/** * Marlin 3D Printer Firmware * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . * */ #if ENABLED(DELTA) /** * M665: Set delta configurations * * H = delta height * L = diagonal rod * R = delta radius * S = segments per second * B = delta calibration radius * X = Alpha (Tower 1) angle trim * Y = Beta (Tower 2) angle trim * Z = Rotate A and B by this angle */ void gcode_M665() { if (parser.seen('H')) { home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT; update_software_endstops(Z_AXIS); } if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units(); if (parser.seen('R')) delta_radius = parser.value_linear_units(); if (parser.seen('S')) delta_segments_per_second = parser.value_float(); if (parser.seen('B')) delta_calibration_radius = parser.value_float(); if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float(); if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float(); if (parser.seen('Z')) { // rotate all 3 axis for Z = 0 delta_tower_angle_trim[A_AXIS] -= parser.value_float(); delta_tower_angle_trim[B_AXIS] -= parser.value_float(); } recalc_delta_settings(delta_radius, delta_diagonal_rod); } #elif IS_SCARA /** * M665: Set SCARA settings * * Parameters: * * S[segments-per-second] - Segments-per-second * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle * * A, P, and X are all aliases for the shoulder angle * B, T, and Y are all aliases for the elbow angle */ void gcode_M665() { if (parser.seen('S')) delta_segments_per_second = parser.value_float(); const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X'); const uint8_t sumAPX = hasA + hasP + hasX; if (sumAPX == 1) home_offset[A_AXIS] = parser.value_float(); else if (sumAPX > 1) { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed."); return; } const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y'); const uint8_t sumBTY = hasB + hasT + hasY; if (sumBTY == 1) home_offset[B_AXIS] = parser.value_float(); else if (sumBTY > 1) { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed."); return; } } #endif