bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Move reachable test to Probe class

Browse Source
This commit is contained in:
Scott Lahteine
2020-02-27 06:16:33 -06:00
parent 9f8ee31144
commit be62ab2d02
9 changed files with 69 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

59
Marlin/src/module/motion.h
View File

@ -30,10 +30,6 @@
#include "../inc/MarlinConfig.h"
#if HAS_BED_PROBE
#include "probe.h"
#endif
#if IS_SCARA
#include "scara.h"
#endif
@ -58,7 +54,7 @@ FORCE_INLINE bool homing_needed() {
}
// Error margin to work around float imprecision
constexpr float slop = 0.0001;
constexpr float fslop = 0.0001;
extern bool relative_mode;
@ -306,7 +302,7 @@ void homeaxis(const AxisEnum axis);
// Return true if the given point is within the printable area
inline bool position_is_reachable(const float &rx, const float &ry, const float inset=0) {
#if ENABLED(DELTA)
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + slop);
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
#elif IS_SCARA
const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
return (
@ -322,67 +318,24 @@ void homeaxis(const AxisEnum axis);
return position_is_reachable(pos.x, pos.y, inset);
}
#if HAS_BED_PROBE
#if HAS_PROBE_XY_OFFSET
// Return true if the both nozzle and the probe can reach the given point.
// Note: This won't work on SCARA since the probe offset rotates with the arm.
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - probe.offset_xy.x, ry - probe.offset_xy.y)
&& position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
}
#else
FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx, ry, MIN_PROBE_EDGE);
}
#endif
#endif // HAS_BED_PROBE
#else // CARTESIAN
// Return true if the given position is within the machine bounds.
inline bool position_is_reachable(const float &rx, const float &ry) {
if (!WITHIN(ry, Y_MIN_POS - slop, Y_MAX_POS + slop)) return false;
if (!WITHIN(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
#if ENABLED(DUAL_X_CARRIAGE)
if (active_extruder)
return WITHIN(rx, X2_MIN_POS - slop, X2_MAX_POS + slop);
return WITHIN(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
else
return WITHIN(rx, X1_MIN_POS - slop, X1_MAX_POS + slop);
return WITHIN(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
#else
return WITHIN(rx, X_MIN_POS - slop, X_MAX_POS + slop);
return WITHIN(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
#endif
}
inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
#if HAS_BED_PROBE
/**
* Return whether the given position is within the bed, and whether the nozzle
* can reach the position required to put the probe at the given position.
*
* Example: For a probe offset of -10,+10, then for the probe to reach 0,0 the
* nozzle must be be able to reach +10,-10.
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - probe.offset_xy.x, ry - probe.offset_xy.y)
&& WITHIN(rx, probe.min_x() - slop, probe.max_x() + slop)
&& WITHIN(ry, probe.min_y() - slop, probe.max_y() + slop);
}
#endif // HAS_BED_PROBE
#endif // CARTESIAN
#if !HAS_BED_PROBE
FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) { return position_is_reachable(rx, ry); }
#endif
FORCE_INLINE bool position_is_reachable_by_probe(const xy_pos_t &pos) { return position_is_reachable_by_probe(pos.x, pos.y); }
/**
* Duplication mode
*/