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M666 normalize positive values to <=0

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M666

+ tower radians absolute value
This commit is contained in:
LVD-AC
2017-04-27 23:24:08 +02:00
committed by teemuatlut
parent d8102aeca8
commit 7a6a1ef583
2 changed files with 14 additions and 10 deletions
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14
Marlin/Marlin_main.cpp
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@ -5202,7 +5202,7 @@ inline void gcode_G28() {
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
delta_radius += r_delta;
const float z_temp = MAX3(endstop_adj[0], endstop_adj[1], endstop_adj[2]);
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
@ -7570,6 +7570,10 @@ inline void gcode_M205() {
SERIAL_ECHOLNPGM("<<< gcode_M666");
}
#endif
// normalize endstops so all are <=0; set the residue to delta height
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
}
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
@ -10552,10 +10556,10 @@ void ok_to_send() {
void recalc_delta_settings(float radius, float diagonal_rod) {
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS][X_AXIS] = -cos(RADIANS(30 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = -sin(RADIANS(30 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(30 - delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = -sin(RADIANS(30 - delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);