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Merge pull request #5984 from thinkyhead/rc_delta_angles

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Add delta_tower_angle_trim
This commit is contained in:
Scott Lahteine 2017-03-07 19:41:24 -06:00 committed by GitHub
commit deb9d0dabd
4 changed files with 128 additions and 123 deletions
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11
Marlin/Conditionals_post.h
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@ -630,7 +630,7 @@
#endif
/**
* Delta radius/rod trimmers
* Delta radius/rod trimmers/angle trimmers
*/
#if ENABLED(DELTA)
#ifndef DELTA_RADIUS_TRIM_TOWER_1
@ -651,6 +651,15 @@
#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
#endif
#ifndef DELTA_TOWER_ANGLE_TRIM_1
#define DELTA_TOWER_ANGLE_TRIM_1 0.0
#endif
#ifndef DELTA_TOWER_ANGLE_TRIM_2
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
#endif
#ifndef DELTA_TOWER_ANGLE_TRIM_3
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
#endif
#endif
/**

5
Marlin/Marlin.h
View File

@ -332,9 +332,8 @@ float code_value_temp_diff();
delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_diagonal_rod_trim_tower_1,
delta_diagonal_rod_trim_tower_2,
delta_diagonal_rod_trim_tower_3,
delta_diagonal_rod_trim[ABC],
delta_tower_angle_trim[ABC],
delta_clip_start_height;
void recalc_delta_settings(float radius, float diagonal_rod);
#elif IS_SCARA

83
Marlin/Marlin_main.cpp Executable file → Normal file
View File

@ -185,7 +185,7 @@
* M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
* M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
* M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires FILAMENT_CHANGE_FEATURE)
* M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s>" (Requires DELTA)
* M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
* M666 - Set delta endstop adjustment. (Requires DELTA)
* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
@ -556,28 +556,18 @@ static uint8_t target_extruder;
#if ENABLED(DELTA)
#define SIN_60 0.8660254037844386
#define COS_60 0.5
float delta[ABC],
endstop_adj[ABC] = { 0 };
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS,
delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
delta_tower3_x = 0, // back middle tower
delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
delta_diagonal_rod = DELTA_DIAGONAL_ROD,
delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1,
delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2,
delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3,
delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1),
delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2),
delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3),
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND,
// These values are loaded or reset at boot time when setup() calls
// Config_RetrieveSettings(), which calls recalc_delta_settings().
float delta_radius,
delta_tower_angle_trim[ABC],
delta_tower[ABC][2],
delta_diagonal_rod,
delta_diagonal_rod_trim[ABC],
delta_diagonal_rod_2_tower[ABC],
delta_segments_per_second,
delta_clip_start_height = Z_MAX_POS;
float delta_safe_distance_from_top();
@ -6334,9 +6324,12 @@ inline void gcode_M205() {
if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
if (code_seen('R')) delta_radius = code_value_linear_units();
if (code_seen('S')) delta_segments_per_second = code_value_float();
if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units();
if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units();
if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units();
if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units();
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
/**
@ -9140,15 +9133,15 @@ void ok_to_send() {
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings(float radius, float diagonal_rod) {
delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
delta_tower3_x = 0.0; // back middle tower
delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
delta_tower[B_AXIS][X_AXIS] = sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS( delta_tower_angle_trim[C_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), // back middle tower
delta_tower[C_AXIS][Y_AXIS] = cos(RADIANS( delta_tower_angle_trim[C_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]);
}
#if ENABLED(DELTA_FAST_SQRT)
@ -9199,16 +9192,16 @@ void ok_to_send() {
// Macro to obtain the Z position of an individual tower
#define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
delta_diagonal_rod_2_tower_##T - HYPOT2( \
delta_tower##T##_x - raw[X_AXIS], \
delta_tower##T##_y - raw[Y_AXIS] \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - raw[X_AXIS], \
delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
) \
)
#define DELTA_RAW_IK() do { \
delta[A_AXIS] = DELTA_Z(1); \
delta[B_AXIS] = DELTA_Z(2); \
delta[C_AXIS] = DELTA_Z(3); \
delta[A_AXIS] = DELTA_Z(A_AXIS); \
delta[B_AXIS] = DELTA_Z(B_AXIS); \
delta[C_AXIS] = DELTA_Z(C_AXIS); \
} while(0)
#define DELTA_LOGICAL_IK() do { \
@ -9278,7 +9271,7 @@ void ok_to_send() {
*/
void forward_kinematics_DELTA(float z1, float z2, float z3) {
// Create a vector in old coordinates along x axis of new coordinate
float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
// Get the Magnitude of vector.
float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
@ -9287,7 +9280,7 @@ void ok_to_send() {
float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
// Get the vector from the origin of the new system to the third point.
float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
// Use the dot product to find the component of this vector on the X axis.
float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
@ -9315,15 +9308,15 @@ void ok_to_send() {
// We now have the d, i and j values defined in Wikipedia.
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + sq(d)) / (d * 2),
Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + HYPOT2(i, j)) / 2 - i * Xnew) / j,
Znew = sqrt(delta_diagonal_rod_2_tower_1 - HYPOT2(Xnew, Ynew));
float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
Znew = sqrt(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
// Start from the origin of the old coordinates and add vectors in the
// old coords that represent the Xnew, Ynew and Znew to find the point
// in the old system.
cartes[X_AXIS] = delta_tower1_x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
cartes[Y_AXIS] = delta_tower1_y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
}

130
Marlin/configuration_store.cpp
View File

@ -36,13 +36,13 @@
*
*/
#define EEPROM_VERSION "V30"
#define EEPROM_VERSION "V31"
// Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100
/**
* V30 EEPROM Layout:
* V31 EEPROM Layout:
*
* 100 Version (char x4)
* 104 EEPROM Checksum (uint16_t)
@ -84,64 +84,68 @@
* 308 G29 L F bilinear_start (int x2)
* 312 bed_level_grid[][] (float x9, up to float x256) +988
*
* DELTA (if deltabot): 36 bytes
* DELTA (if deltabot): 48 bytes
* 348 M666 XYZ endstop_adj (float x3)
* 360 M665 R delta_radius (float)
* 364 M665 L delta_diagonal_rod (float)
* 368 M665 S delta_segments_per_second (float)
* 372 M665 A delta_diagonal_rod_trim_tower_1 (float)
* 376 M665 B delta_diagonal_rod_trim_tower_2 (float)
* 380 M665 C delta_diagonal_rod_trim_tower_3 (float)
* 372 M665 A delta_diagonal_rod_trim[A] (float)
* 376 M665 B delta_diagonal_rod_trim[B] (float)
* 380 M665 C delta_diagonal_rod_trim[C] (float)
* 384 M665 I delta_tower_angle_trim[A] (float)
* 388 M665 J delta_tower_angle_trim[B] (float)
* 392 M665 K delta_tower_angle_trim[C] (float)
*
* Z_DUAL_ENDSTOPS: 4 bytes
* 384 M666 Z z_endstop_adj (float)
* Z_DUAL_ENDSTOPS (if not deltabot): 48 bytes
* 348 M666 Z z_endstop_adj (float)
* --- dummy data (float x11)
*
* ULTIPANEL: 6 bytes
* 388 M145 S0 H lcd_preheat_hotend_temp (int x2)
* 392 M145 S0 B lcd_preheat_bed_temp (int x2)
* 396 M145 S0 F lcd_preheat_fan_speed (int x2)
* 396 M145 S0 H lcd_preheat_hotend_temp (int x2)
* 400 M145 S0 B lcd_preheat_bed_temp (int x2)
* 404 M145 S0 F lcd_preheat_fan_speed (int x2)
*
* PIDTEMP: 66 bytes
* 400 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
* 416 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
* 432 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
* 448 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
* 464 M301 L lpq_len (int)
* 408 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
* 424 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
* 440 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
* 456 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
* 472 M301 L lpq_len (int)
*
* PIDTEMPBED:
* 466 M304 PID thermalManager.bedKp, thermalManager.bedKi, thermalManager.bedKd (float x3)
* PIDTEMPBED: 12 bytes
* 474 M304 PID thermalManager.bedKp, .bedKi, .bedKd (float x3)
*
* DOGLCD: 2 bytes
* 478 M250 C lcd_contrast (int)
* 486 M250 C lcd_contrast (int)
*
* FWRETRACT: 29 bytes
* 480 M209 S autoretract_enabled (bool)
* 481 M207 S retract_length (float)
* 485 M207 W retract_length_swap (float)
* 489 M207 F retract_feedrate_mm_s (float)
* 493 M207 Z retract_zlift (float)
* 497 M208 S retract_recover_length (float)
* 501 M208 W retract_recover_length_swap (float)
* 505 M208 F retract_recover_feedrate_mm_s (float)
* 488 M209 S autoretract_enabled (bool)
* 489 M207 S retract_length (float)
* 493 M207 W retract_length_swap (float)
* 497 M207 F retract_feedrate_mm_s (float)
* 501 M207 Z retract_zlift (float)
* 505 M208 S retract_recover_length (float)
* 509 M208 W retract_recover_length_swap (float)
* 513 M208 F retract_recover_feedrate_mm_s (float)
*
* Volumetric Extrusion: 17 bytes
* 509 M200 D volumetric_enabled (bool)
* 510 M200 T D filament_size (float x4) (T0..3)
* 517 M200 D volumetric_enabled (bool)
* 518 M200 T D filament_size (float x4) (T0..3)
*
* TMC2130: 20 bytes
* 526 M906 X TMC2130 X-stepper current (uint16_t)
* 528 M906 Y TMC2130 Y-stepper current (uint16_t)
* 530 M906 Z TMC2130 Z-stepper current (uint16_t)
* 532 M906 X2 TMC2130 X2-stepper current (uint16_t)
* 534 M906 Y2 TMC2130 Y2-stepper current (uint16_t)
* 536 M906 Z2 TMC2130 Z2-stepper current (uint16_t)
* 538 M906 E0 TMC2130 E0-stepper current (uint16_t)
* 540 M906 E1 TMC2130 E1-stepper current (uint16_t)
* 542 M906 E2 TMC2130 E2-stepper current (uint16_t)
* 544 M906 E3 TMC2130 E3-stepper current (uint16_t)
* TMC2130 Stepper Current: 20 bytes
* 534 M906 X stepperX current (uint16_t)
* 536 M906 Y stepperY current (uint16_t)
* 538 M906 Z stepperZ current (uint16_t)
* 540 M906 X2 stepperX2 current (uint16_t)
* 542 M906 Y2 stepperY2 current (uint16_t)
* 544 M906 Z2 stepperZ2 current (uint16_t)
* 546 M906 E0 stepperE0 current (uint16_t)
* 548 M906 E1 stepperE1 current (uint16_t)
* 550 M906 E2 stepperE2 current (uint16_t)
* 552 M906 E3 stepperE3 current (uint16_t)
*
* 546 Minimum end-point
* 1867 (546 + 36 + 9 + 288 + 988) Maximum end-point
* 554 Minimum end-point
* 1875 (554 + 36 + 9 + 288 + 988) Maximum end-point
*
*/
#include "Marlin.h"
@ -353,16 +357,15 @@ void Config_Postprocess() {
EEPROM_WRITE(delta_radius); // 1 float
EEPROM_WRITE(delta_diagonal_rod); // 1 float
EEPROM_WRITE(delta_segments_per_second); // 1 float
EEPROM_WRITE(delta_diagonal_rod_trim_tower_1); // 1 float
EEPROM_WRITE(delta_diagonal_rod_trim_tower_2); // 1 float
EEPROM_WRITE(delta_diagonal_rod_trim_tower_3); // 1 float
EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
#elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_WRITE(z_endstop_adj); // 1 float
dummy = 0.0f;
for (uint8_t q = 8; q--;) EEPROM_WRITE(dummy);
for (uint8_t q = 11; q--;) EEPROM_WRITE(dummy);
#else
dummy = 0.0f;
for (uint8_t q = 9; q--;) EEPROM_WRITE(dummy);
for (uint8_t q = 12; q--;) EEPROM_WRITE(dummy);
#endif
#if DISABLED(ULTIPANEL)
@ -678,16 +681,15 @@ void Config_Postprocess() {
EEPROM_READ(delta_radius); // 1 float
EEPROM_READ(delta_diagonal_rod); // 1 float
EEPROM_READ(delta_segments_per_second); // 1 float
EEPROM_READ(delta_diagonal_rod_trim_tower_1); // 1 float
EEPROM_READ(delta_diagonal_rod_trim_tower_2); // 1 float
EEPROM_READ(delta_diagonal_rod_trim_tower_3); // 1 float
EEPROM_READ(delta_diagonal_rod_trim); // 3 floats
EEPROM_READ(delta_tower_angle_trim); // 3 floats
#elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_READ(z_endstop_adj);
dummy = 0.0f;
for (uint8_t q=8; q--;) EEPROM_READ(dummy);
for (uint8_t q=11; q--;) EEPROM_READ(dummy);
#else
dummy = 0.0f;
for (uint8_t q=9; q--;) EEPROM_READ(dummy);
for (uint8_t q=12; q--;) EEPROM_READ(dummy);
#endif
#if DISABLED(ULTIPANEL)
@ -899,16 +901,15 @@ void Config_ResetDefault() {
#endif
#if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ;
endstop_adj[A_AXIS] = adj[A_AXIS];
endstop_adj[B_AXIS] = adj[B_AXIS];
endstop_adj[C_AXIS] = adj[C_AXIS];
const float adj[ABC] = DELTA_ENDSTOP_ADJ,
drt[ABC] = { DELTA_DIAGONAL_ROD_TRIM_TOWER_1, DELTA_DIAGONAL_ROD_TRIM_TOWER_2, DELTA_DIAGONAL_ROD_TRIM_TOWER_3 },
dta[ABC] = { DELTA_TOWER_ANGLE_TRIM_1, DELTA_TOWER_ANGLE_TRIM_2, DELTA_TOWER_ANGLE_TRIM_3 };
COPY(endstop_adj, adj);
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
COPY(delta_diagonal_rod_trim, drt);
COPY(delta_tower_angle_trim, dta);
#elif ENABLED(Z_DUAL_ENDSTOPS)
z_endstop_adj = 0;
#endif
@ -1179,15 +1180,18 @@ void Config_ResetDefault() {
SERIAL_EOL;
CONFIG_ECHO_START;
if (!forReplay) {
SERIAL_ECHOLNPGM("Delta settings: L=diagonal_rod, R=radius, S=segments_per_second, ABC=diagonal_rod_trim_tower_[123]");
SERIAL_ECHOLNPGM("Delta settings: L=diagonal rod, R=radius, S=segments-per-second, ABC=diagonal rod trim, IJK=tower angle trim");
CONFIG_ECHO_START;
}
SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod);
SERIAL_ECHOPAIR(" R", delta_radius);
SERIAL_ECHOPAIR(" S", delta_segments_per_second);
SERIAL_ECHOPAIR(" A", delta_diagonal_rod_trim_tower_1);
SERIAL_ECHOPAIR(" B", delta_diagonal_rod_trim_tower_2);
SERIAL_ECHOPAIR(" C", delta_diagonal_rod_trim_tower_3);
SERIAL_ECHOPAIR(" A", delta_diagonal_rod_trim[A_AXIS]);
SERIAL_ECHOPAIR(" B", delta_diagonal_rod_trim[B_AXIS]);
SERIAL_ECHOPAIR(" C", delta_diagonal_rod_trim[C_AXIS]);
SERIAL_ECHOPAIR(" I", delta_tower_angle_trim[A_AXIS]);
SERIAL_ECHOPAIR(" J", delta_tower_angle_trim[B_AXIS]);
SERIAL_ECHOPAIR(" K", delta_tower_angle_trim[C_AXIS]);
SERIAL_EOL;
#elif ENABLED(Z_DUAL_ENDSTOPS)
CONFIG_ECHO_START;