Initial split-up of G-code handlers by category

Marlin/src/gcode/scara/M360-M364.h

@@ -0,0 +1,73 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
+  if (IsRunning()) {
+    forward_kinematics_SCARA(delta_a, delta_b);
+    destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
+    destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
+    destination[Z_AXIS] = current_position[Z_AXIS];
+    prepare_move_to_destination();
+    return true;
+  }
+  return false;
+}
+
+/**
+ * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+ */
+bool gcode_M360() {
+  SERIAL_ECHOLNPGM(" Cal: Theta 0");
+  return SCARA_move_to_cal(0, 120);
+}
+
+/**
+ * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
+ */
+bool gcode_M361() {
+  SERIAL_ECHOLNPGM(" Cal: Theta 90");
+  return SCARA_move_to_cal(90, 130);
+}
+
+/**
+ * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
+ */
+bool gcode_M362() {
+  SERIAL_ECHOLNPGM(" Cal: Psi 0");
+  return SCARA_move_to_cal(60, 180);
+}
+
+/**
+ * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
+ */
+bool gcode_M363() {
+  SERIAL_ECHOLNPGM(" Cal: Psi 90");
+  return SCARA_move_to_cal(50, 90);
+}
+
+/**
+ * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
+ */
+bool gcode_M364() {
+  SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
+  return SCARA_move_to_cal(45, 135);
+}