From 9b3462f73f5e0e3cadefd2f64eff55c758dd96d5 Mon Sep 17 00:00:00 2001
From: Josef Larsson <josla972@student.liu.se>
Date: Sun, 22 Mar 2015 00:32:22 +0100
Subject: [PATCH 1/2] Refactor SCARA calibration. Save some lines of code and
possibly ROM.
---
Marlin/Marlin_main.cpp | 76 +++++++++---------------------------------
1 file changed, 15 insertions(+), 61 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 4ef5d59f11..cb7434ef41 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3967,18 +3967,16 @@ inline void gcode_M303() {
}
#ifdef SCARA
-
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
- inline bool gcode_M360() {
- SERIAL_ECHOLN(" Cal: Theta 0 ");
+ bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
- delta[X_AXIS] = 0;
- delta[Y_AXIS] = 120;
+ delta[X_AXIS] = delta_x;
+ delta[Y_AXIS] = delta_y;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
@@ -3989,25 +3987,20 @@ inline void gcode_M303() {
return false;
}
+ /**
+ * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+ */
+ inline bool gcode_M360() {
+ SERIAL_ECHOLN(" Cal: Theta 0 ");
+ return SCARA_move_to_cal(0, 120);
+ }
+
/**
* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
*/
inline bool gcode_M361() {
SERIAL_ECHOLN(" Cal: Theta 90 ");
- //SoftEndsEnabled = false; // Ignore soft endstops during calibration
- //SERIAL_ECHOLN(" Soft endstops disabled ");
- if (! Stopped) {
- //get_coordinates(); // For X Y Z E F
- delta[X_AXIS] = 90;
- delta[Y_AXIS] = 130;
- calculate_SCARA_forward_Transform(delta);
- destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
- destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
- prepare_move();
- //ClearToSend();
- return true;
- }
- return false;
+ return SCARA_move_to_cal(90, 130);
}
/**
@@ -4015,20 +4008,7 @@ inline void gcode_M303() {
*/
inline bool gcode_M362() {
SERIAL_ECHOLN(" Cal: Psi 0 ");
- //SoftEndsEnabled = false; // Ignore soft endstops during calibration
- //SERIAL_ECHOLN(" Soft endstops disabled ");
- if (! Stopped) {
- //get_coordinates(); // For X Y Z E F
- delta[X_AXIS] = 60;
- delta[Y_AXIS] = 180;
- calculate_SCARA_forward_Transform(delta);
- destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
- destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
- prepare_move();
- //ClearToSend();
- return true;
- }
- return false;
+ return SCARA_move_to_cal(60, 180);
}
/**
@@ -4036,20 +4016,7 @@ inline void gcode_M303() {
*/
inline bool gcode_M363() {
SERIAL_ECHOLN(" Cal: Psi 90 ");
- //SoftEndsEnabled = false; // Ignore soft endstops during calibration
- //SERIAL_ECHOLN(" Soft endstops disabled ");
- if (! Stopped) {
- //get_coordinates(); // For X Y Z E F
- delta[X_AXIS] = 50;
- delta[Y_AXIS] = 90;
- calculate_SCARA_forward_Transform(delta);
- destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
- destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
- prepare_move();
- //ClearToSend();
- return true;
- }
- return false;
+ return SCARA_move_to_cal(50, 90);
}
/**
@@ -4057,20 +4024,7 @@ inline void gcode_M303() {
*/
inline bool gcode_M364() {
SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
- // SoftEndsEnabled = false; // Ignore soft endstops during calibration
- //SERIAL_ECHOLN(" Soft endstops disabled ");
- if (! Stopped) {
- //get_coordinates(); // For X Y Z E F
- delta[X_AXIS] = 45;
- delta[Y_AXIS] = 135;
- calculate_SCARA_forward_Transform(delta);
- destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
- destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
- prepare_move();
- //ClearToSend();
- return true;
- }
- return false;
+ return SCARA_move_to_cal(45, 135);
}
/**
From 379348487e423bfb67a1aba1c49c5acdb54d5e43 Mon Sep 17 00:00:00 2001
From: Josef Larsson <josla972@student.liu.se>
Date: Sun, 22 Mar 2015 12:21:31 +0100
Subject: [PATCH 2/2] Removed malplaced comment.
---
Marlin/Marlin_main.cpp | 3 ---
1 file changed, 3 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index cb7434ef41..5c1e463121 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3967,9 +3967,6 @@ inline void gcode_M303() {
}
#ifdef SCARA
- /**
- * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
- */
bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");