mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-27 13:56:24 +00:00
Remove SCARA axis_scaling
This commit is contained in:
Scott Lahteine
parent
d41eeb62af
commit
83a41c7ceb
@ -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
|
||||
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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();
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user