diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index fbea4dc8b9..536a8cf79f 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -302,22 +302,24 @@ int code_value_int();
float code_value_temp_abs();
float code_value_temp_diff();
-#if ENABLED(DELTA)
+#if IS_KINEMATIC
extern float delta[ABC];
- extern float endstop_adj[ABC]; // axis[n].endstop_adj
- extern float delta_radius;
- extern float delta_diagonal_rod;
- extern float delta_segments_per_second;
- extern float delta_diagonal_rod_trim_tower_1;
- extern float delta_diagonal_rod_trim_tower_2;
- extern float delta_diagonal_rod_trim_tower_3;
void inverse_kinematics(const float cartesian[XYZ]);
+#endif
+
+#if ENABLED(DELTA)
+ extern float delta[ABC],
+ endstop_adj[ABC],
+ 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;
void recalc_delta_settings(float radius, float diagonal_rod);
#elif IS_SCARA
- extern float delta[ABC];
extern float axis_scaling[ABC]; // Build size scaling
- void inverse_kinematics(const float cartesian[XYZ]);
- void forward_kinematics_SCARA(float f_scara[ABC]);
+ void forward_kinematics_SCARA(const float &a, const float &b);
#endif
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index f0ab000e03..3e83ea606e 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -465,7 +465,6 @@ static uint8_t target_extruder;
#define COS_60 0.5
float delta[ABC],
- cartes[XYZ] = { 0 },
endstop_adj[ABC] = { 0 };
// these are the default values, can be overriden with M665
@@ -487,7 +486,6 @@ static uint8_t target_extruder;
delta_clip_start_height = Z_MAX_POS;
float delta_safe_distance_from_top();
- void get_cartesian_from_steppers();
#else
@@ -508,11 +506,11 @@ static uint8_t target_extruder;
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
delta[ABC],
- axis_scaling[ABC] = { 1, 1, 1 }, // Build size scaling, default to 1
- cartes[XYZ] = { 0 };
- void get_cartesian_from_steppers() { } // to be written later
+ axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
+float cartes[XYZ] = { 0 };
+
#if ENABLED(FILAMENT_WIDTH_SENSOR)
bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404
@@ -598,6 +596,8 @@ void stop();
void get_available_commands();
void process_next_command();
void prepare_move_to_destination();
+
+void get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(AxisEnum axis);
#if ENABLED(ARC_SUPPORT)
@@ -1347,7 +1347,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
}
#endif
- #if ENABLED(SCARA)
+ #if ENABLED(MORGAN_SCARA)
if (axis == X_AXIS || axis == Y_AXIS) {
@@ -1362,19 +1362,19 @@ static void set_axis_is_at_home(AxisEnum axis) {
* and calculates homing offset using forward kinematics
*/
inverse_kinematics(homeposition);
- forward_kinematics_SCARA(delta);
+ forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
- // SERIAL_ECHOPAIR("Delta X=", delta[X_AXIS]);
- // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
+ // SERIAL_ECHOPAIR("Delta X=", cartes[X_AXIS]);
+ // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(cartes[Y_AXIS]);
- current_position[axis] = LOGICAL_POSITION(delta[axis], axis);
+ current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
/**
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
- soft_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
- soft_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
+ soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
+ soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
}
else
#endif
@@ -5089,7 +5089,7 @@ static void report_current_position() {
stepper.report_positions();
- #if ENABLED(SCARA)
+ #if IS_SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
@@ -5327,7 +5327,7 @@ inline void gcode_M206() {
if (code_seen(axis_codes[i]))
set_home_offset((AxisEnum)i, code_value_axis_units(i));
- #if ENABLED(SCARA)
+ #if IS_SCARA
if (code_seen('T')) set_home_offset(X_AXIS, code_value_axis_units(X_AXIS)); // Theta
if (code_seen('P')) set_home_offset(Y_AXIS, code_value_axis_units(Y_AXIS)); // Psi
#endif
@@ -5808,17 +5808,16 @@ inline void gcode_M303() {
#endif
}
-#if ENABLED(SCARA)
- bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
+#if ENABLED(MORGAN_SCARA)
+ bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLNPGM(" Soft endstops disabled");
if (IsRunning()) {
//gcode_get_destination(); // For X Y Z E F
- delta[X_AXIS] = delta_x;
- delta[Y_AXIS] = delta_y;
- forward_kinematics_SCARA(delta);
- destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
- destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
+ forward_kinematics_SCARA(delta_a, delta_b);
+ destination[X_AXIS] = cartes[X_AXIS] / axis_scaling[X_AXIS];
+ destination[Y_AXIS] = cartes[Y_AXIS] / axis_scaling[Y_AXIS];
+ destination[Z_AXIS] = current_position[Z_AXIS];
prepare_move_to_destination();
//ok_to_send();
return true;
@@ -7456,7 +7455,7 @@ void process_next_command() {
gcode_M303();
break;
- #if ENABLED(SCARA)
+ #if ENABLED(MORGAN_SCARA)
case 360: // M360 SCARA Theta pos1
if (gcode_M360()) return;
break;
@@ -7794,12 +7793,6 @@ void ok_to_send() {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
- void get_cartesian_from_steppers() {
- forward_kinematics_DELTA(stepper.get_axis_position_mm(A_AXIS),
- stepper.get_axis_position_mm(B_AXIS),
- stepper.get_axis_position_mm(C_AXIS));
- }
-
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
// Adjust print surface height by linear interpolation over the bed_level array.
@@ -8274,32 +8267,32 @@ void prepare_move_to_destination() {
#endif // HAS_CONTROLLERFAN
-#if ENABLED(SCARA)
+#if IS_SCARA
- void forward_kinematics_SCARA(float f_scara[ABC]) {
- // Perform forward kinematics, and place results in delta[]
+ void forward_kinematics_SCARA(const float &a, const float &b) {
+ // Perform forward kinematics, and place results in cartes[]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
- float x_sin, x_cos, y_sin, y_cos;
+ float a_sin, a_cos, b_sin, b_cos;
- //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
- //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
+ //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(a);
+ //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(b);
- x_sin = sin(RADIANS(f_scara[X_AXIS])) * L1;
- x_cos = cos(RADIANS(f_scara[X_AXIS])) * L1;
- y_sin = sin(RADIANS(f_scara[Y_AXIS])) * L2;
- y_cos = cos(RADIANS(f_scara[Y_AXIS])) * L2;
+ a_sin = sin(RADIANS(a)) * L1;
+ a_cos = cos(RADIANS(a)) * L1;
+ b_sin = sin(RADIANS(b)) * L2;
+ b_cos = cos(RADIANS(b)) * L2;
- //SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
- //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
- //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
- //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
+ //SERIAL_ECHOPGM(" a_sin="); SERIAL_ECHO(a_sin);
+ //SERIAL_ECHOPGM(" a_cos="); SERIAL_ECHO(a_cos);
+ //SERIAL_ECHOPGM(" b_sin="); SERIAL_ECHO(b_sin);
+ //SERIAL_ECHOPGM(" b_cos="); SERIAL_ECHOLN(b_cos);
- delta[X_AXIS] = x_cos + y_cos + SCARA_OFFSET_X; //theta
- delta[Y_AXIS] = x_sin + y_sin + SCARA_OFFSET_Y; //theta+phi
+ cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
+ cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
- //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
- //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
+ //SERIAL_ECHOPGM(" cartes[X_AXIS]="); SERIAL_ECHO(cartes[X_AXIS]);
+ //SERIAL_ECHOPGM(" cartes[Y_AXIS]="); SERIAL_ECHOLN(cartes[Y_AXIS]);
}
void inverse_kinematics(const float cartesian[XYZ]) {
@@ -8343,7 +8336,27 @@ void prepare_move_to_destination() {
//*/
}
-#endif // MORGAN_SCARA
+#endif // IS_SCARA
+
+void get_cartesian_from_steppers() {
+ #if ENABLED(DELTA)
+ forward_kinematics_DELTA(
+ stepper.get_axis_position_mm(A_AXIS),
+ stepper.get_axis_position_mm(B_AXIS),
+ stepper.get_axis_position_mm(C_AXIS)
+ );
+ #elif IS_SCARA
+ forward_kinematics_SCARA(
+ stepper.get_axis_position_degrees(A_AXIS),
+ stepper.get_axis_position_degrees(B_AXIS)
+ );
+ cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
+ #else
+ cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
+ cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
+ cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
+ #endif
+}
#if ENABLED(TEMP_STAT_LEDS)