🔧 Fix TPARA (…SCARA, DELTA) settings (#25016)

Marlin/Configuration.h

@@ -879,7 +879,7 @@
 //#define POLARGRAPH
 #if ENABLED(POLARGRAPH)
   #define POLARGRAPH_MAX_BELT_LEN 1035.0
-  #define POLAR_SEGMENTS_PER_SECOND 5
+  #define DEFAULT_SEGMENTS_PER_SECOND 5
 #endif
 
 // @section delta
@@ -891,28 +891,28 @@
   // Make delta curves from many straight lines (linear interpolation).
   // This is a trade-off between visible corners (not enough segments)
   // and processor overload (too many expensive sqrt calls).
-  #define DELTA_SEGMENTS_PER_SECOND 200
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
 
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 
   // Delta calibration menu
-  // uncomment to add three points calibration menu option.
+  // Add three-point calibration to the MarlinUI menu.
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
-  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  // G33 Delta Auto-Calibration. Enable EEPROM_SETTINGS to store results.
   //#define DELTA_AUTO_CALIBRATION
 
-  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
-
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    // set the default number of probe points : n*n (1 -> 7)
+    // Default number of probe points : n*n (1 -> 7)
     #define DELTA_CALIBRATION_DEFAULT_POINTS 4
   #endif
 
+  // NOTE: All values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
   #if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
-    // Set the steprate for papertest probing
+    // Step size for paper-test probing
     #define PROBE_MANUALLY_STEP 0.05      // (mm)
   #endif
 
@@ -957,7 +957,7 @@
 //#define MP_SCARA
 #if EITHER(MORGAN_SCARA, MP_SCARA)
   // If movement is choppy try lowering this value
-  #define SCARA_SEGMENTS_PER_SECOND 200
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
 
   // Length of inner and outer support arms. Measure arm lengths precisely.
   #define SCARA_LINKAGE_1 150       // (mm)
@@ -993,18 +993,18 @@
 // Enable for TPARA kinematics and configure below
 //#define AXEL_TPARA
 #if ENABLED(AXEL_TPARA)
-  #define DEBUG_ROBOT_KINEMATICS
-  #define ROBOT_SEGMENTS_PER_SECOND 200
+  #define DEBUG_TPARA_KINEMATICS
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
 
   // Length of inner and outer support arms. Measure arm lengths precisely.
-  #define ROBOT_LINKAGE_1 120       // (mm)
-  #define ROBOT_LINKAGE_2 120       // (mm)
+  #define TPARA_LINKAGE_1 120       // (mm)
+  #define TPARA_LINKAGE_2 120       // (mm)
 
   // SCARA tower offset (position of Tower relative to bed zero position)
   // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
-  #define ROBOT_OFFSET_X    0       // (mm)
-  #define ROBOT_OFFSET_Y    0       // (mm)
-  #define ROBOT_OFFSET_Z    0       // (mm)
+  #define TPARA_OFFSET_X    0       // (mm)
+  #define TPARA_OFFSET_Y    0       // (mm)
+  #define TPARA_OFFSET_Z    0       // (mm)
 
   #define SCARA_FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
 

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -336,9 +336,9 @@
   #if IS_SCARA
     #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
   #elif ENABLED(DELTA)
-    #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
+    #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
   #elif ENABLED(POLARGRAPH)
-    #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
+    #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
   #else // CARTESIAN
     #ifdef LEVELED_SEGMENT_LENGTH
       #define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH

Marlin/src/inc/Conditionals_post.h

@@ -275,10 +275,12 @@
  */
 #if IS_SCARA
   #undef SLOWDOWN
-  #if DISABLED(AXEL_TPARA)
+  #if ENABLED(AXEL_TPARA)
+    #define SCARA_PRINTABLE_RADIUS (TPARA_LINKAGE_1 + TPARA_LINKAGE_2)
+  #else
     #define QUICK_HOME
+    #define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
   #endif
-  #define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
 #endif
 
 /**

Marlin/src/inc/SanityCheck.h

@@ -654,6 +654,8 @@
   #error "SHOW_SD_PERCENT is now SHOW_PROGRESS_PERCENT."
 #elif defined(EXTRA_LIN_ADVANCE_K)
   #error "EXTRA_LIN_ADVANCE_K is now ADVANCE_K_EXTRA."
+#elif defined(POLAR_SEGMENTS_PER_SECOND) || defined(DELTA_SEGMENTS_PER_SECOND)  || defined(SCARA_SEGMENTS_PER_SECOND) || defined(TPARA_SEGMENTS_PER_SECOND)
+  #error "(POLAR|DELTA|SCARA|TPARA)_SEGMENTS_PER_SECOND is now DEFAULT_SEGMENTS_PER_SECOND."
 #endif
 
 // L64xx stepper drivers have been removed

Marlin/src/module/scara.cpp

@@ -37,7 +37,7 @@
   #include "../MarlinCore.h"
 #endif
 
-float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SEGMENTS_PER_SECOND);
+float segments_per_second = DEFAULT_SEGMENTS_PER_SECOND;
 
 #if EITHER(MORGAN_SCARA, MP_SCARA)
 

Marlin/src/module/settings.cpp

@@ -3044,11 +3044,7 @@ void MarlinSettings::reset() {
   //
 
   #if IS_KINEMATIC
-    segments_per_second = (
-      TERN_(DELTA, DELTA_SEGMENTS_PER_SECOND)
-      TERN_(IS_SCARA, SCARA_SEGMENTS_PER_SECOND)
-      TERN_(POLARGRAPH, POLAR_SEGMENTS_PER_SECOND)
-    );
+    segments_per_second = DEFAULT_SEGMENTS_PER_SECOND;
     #if ENABLED(DELTA)
       const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
       delta_height = DELTA_HEIGHT;