From f0dbe61692247772c686bd2e1fb6be08810d6942 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Tue, 21 Aug 2018 23:33:55 -0500
Subject: [PATCH] Tweaks to motion.h reachable tests
---
Marlin/src/module/motion.h | 27 ++++++++++++---------------
1 file changed, 12 insertions(+), 15 deletions(-)
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index a94d90f91b..6850250b6a 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -36,6 +36,9 @@
#include "../module/scara.h"
#endif
+// Error margin to work around float imprecision
+constexpr float slop = 0.0001;
+
extern bool relative_mode;
extern float current_position[XYZE], // High-level current tool position
@@ -265,22 +268,16 @@ void homeaxis(const AxisEnum axis);
#else // CARTESIAN
- // Return true if the given position is within the machine bounds.
+ // Return true if the given position is within the machine bounds.
inline bool position_is_reachable(const float &rx, const float &ry) {
+ if (!WITHIN(ry, Y_MIN_POS - slop, Y_MAX_POS + slop)) return false;
#if ENABLED(DUAL_X_CARRIAGE)
- if (active_extruder == 0) {
- // Add 0.001 margin to deal with float imprecision
- return WITHIN(rx, X1_MIN_POS - 0.001f, X1_MAX_POS + 0.001f)
- && WITHIN(ry, Y_MIN_POS - 0.001f, Y_MAX_POS + 0.001f);
- } else {
- // Add 0.001 margin to deal with float imprecision
- return WITHIN(rx, X2_MIN_POS - 0.001f, X2_MAX_POS + 0.001f)
- && WITHIN(ry, Y_MIN_POS - 0.001f, Y_MAX_POS + 0.001f);
- }
+ if (active_extruder)
+ return WITHIN(rx, X2_MIN_POS - slop, X2_MAX_POS + slop);
+ else
+ return WITHIN(rx, X1_MIN_POS - slop, X1_MAX_POS + slop);
#else
- // Add 0.001 margin to deal with float imprecision
- return WITHIN(rx, X_MIN_POS - 0.001f, X_MAX_POS + 0.001f)
- && WITHIN(ry, Y_MIN_POS - 0.001f, Y_MAX_POS + 0.001f);
+ return WITHIN(rx, X_MIN_POS - slop, X_MAX_POS + slop);
#endif
}
@@ -294,8 +291,8 @@ void homeaxis(const AxisEnum axis);
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER))
- && WITHIN(rx, MIN_PROBE_X - 0.001f, MAX_PROBE_X + 0.001f)
- && WITHIN(ry, MIN_PROBE_Y - 0.001f, MAX_PROBE_Y + 0.001f);
+ && WITHIN(rx, MIN_PROBE_X - slop, MAX_PROBE_X + slop)
+ && WITHIN(ry, MIN_PROBE_Y - slop, MAX_PROBE_Y + slop);
}
#endif