Improve Delta probing / calibration (#15887)
This commit is contained in:
Jason Smith
committed by
Scott Lahteine
Scott Lahteine
parent
4ede13e36a
commit
b904ba0f29
@ -132,10 +132,12 @@
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/**
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* SCARA cannot use SLOWDOWN and requires QUICKHOME
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* Printable radius assumes joints can fully extend
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*/
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#if IS_SCARA
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#undef SLOWDOWN
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#define QUICK_HOME
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#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
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#endif
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/**
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@ -1434,6 +1436,7 @@
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#define PLANNER_LEVELING (HAS_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL))
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#define HAS_PROBING_PROCEDURE (HAS_ABL_OR_UBL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
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#define HAS_POSITION_MODIFIERS (ENABLED(FWRETRACT) || HAS_LEVELING || ENABLED(SKEW_CORRECTION))
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#define NEEDS_THREE_PROBE_POINTS EITHER(AUTO_BED_LEVELING_UBL, AUTO_BED_LEVELING_3POINT)
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#undef LCD_BED_LEVELING
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@ -1470,37 +1473,37 @@
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#endif
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/**
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* Bed Probing rectangular bounds
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* These can be further constrained in code for Delta and SCARA
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* Bed Probing bounds
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*/
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#ifndef MIN_PROBE_EDGE
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#define MIN_PROBE_EDGE 0
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#endif
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#ifndef MIN_PROBE_EDGE_LEFT
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#define MIN_PROBE_EDGE_LEFT MIN_PROBE_EDGE
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#endif
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#ifndef MIN_PROBE_EDGE_RIGHT
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#define MIN_PROBE_EDGE_RIGHT MIN_PROBE_EDGE
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#endif
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#ifndef MIN_PROBE_EDGE_FRONT
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#define MIN_PROBE_EDGE_FRONT MIN_PROBE_EDGE
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#endif
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#ifndef MIN_PROBE_EDGE_BACK
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#define MIN_PROBE_EDGE_BACK MIN_PROBE_EDGE
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#if IS_KINEMATIC
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#undef MIN_PROBE_EDGE_LEFT
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#undef MIN_PROBE_EDGE_RIGHT
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#undef MIN_PROBE_EDGE_FRONT
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#undef MIN_PROBE_EDGE_BACK
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#else
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#ifndef MIN_PROBE_EDGE_LEFT
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#define MIN_PROBE_EDGE_LEFT MIN_PROBE_EDGE
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#endif
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#ifndef MIN_PROBE_EDGE_RIGHT
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#define MIN_PROBE_EDGE_RIGHT MIN_PROBE_EDGE
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#endif
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#ifndef MIN_PROBE_EDGE_FRONT
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#define MIN_PROBE_EDGE_FRONT MIN_PROBE_EDGE
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#endif
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#ifndef MIN_PROBE_EDGE_BACK
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#define MIN_PROBE_EDGE_BACK MIN_PROBE_EDGE
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#endif
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#endif
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#if ENABLED(DELTA)
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/**
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* Delta radius/rod trimmers/angle trimmers
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*/
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#define _PROBE_RADIUS (DELTA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE))
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#ifndef DELTA_CALIBRATION_RADIUS
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#if HAS_BED_PROBE
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#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - _MAX(ABS(probe_offset.x), ABS(probe_offset.y), ABS(MIN_PROBE_EDGE)))
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#else
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#define DELTA_CALIBRATION_RADIUS _PROBE_RADIUS
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#endif
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#endif
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#ifndef DELTA_ENDSTOP_ADJ
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#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
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#endif
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@ -1513,24 +1516,6 @@
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0, 0, 0 }
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#endif
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// Probing points may be verified at compile time within the radius
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// using static_assert(HYPOT2(X2-X1,Y2-Y1)<=sq(DELTA_PRINTABLE_RADIUS),"bad probe point!")
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// so that may be added to SanityCheck.h in the future.
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#define PROBE_X_MIN (X_CENTER - (_PROBE_RADIUS))
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#define PROBE_Y_MIN (Y_CENTER - (_PROBE_RADIUS))
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#define PROBE_X_MAX (X_CENTER + _PROBE_RADIUS)
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#define PROBE_Y_MAX (Y_CENTER + _PROBE_RADIUS)
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#elif IS_SCARA
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#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
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#define _PROBE_RADIUS (SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE))
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#define PROBE_X_MIN (X_CENTER - (SCARA_PRINTABLE_RADIUS) + MIN_PROBE_EDGE_LEFT)
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#define PROBE_Y_MIN (Y_CENTER - (SCARA_PRINTABLE_RADIUS) + MIN_PROBE_EDGE_FRONT)
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#define PROBE_X_MAX (X_CENTER + SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_RIGHT))
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#define PROBE_Y_MAX (Y_CENTER + SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_BACK))
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#endif
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#if ENABLED(SEGMENT_LEVELED_MOVES) && !defined(LEVELED_SEGMENT_LENGTH)
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@ -1540,7 +1525,7 @@
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/**
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* Default mesh area is an area with an inset margin on the print area.
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*/
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#if HAS_LEVELING
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#if EITHER(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL)
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#if IS_KINEMATIC
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// Probing points may be verified at compile time within the radius
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// using static_assert(HYPOT2(X2-X1,Y2-Y1)<=sq(DELTA_PRINTABLE_RADIUS),"bad probe point!")
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@ -1551,17 +1536,10 @@
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#define _MESH_MAX_Y (Y_MAX_BED - (MESH_INSET))
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#else
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// Boundaries for Cartesian probing based on set limits
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#if ANY(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL, PROBE_MANUALLY)
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#define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS)) // UBL is careful not to probe off the bed. It does not
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#define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS)) // need NOZZLE_TO_PROBE_OFFSET in the mesh dimensions
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#define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS))
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#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS))
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#else
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#define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS + probe_offset.x))
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#define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS + probe_offset.y))
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#define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS + probe_offset.x))
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#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS + probe_offset.y))
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#endif
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#define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS)) // UBL is careful not to probe off the bed. It does not
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#define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS)) // need NOZZLE_TO_PROBE_OFFSET in the mesh dimensions
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#define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS))
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#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS))
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#endif
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// These may be overridden in Configuration.h if a smaller area is desired
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@ -1577,40 +1555,17 @@
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#ifndef MESH_MAX_Y
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#define MESH_MAX_Y _MESH_MAX_Y
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#endif
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#endif // MESH_BED_LEVELING || AUTO_BED_LEVELING_UBL
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#else
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#undef MESH_MIN_X
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#undef MESH_MIN_Y
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#undef MESH_MAX_X
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#undef MESH_MAX_Y
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#endif
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#if (defined(PROBE_PT_1_X) && defined(PROBE_PT_2_X) && defined(PROBE_PT_3_X) && defined(PROBE_PT_1_Y) && defined(PROBE_PT_2_Y) && defined(PROBE_PT_3_Y))
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#define HAS_FIXED_3POINT
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#endif
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#if EITHER(AUTO_BED_LEVELING_UBL, AUTO_BED_LEVELING_3POINT) && IS_KINEMATIC
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#define HAS_FIXED_3POINT
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#define SIN0 0.0
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#define SIN120 0.866025
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#define SIN240 -0.866025
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#define COS0 1.0
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#define COS120 -0.5
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#define COS240 -0.5
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#ifndef PROBE_PT_1_X
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#define PROBE_PT_1_X (X_CENTER + (_PROBE_RADIUS) * COS0)
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#endif
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#ifndef PROBE_PT_1_Y
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#define PROBE_PT_1_Y (Y_CENTER + (_PROBE_RADIUS) * SIN0)
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#endif
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#ifndef PROBE_PT_2_X
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#define PROBE_PT_2_X (X_CENTER + (_PROBE_RADIUS) * COS120)
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#endif
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#ifndef PROBE_PT_2_Y
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#define PROBE_PT_2_Y (Y_CENTER + (_PROBE_RADIUS) * SIN120)
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#endif
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#ifndef PROBE_PT_3_X
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#define PROBE_PT_3_X (X_CENTER + (_PROBE_RADIUS) * COS240)
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#endif
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#ifndef PROBE_PT_3_Y
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#define PROBE_PT_3_Y (Y_CENTER + (_PROBE_RADIUS) * SIN240)
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#endif
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#endif
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/**
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* Buzzer/Speaker
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@ -245,6 +245,8 @@
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#error "NEOPIXEL_RGBW_LED is now NEOPIXEL_LED. Please update your configuration."
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#elif ENABLED(DELTA) && defined(DELTA_PROBEABLE_RADIUS)
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#error "Remove DELTA_PROBEABLE_RADIUS and use MIN_PROBE_EDGE to inset the probe area instead."
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#elif ENABLED(DELTA) && defined(DELTA_CALIBRATION_RADIUS)
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#error "Remove DELTA_CALIBRATION_RADIUS and use MIN_PROBE_EDGE to inset the probe area instead."
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#elif defined(UBL_MESH_INSET)
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#error "UBL_MESH_INSET is now just MESH_INSET. Please update your configuration."
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#elif defined(UBL_MESH_MIN_X) || defined(UBL_MESH_MIN_Y) || defined(UBL_MESH_MAX_X) || defined(UBL_MESH_MAX_Y)
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