Remove SCARA axis_scaling
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Scott Lahteine
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d41eeb62af
commit
83a41c7ceb
@ -317,7 +317,6 @@ float code_value_temp_diff();
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delta_diagonal_rod_trim_tower_3;
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void recalc_delta_settings(float radius, float diagonal_rod);
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#elif IS_SCARA
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extern float axis_scaling[ABC]; // Build size scaling
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void forward_kinematics_SCARA(const float &a, const float &b);
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#endif
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@ -253,7 +253,6 @@
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* M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
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* M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
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* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
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* M365 - SCARA calibration: Scaling factor, X, Y, Z axis
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* ************* SCARA End ***************
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*
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* ************ Custom codes - This can change to suit future G-code regulations
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@ -505,8 +504,7 @@ static uint8_t target_extruder;
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L2_2 = sq(float(L2));
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float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
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delta[ABC],
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axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1
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delta[ABC];
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#endif
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float cartes[XYZ] = { 0 };
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@ -5750,8 +5748,8 @@ inline void gcode_M303() {
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if (IsRunning()) {
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//gcode_get_destination(); // For X Y Z E F
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forward_kinematics_SCARA(delta_a, delta_b);
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destination[X_AXIS] = cartes[X_AXIS] / axis_scaling[X_AXIS];
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destination[Y_AXIS] = cartes[Y_AXIS] / axis_scaling[Y_AXIS];
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destination[X_AXIS] = cartes[X_AXIS];
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destination[Y_AXIS] = cartes[Y_AXIS];
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destination[Z_AXIS] = current_position[Z_AXIS];
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prepare_move_to_destination();
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//ok_to_send();
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@ -5800,15 +5798,6 @@ inline void gcode_M303() {
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return SCARA_move_to_cal(45, 135);
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}
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/**
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* M365: SCARA calibration: Scaling factor, X, Y, Z axis
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*/
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inline void gcode_M365() {
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LOOP_XYZ(i)
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if (code_seen(axis_codes[i]))
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axis_scaling[i] = code_value_float();
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}
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#endif // SCARA
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#if ENABLED(EXT_SOLENOID)
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@ -7407,9 +7396,6 @@ void process_next_command() {
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case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
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if (gcode_M364()) return;
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break;
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case 365: // M365 Set SCARA scaling for X Y Z
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gcode_M365();
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break;
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#endif // SCARA
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case 400: // M400 finish all moves
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@ -8359,8 +8345,8 @@ void prepare_move_to_destination() {
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static float C2, S2, SK1, SK2, THETA, PSI;
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float sx = RAW_X_POSITION(cartesian[X_AXIS]) * axis_scaling[X_AXIS] - SCARA_OFFSET_X, //Translate SCARA to standard X Y
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sy = RAW_Y_POSITION(cartesian[Y_AXIS]) * axis_scaling[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
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float sx = RAW_X_POSITION(cartesian[X_AXIS]) - SCARA_OFFSET_X, //Translate SCARA to standard X Y
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sy = RAW_Y_POSITION(cartesian[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
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#if (L1 == L2)
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C2 = HYPOT2(sx, sy) / (2 * L1_2) - 1;
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@ -36,7 +36,7 @@
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*
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*/
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#define EEPROM_VERSION "V24"
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#define EEPROM_VERSION "V25"
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// Change EEPROM version if these are changed:
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#define EEPROM_OFFSET 100
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@ -105,24 +105,21 @@
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* DOGLCD:
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* 379 M250 C lcd_contrast (int)
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*
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* SCARA:
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* 381 M365 XYZ axis_scaling (float x3)
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*
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* FWRETRACT:
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* 393 M209 S autoretract_enabled (bool)
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* 394 M207 S retract_length (float)
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* 398 M207 W retract_length_swap (float)
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* 402 M207 F retract_feedrate_mm_s (float)
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* 406 M207 Z retract_zlift (float)
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* 410 M208 S retract_recover_length (float)
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* 414 M208 W retract_recover_length_swap (float)
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* 418 M208 F retract_recover_feedrate_mm_s (float)
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* 381 M209 S autoretract_enabled (bool)
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* 382 M207 S retract_length (float)
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* 386 M207 W retract_length_swap (float)
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* 390 M207 F retract_feedrate_mm_s (float)
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* 394 M207 Z retract_zlift (float)
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* 398 M208 S retract_recover_length (float)
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* 402 M208 W retract_recover_length_swap (float)
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* 406 M208 F retract_recover_feedrate_mm_s (float)
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*
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* Volumetric Extrusion:
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* 422 M200 D volumetric_enabled (bool)
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* 423 M200 T D filament_size (float x4) (T0..3)
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* 410 M200 D volumetric_enabled (bool)
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* 411 M200 T D filament_size (float x4) (T0..3)
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*
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* 439 This Slot is Available!
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* 427 This Slot is Available!
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*
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*/
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#include "Marlin.h"
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@ -330,13 +327,6 @@ void Config_StoreSettings() {
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#endif
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EEPROM_WRITE(lcd_contrast);
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#if IS_SCARA
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EEPROM_WRITE(axis_scaling); // 3 floats
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#else
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dummy = 1.0f;
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EEPROM_WRITE(dummy);
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#endif
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#if ENABLED(FWRETRACT)
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EEPROM_WRITE(autoretract_enabled);
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EEPROM_WRITE(retract_length);
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@ -520,12 +510,6 @@ void Config_RetrieveSettings() {
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#endif
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EEPROM_READ(lcd_contrast);
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#if IS_SCARA
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EEPROM_READ(axis_scaling); // 3 floats
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#else
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EEPROM_READ(dummy);
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#endif
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#if ENABLED(FWRETRACT)
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EEPROM_READ(autoretract_enabled);
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EEPROM_READ(retract_length);
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@ -584,10 +568,6 @@ void Config_ResetDefault() {
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planner.axis_steps_per_mm[i] = tmp1[i];
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planner.max_feedrate_mm_s[i] = tmp2[i];
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planner.max_acceleration_mm_per_s2[i] = tmp3[i];
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#if IS_SCARA
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if (i < COUNT(axis_scaling))
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axis_scaling[i] = 1;
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#endif
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}
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planner.acceleration = DEFAULT_ACCELERATION;
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@ -716,18 +696,6 @@ void Config_PrintSettings(bool forReplay) {
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CONFIG_ECHO_START;
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#if IS_SCARA
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if (!forReplay) {
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SERIAL_ECHOLNPGM("Scaling factors:");
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CONFIG_ECHO_START;
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}
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SERIAL_ECHOPAIR(" M365 X", axis_scaling[X_AXIS]);
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SERIAL_ECHOPAIR(" Y", axis_scaling[Y_AXIS]);
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SERIAL_ECHOPAIR(" Z", axis_scaling[Z_AXIS]);
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SERIAL_EOL;
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CONFIG_ECHO_START;
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#endif // SCARA
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if (!forReplay) {
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SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
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CONFIG_ECHO_START;
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@ -1823,10 +1823,6 @@ void kill_screen(const char* lcd_msg) {
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#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
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#endif
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#if IS_SCARA
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MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS], 0.5, 2);
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MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS], 0.5, 2);
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#endif
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END_MENU();
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}
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