✨ Polargraph M665 settings (#24401)

Marlin/src/module/motion.cpp

@@ -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);
 }