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UBL_DELTA (#6695)

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UBL on Delta's....     Should be close!    Should not affect any Cartesian printer.
This commit is contained in:
oldmcg
2017-05-11 22:33:47 -05:00
committed by Roxy-3D
parent 445003dbb8
commit 91841d75c9
10 changed files with 591 additions and 209 deletions
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67
Marlin/Marlin.h
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@ -429,4 +429,69 @@ void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s
bool axis_unhomed_error(const bool x, const bool y, const bool z);
#endif
#endif // MARLIN_H
/**
* position_is_reachable family of functions
*/
#if IS_KINEMATIC // (DELTA or SCARA)
#if ENABLED(DELTA)
#define DELTA_PRINTABLE_RADIUS_SQUARED ((float)DELTA_PRINTABLE_RADIUS * (float)DELTA_PRINTABLE_RADIUS )
#endif
#if IS_SCARA
extern const float L1, L2;
#endif
inline bool position_is_reachable_raw_xy( float raw_x, float raw_y ) {
#if ENABLED(DELTA)
return ( HYPOT2( raw_x, raw_y ) <= DELTA_PRINTABLE_RADIUS_SQUARED );
#elif IS_SCARA
#if MIDDLE_DEAD_ZONE_R > 0
const float R2 = HYPOT2(raw_x - SCARA_OFFSET_X, raw_y - SCARA_OFFSET_Y);
return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
#else
return HYPOT2(raw_x - SCARA_OFFSET_X, raw_y - SCARA_OFFSET_Y) <= sq(L1 + L2);
#endif
#else // CARTESIAN
#error
#endif
}
inline bool position_is_reachable_by_probe_raw_xy( float raw_x, float raw_y ) {
// both the nozzle and the probe must be able to reach the point
return ( position_is_reachable_raw_xy( raw_x, raw_y ) &&
position_is_reachable_raw_xy(
raw_x - X_PROBE_OFFSET_FROM_EXTRUDER,
raw_y - Y_PROBE_OFFSET_FROM_EXTRUDER ));
}
#else // CARTESIAN
inline bool position_is_reachable_raw_xy( float raw_x, float raw_y ) {
// note to reviewer: this +/-0.0001 logic is copied from original postion_is_reachable
return WITHIN(raw_x, X_MIN_POS - 0.0001, X_MAX_POS + 0.0001)
&& WITHIN(raw_y, Y_MIN_POS - 0.0001, Y_MAX_POS + 0.0001);
}
inline bool position_is_reachable_by_probe_raw_xy( float raw_x, float raw_y ) {
// note to reviewer: this logic is copied from UBL_G29.cpp and does not contain the +/-0.0001 above
return WITHIN(raw_x, MIN_PROBE_X, MAX_PROBE_X)
&& WITHIN(raw_y, MIN_PROBE_Y, MAX_PROBE_Y);
}
#endif // CARTESIAN
inline bool position_is_reachable_by_probe_xy( float target_x, float target_y ) {
return position_is_reachable_by_probe_raw_xy(
RAW_X_POSITION( target_x ),
RAW_Y_POSITION( target_y ));
}
inline bool position_is_reachable_xy( float target_x, float target_y ) {
return position_is_reachable_raw_xy( RAW_X_POSITION( target_x ), RAW_Y_POSITION( target_y ));
}
#endif //MARLIN_H