, 0, sizeof(position)); // clear position LOOP_XYZE(i) previous_speed[i] = 0.0; previous_nominal_speed = 0.0; - #if ENABLED(AUTO_BED_LEVELING_FEATURE) + #if ENABLED(AUTO_BED_LEVELING_LINEAR) bed_level_matrix.set_to_identity(); #endif } @@ -521,7 +521,7 @@ void Planner::check_axes_activity() { #endif } -#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING) +#if PLANNER_LEVELING void Planner::apply_leveling( #if ENABLED(MESH_BED_LEVELING) @@ -551,7 +551,7 @@ void Planner::check_axes_activity() { #endif } -#endif +#endif // PLANNER_LEVELING /** * Planner::buffer_line @@ -1193,7 +1193,7 @@ void Planner::reset_acceleration_rates() { // Recalculate position, steps_to_mm if axis_steps_per_mm changes! void Planner::refresh_positioning() { LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i]; - #if ENABLED(DELTA) || ENABLED(SCARA) + #if IS_KINEMATIC inverse_kinematics(current_position); set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); #else diff --git a/Marlin/planner_bezier.cpp b/Marlin/planner_bezier.cpp index 6ca7afd1d6..15c8091635 100644 --- a/Marlin/planner_bezier.cpp +++ b/Marlin/planner_bezier.cpp @@ -188,7 +188,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS] bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t); clamp_to_software_endstops(bez_target); - #if ENABLED(DELTA) || ENABLED(SCARA) + #if IS_KINEMATIC inverse_kinematics(bez_target); #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE) adjust_delta(bez_target); diff --git a/Marlin/qr_solve.cpp b/Marlin/qr_solve.cpp index ddafb005ea..e60b1d3274 100644 --- a/Marlin/qr_solve.cpp +++ b/Marlin/qr_solve.cpp @@ -22,7 +22,7 @@ #include "qr_solve.h" -#if ENABLED(AUTO_BED_LEVELING_GRID) +#if ENABLED(AUTO_BED_LEVELING_LINEAR) #include #include diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index f5459757db..55247c15d5 100755 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1418,7 +1418,7 @@ void kill_screen(const char* lcd_msg) { * */ - #if ENABLED(DELTA) || ENABLED(SCARA) + #if IS_KINEMATIC #define _MOVE_XYZ_ALLOWED (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) #else #define _MOVE_XYZ_ALLOWED true @@ -1823,7 +1823,7 @@ void kill_screen(const char* lcd_msg) { #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit); #endif - #if ENABLED(SCARA) + #if IS_SCARA MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS], 0.5, 2); MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS], 0.5, 2); #endif