From 83a41c7ceba1ffb249aec44d8a987607df630bf0 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 16 Sep 2016 14:31:53 -0500
Subject: [PATCH] Remove SCARA axis_scaling
---
Marlin/Marlin.h | 1 -
Marlin/Marlin_main.cpp | 24 +++------------
Marlin/configuration_store.cpp | 56 ++++++++--------------------------
Marlin/ultralcd.cpp | 4 ---
4 files changed, 17 insertions(+), 68 deletions(-)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index d34445ac431..08088f7bfa5 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -317,7 +317,6 @@ float code_value_temp_diff();
delta_diagonal_rod_trim_tower_3;
void recalc_delta_settings(float radius, float diagonal_rod);
#elif IS_SCARA
- extern float axis_scaling[ABC]; // Build size scaling
void forward_kinematics_SCARA(const float &a, const float &b);
#endif
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 64e9cbabbb7..fabdd430d4e 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -253,7 +253,6 @@
* M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
* M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
- * M365 - SCARA calibration: Scaling factor, X, Y, Z axis
* ************* SCARA End ***************
*
* ************ Custom codes - This can change to suit future G-code regulations
@@ -505,8 +504,7 @@ static uint8_t target_extruder;
L2_2 = sq(float(L2));
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
- delta[ABC],
- axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1
+ delta[ABC];
#endif
float cartes[XYZ] = { 0 };
@@ -5750,8 +5748,8 @@ inline void gcode_M303() {
if (IsRunning()) {
//gcode_get_destination(); // For X Y Z E F
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[X_AXIS] = cartes[X_AXIS];
+ destination[Y_AXIS] = cartes[Y_AXIS];
destination[Z_AXIS] = current_position[Z_AXIS];
prepare_move_to_destination();
//ok_to_send();
@@ -5800,15 +5798,6 @@ inline void gcode_M303() {
return SCARA_move_to_cal(45, 135);
}
- /**
- * M365: SCARA calibration: Scaling factor, X, Y, Z axis
- */
- inline void gcode_M365() {
- LOOP_XYZ(i)
- if (code_seen(axis_codes[i]))
- axis_scaling[i] = code_value_float();
- }
-
#endif // SCARA
#if ENABLED(EXT_SOLENOID)
@@ -7407,9 +7396,6 @@ void process_next_command() {
case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
if (gcode_M364()) return;
break;
- case 365: // M365 Set SCARA scaling for X Y Z
- gcode_M365();
- break;
#endif // SCARA
case 400: // M400 finish all moves
@@ -8359,8 +8345,8 @@ void prepare_move_to_destination() {
static float C2, S2, SK1, SK2, THETA, PSI;
- float sx = RAW_X_POSITION(cartesian[X_AXIS]) * axis_scaling[X_AXIS] - SCARA_OFFSET_X, //Translate SCARA to standard X Y
- sy = RAW_Y_POSITION(cartesian[Y_AXIS]) * axis_scaling[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
+ float sx = RAW_X_POSITION(cartesian[X_AXIS]) - SCARA_OFFSET_X, //Translate SCARA to standard X Y
+ sy = RAW_Y_POSITION(cartesian[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
#if (L1 == L2)
C2 = HYPOT2(sx, sy) / (2 * L1_2) - 1;
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index 0dd1ce6da40..f6d061dcb69 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -36,7 +36,7 @@
*
*/
-#define EEPROM_VERSION "V24"
+#define EEPROM_VERSION "V25"
// Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100
@@ -105,24 +105,21 @@
* DOGLCD:
* 379 M250 C lcd_contrast (int)
*
- * SCARA:
- * 381 M365 XYZ axis_scaling (float x3)
- *
* FWRETRACT:
- * 393 M209 S autoretract_enabled (bool)
- * 394 M207 S retract_length (float)
- * 398 M207 W retract_length_swap (float)
- * 402 M207 F retract_feedrate_mm_s (float)
- * 406 M207 Z retract_zlift (float)
- * 410 M208 S retract_recover_length (float)
- * 414 M208 W retract_recover_length_swap (float)
- * 418 M208 F retract_recover_feedrate_mm_s (float)
+ * 381 M209 S autoretract_enabled (bool)
+ * 382 M207 S retract_length (float)
+ * 386 M207 W retract_length_swap (float)
+ * 390 M207 F retract_feedrate_mm_s (float)
+ * 394 M207 Z retract_zlift (float)
+ * 398 M208 S retract_recover_length (float)
+ * 402 M208 W retract_recover_length_swap (float)
+ * 406 M208 F retract_recover_feedrate_mm_s (float)
*
* Volumetric Extrusion:
- * 422 M200 D volumetric_enabled (bool)
- * 423 M200 T D filament_size (float x4) (T0..3)
+ * 410 M200 D volumetric_enabled (bool)
+ * 411 M200 T D filament_size (float x4) (T0..3)
*
- * 439 This Slot is Available!
+ * 427 This Slot is Available!
*
*/
#include "Marlin.h"
@@ -330,13 +327,6 @@ void Config_StoreSettings() {
#endif
EEPROM_WRITE(lcd_contrast);
- #if IS_SCARA
- EEPROM_WRITE(axis_scaling); // 3 floats
- #else
- dummy = 1.0f;
- EEPROM_WRITE(dummy);
- #endif
-
#if ENABLED(FWRETRACT)
EEPROM_WRITE(autoretract_enabled);
EEPROM_WRITE(retract_length);
@@ -520,12 +510,6 @@ void Config_RetrieveSettings() {
#endif
EEPROM_READ(lcd_contrast);
- #if IS_SCARA
- EEPROM_READ(axis_scaling); // 3 floats
- #else
- EEPROM_READ(dummy);
- #endif
-
#if ENABLED(FWRETRACT)
EEPROM_READ(autoretract_enabled);
EEPROM_READ(retract_length);
@@ -584,10 +568,6 @@ void Config_ResetDefault() {
planner.axis_steps_per_mm[i] = tmp1[i];
planner.max_feedrate_mm_s[i] = tmp2[i];
planner.max_acceleration_mm_per_s2[i] = tmp3[i];
- #if IS_SCARA
- if (i < COUNT(axis_scaling))
- axis_scaling[i] = 1;
- #endif
}
planner.acceleration = DEFAULT_ACCELERATION;
@@ -716,18 +696,6 @@ void Config_PrintSettings(bool forReplay) {
CONFIG_ECHO_START;
- #if IS_SCARA
- if (!forReplay) {
- SERIAL_ECHOLNPGM("Scaling factors:");
- CONFIG_ECHO_START;
- }
- SERIAL_ECHOPAIR(" M365 X", axis_scaling[X_AXIS]);
- SERIAL_ECHOPAIR(" Y", axis_scaling[Y_AXIS]);
- SERIAL_ECHOPAIR(" Z", axis_scaling[Z_AXIS]);
- SERIAL_EOL;
- CONFIG_ECHO_START;
- #endif // SCARA
-
if (!forReplay) {
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
CONFIG_ECHO_START;
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index f2768a8c178..caa8099f672 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1823,10 +1823,6 @@ void kill_screen(const char* lcd_msg) {
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
#endif
- #if IS_SCARA
- MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS], 0.5, 2);
- MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS], 0.5, 2);
- #endif
END_MENU();
}