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Add position_is_reachable, use in home_z_safely

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Scott Lahteine 2016-09-11 22:21:32 -05:00
parent b4034915f8
commit 786d1afb72
1 changed files with 23 additions and 9 deletions
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32
Marlin/Marlin_main.cpp
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@ -2451,6 +2451,20 @@ void unknown_command_error() {
#endif //HOST_KEEPALIVE_FEATURE
bool position_is_reachable(float target[XYZ]) {
float dx = RAW_X_POSITION(target[X_AXIS]),
dy = RAW_Y_POSITION(target[Y_AXIS]);
#if ENABLED(DELTA)
return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
#else
float dz = RAW_Z_POSITION(target[Z_AXIS]);
return dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001
&& dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001
&& dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001;
#endif
}
/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
@ -2770,21 +2784,21 @@ inline void gcode_G4() {
/**
* Move the Z probe (or just the nozzle) to the safe homing point
*/
float cpx = Z_SAFE_HOMING_X_POINT, cpy = Z_SAFE_HOMING_Y_POINT;
destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
#if HAS_BED_PROBE
cpx -= X_PROBE_OFFSET_FROM_EXTRUDER;
cpy -= Y_PROBE_OFFSET_FROM_EXTRUDER;
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Z_SAFE_HOMING X:", cpx);
SERIAL_ECHOLNPAIR(" Y:", cpy);
}
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif
if (cpx >= X_MIN_POS && cpx <= X_MAX_POS && cpy >= Y_MIN_POS && cpy <= Y_MAX_POS) {
do_blocking_move_to_xy(LOGICAL_X_POSITION(destination[X_AXIS]), LOGICAL_Y_POSITION(destination[Y_AXIS]));
if (position_is_reachable(destination)) {
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
HOMEAXIS(Z);
}
else {