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✨ Polargraph M665 settings (#24401)

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This commit is contained in:
Arthur Masson
2022-07-16 23:58:18 +02:00
committed by Scott Lahteine
parent c72fe1a2f9
commit 0a164a88fe
8 changed files with 115 additions and 62 deletions
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67
Marlin/src/module/motion.cpp
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@ -300,6 +300,73 @@ void report_current_position_projected() {
#endif
#if IS_KINEMATIC
bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset/*=0*/) {
bool can_reach;
#if ENABLED(DELTA)
can_reach = HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
#elif ENABLED(AXEL_TPARA)
const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
can_reach = (
R2 <= sq(L1 + L2) - inset
#if MIDDLE_DEAD_ZONE_R > 0
&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
#endif
);
#elif IS_SCARA
const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
can_reach = (
R2 <= sq(L1 + L2) - inset
#if MIDDLE_DEAD_ZONE_R > 0
&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
#endif
);
#elif ENABLED(POLARGRAPH)
const float d1 = rx - (draw_area_min.x),
d2 = (draw_area_max.x) - rx,
y = ry - (draw_area_max.y),
a = HYPOT(d1, y),
b = HYPOT(d2, y);
can_reach = (
a < polargraph_max_belt_len + 1
&& b < polargraph_max_belt_len + 1
&& (a + b) > _MIN(draw_area_size.x, draw_area_size.y)
);
#endif
return can_reach;
}
#else // CARTESIAN
// Return true if the given position is within the machine bounds.
bool position_is_reachable(const_float_t rx, const_float_t ry) {
if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
#if ENABLED(DUAL_X_CARRIAGE)
if (active_extruder)
return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
else
return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
#else
return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
#endif
}
#endif // CARTESIAN
void home_if_needed(const bool keeplev/*=false*/) {
if (!all_axes_trusted()) gcode.home_all_axes(keeplev);
}

54
Marlin/src/module/motion.h
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@ -549,63 +549,21 @@ void home_if_needed(const bool keeplev=false);
#endif
// Return true if the given point is within the printable area
inline bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0) {
#if ENABLED(DELTA)
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
#elif ENABLED(POLARGRAPH)
const float x1 = rx - (X_MIN_POS), x2 = (X_MAX_POS) - rx, y = ry - (Y_MAX_POS),
a = HYPOT(x1, y), b = HYPOT(x2, y);
return a < (POLARGRAPH_MAX_BELT_LEN) + 1
&& b < (POLARGRAPH_MAX_BELT_LEN) + 1
&& (a + b) > _MIN(X_BED_SIZE, Y_BED_SIZE);
#elif ENABLED(AXEL_TPARA)
const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
return (
R2 <= sq(L1 + L2) - inset
#if MIDDLE_DEAD_ZONE_R > 0
&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
#endif
);
#elif IS_SCARA
const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
return (
R2 <= sq(L1 + L2) - inset
#if MIDDLE_DEAD_ZONE_R > 0
&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
#endif
);
#endif
}
bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0);
inline bool position_is_reachable(const xy_pos_t &pos, const float inset=0) {
return position_is_reachable(pos.x, pos.y, inset);
}
#else // CARTESIAN
#else
// Return true if the given position is within the machine bounds.
inline bool position_is_reachable(const_float_t rx, const_float_t ry) {
if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
#if ENABLED(DUAL_X_CARRIAGE)
if (active_extruder)
return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
else
return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
#else
return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
#endif
bool position_is_reachable(const_float_t rx, const_float_t ry);
inline bool position_is_reachable(const xy_pos_t &pos) {
return position_is_reachable(pos.x, pos.y);
}
inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
#endif // CARTESIAN
#endif
/**
* Duplication mode

9
Marlin/src/module/polargraph.cpp
View File

@ -39,8 +39,15 @@
float segments_per_second; // Initialized by settings.load()
xy_pos_t draw_area_min = { X_MIN_POS, Y_MIN_POS },
draw_area_max = { X_MAX_POS, Y_MAX_POS };
xy_float_t draw_area_size = { X_MAX_POS - X_MIN_POS, Y_MAX_POS - Y_MIN_POS };
float polargraph_max_belt_len = HYPOT(draw_area_size.x, draw_area_size.y);
void inverse_kinematics(const xyz_pos_t &raw) {
const float x1 = raw.x - (X_MIN_POS), x2 = (X_MAX_POS) - raw.x, y = raw.y - (Y_MAX_POS);
const float x1 = raw.x - (draw_area_min.x), x2 = (draw_area_max.x) - raw.x, y = raw.y - (draw_area_max.y);
delta.set(HYPOT(x1, y), HYPOT(x2, y), raw.z);
}

3
Marlin/src/module/polargraph.h
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@ -29,5 +29,8 @@
#include "../core/macros.h"
extern float segments_per_second;
extern xy_pos_t draw_area_min, draw_area_max;
extern xy_float_t draw_area_size;
extern float polargraph_max_belt_len;
void inverse_kinematics(const xyz_pos_t &raw);