🔧 Fix TPARA (…SCARA, DELTA) settings (#25016)
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ellensp
Scott Lahteine
parent
8fd42eeeb6
commit
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@ -879,7 +879,7 @@
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//#define POLARGRAPH
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#if ENABLED(POLARGRAPH)
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#define POLARGRAPH_MAX_BELT_LEN 1035.0
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#define POLAR_SEGMENTS_PER_SECOND 5
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#define DEFAULT_SEGMENTS_PER_SECOND 5
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#endif
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// @section delta
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@ -891,28 +891,28 @@
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// Make delta curves from many straight lines (linear interpolation).
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// This is a trade-off between visible corners (not enough segments)
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// and processor overload (too many expensive sqrt calls).
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#define DELTA_SEGMENTS_PER_SECOND 200
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#define DEFAULT_SEGMENTS_PER_SECOND 200
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// After homing move down to a height where XY movement is unconstrained
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//#define DELTA_HOME_TO_SAFE_ZONE
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// Delta calibration menu
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// uncomment to add three points calibration menu option.
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// Add three-point calibration to the MarlinUI menu.
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// See http://minow.blogspot.com/index.html#4918805519571907051
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//#define DELTA_CALIBRATION_MENU
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// uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
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// G33 Delta Auto-Calibration. Enable EEPROM_SETTINGS to store results.
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//#define DELTA_AUTO_CALIBRATION
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// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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// set the default number of probe points : n*n (1 -> 7)
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// Default number of probe points : n*n (1 -> 7)
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#define DELTA_CALIBRATION_DEFAULT_POINTS 4
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#endif
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// NOTE: All values for DELTA_* values MUST be floating point, so always have a decimal point in them
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#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
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// Set the steprate for papertest probing
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// Step size for paper-test probing
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#define PROBE_MANUALLY_STEP 0.05 // (mm)
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#endif
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@ -957,7 +957,7 @@
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//#define MP_SCARA
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#if EITHER(MORGAN_SCARA, MP_SCARA)
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// If movement is choppy try lowering this value
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#define SCARA_SEGMENTS_PER_SECOND 200
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#define DEFAULT_SEGMENTS_PER_SECOND 200
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// Length of inner and outer support arms. Measure arm lengths precisely.
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#define SCARA_LINKAGE_1 150 // (mm)
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@ -993,18 +993,18 @@
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// Enable for TPARA kinematics and configure below
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//#define AXEL_TPARA
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#if ENABLED(AXEL_TPARA)
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#define DEBUG_ROBOT_KINEMATICS
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#define ROBOT_SEGMENTS_PER_SECOND 200
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#define DEBUG_TPARA_KINEMATICS
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#define DEFAULT_SEGMENTS_PER_SECOND 200
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// Length of inner and outer support arms. Measure arm lengths precisely.
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#define ROBOT_LINKAGE_1 120 // (mm)
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#define ROBOT_LINKAGE_2 120 // (mm)
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#define TPARA_LINKAGE_1 120 // (mm)
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#define TPARA_LINKAGE_2 120 // (mm)
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// SCARA tower offset (position of Tower relative to bed zero position)
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// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
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#define ROBOT_OFFSET_X 0 // (mm)
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#define ROBOT_OFFSET_Y 0 // (mm)
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#define ROBOT_OFFSET_Z 0 // (mm)
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#define TPARA_OFFSET_X 0 // (mm)
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#define TPARA_OFFSET_Y 0 // (mm)
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#define TPARA_OFFSET_Z 0 // (mm)
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#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
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@ -336,9 +336,9 @@
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#if IS_SCARA
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#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
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#elif ENABLED(DELTA)
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#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
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#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
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#elif ENABLED(POLARGRAPH)
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#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
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#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
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#else // CARTESIAN
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#ifdef LEVELED_SEGMENT_LENGTH
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#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
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@ -275,11 +275,13 @@
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*/
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#if IS_SCARA
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#undef SLOWDOWN
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#if DISABLED(AXEL_TPARA)
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#if ENABLED(AXEL_TPARA)
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#define SCARA_PRINTABLE_RADIUS (TPARA_LINKAGE_1 + TPARA_LINKAGE_2)
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#else
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#define QUICK_HOME
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#endif
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#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
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#endif
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#endif
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/**
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* Set the home position based on settings or manual overrides
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@ -654,6 +654,8 @@
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#error "SHOW_SD_PERCENT is now SHOW_PROGRESS_PERCENT."
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#elif defined(EXTRA_LIN_ADVANCE_K)
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#error "EXTRA_LIN_ADVANCE_K is now ADVANCE_K_EXTRA."
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#elif defined(POLAR_SEGMENTS_PER_SECOND) || defined(DELTA_SEGMENTS_PER_SECOND) || defined(SCARA_SEGMENTS_PER_SECOND) || defined(TPARA_SEGMENTS_PER_SECOND)
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#error "(POLAR|DELTA|SCARA|TPARA)_SEGMENTS_PER_SECOND is now DEFAULT_SEGMENTS_PER_SECOND."
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#endif
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// L64xx stepper drivers have been removed
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@ -37,7 +37,7 @@
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#include "../MarlinCore.h"
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#endif
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float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SEGMENTS_PER_SECOND);
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float segments_per_second = DEFAULT_SEGMENTS_PER_SECOND;
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#if EITHER(MORGAN_SCARA, MP_SCARA)
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@ -3044,11 +3044,7 @@ void MarlinSettings::reset() {
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//
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#if IS_KINEMATIC
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segments_per_second = (
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TERN_(DELTA, DELTA_SEGMENTS_PER_SECOND)
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TERN_(IS_SCARA, SCARA_SEGMENTS_PER_SECOND)
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TERN_(POLARGRAPH, POLAR_SEGMENTS_PER_SECOND)
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);
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segments_per_second = DEFAULT_SEGMENTS_PER_SECOND;
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#if ENABLED(DELTA)
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const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
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delta_height = DELTA_HEIGHT;
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