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Remove SCARA axis_scaling

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This commit is contained in:
Scott Lahteine 2016-09-16 14:31:53 -05:00
parent d41eeb62af
commit 83a41c7ceb
4 changed files with 17 additions and 68 deletions
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1
Marlin/Marlin.h
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@ -317,7 +317,6 @@ float code_value_temp_diff();
delta_diagonal_rod_trim_tower_3; delta_diagonal_rod_trim_tower_3;
void recalc_delta_settings(float radius, float diagonal_rod); void recalc_delta_settings(float radius, float diagonal_rod);
#elif IS_SCARA #elif IS_SCARA
extern float axis_scaling[ABC]; // Build size scaling
void forward_kinematics_SCARA(const float &a, const float &b); void forward_kinematics_SCARA(const float &a, const float &b);
#endif #endif

24
Marlin/Marlin_main.cpp
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@ -253,7 +253,6 @@
* M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration) * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
* M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position) * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
* M365 - SCARA calibration: Scaling factor, X, Y, Z axis
* ************* SCARA End *************** * ************* SCARA End ***************
* *
* ************ Custom codes - This can change to suit future G-code regulations * ************ Custom codes - This can change to suit future G-code regulations
@ -505,8 +504,7 @@ static uint8_t target_extruder;
L2_2 = sq(float(L2)); L2_2 = sq(float(L2));
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND, float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
delta[ABC], delta[ABC];
axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif #endif
float cartes[XYZ] = { 0 }; float cartes[XYZ] = { 0 };
@ -5750,8 +5748,8 @@ inline void gcode_M303() {
if (IsRunning()) { if (IsRunning()) {
//gcode_get_destination(); // For X Y Z E F //gcode_get_destination(); // For X Y Z E F
forward_kinematics_SCARA(delta_a, delta_b); forward_kinematics_SCARA(delta_a, delta_b);
destination[X_AXIS] = cartes[X_AXIS] / axis_scaling[X_AXIS]; destination[X_AXIS] = cartes[X_AXIS];
destination[Y_AXIS] = cartes[Y_AXIS] / axis_scaling[Y_AXIS]; destination[Y_AXIS] = cartes[Y_AXIS];
destination[Z_AXIS] = current_position[Z_AXIS]; destination[Z_AXIS] = current_position[Z_AXIS];
prepare_move_to_destination(); prepare_move_to_destination();
//ok_to_send(); //ok_to_send();
@ -5800,15 +5798,6 @@ inline void gcode_M303() {
return SCARA_move_to_cal(45, 135); return SCARA_move_to_cal(45, 135);
} }
/**
* M365: SCARA calibration: Scaling factor, X, Y, Z axis
*/
inline void gcode_M365() {
LOOP_XYZ(i)
if (code_seen(axis_codes[i]))
axis_scaling[i] = code_value_float();
}
#endif // SCARA #endif // SCARA
#if ENABLED(EXT_SOLENOID) #if ENABLED(EXT_SOLENOID)
@ -7407,9 +7396,6 @@ void process_next_command() {
case 364: // M364 SCARA Psi pos3 (90 deg to Theta) case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
if (gcode_M364()) return; if (gcode_M364()) return;
break; break;
case 365: // M365 Set SCARA scaling for X Y Z
gcode_M365();
break;
#endif // SCARA #endif // SCARA
case 400: // M400 finish all moves case 400: // M400 finish all moves
@ -8359,8 +8345,8 @@ void prepare_move_to_destination() {
static float C2, S2, SK1, SK2, THETA, PSI; static float C2, S2, SK1, SK2, THETA, PSI;
float sx = RAW_X_POSITION(cartesian[X_AXIS]) * axis_scaling[X_AXIS] - SCARA_OFFSET_X, //Translate SCARA to standard X Y float sx = RAW_X_POSITION(cartesian[X_AXIS]) - SCARA_OFFSET_X, //Translate SCARA to standard X Y
sy = RAW_Y_POSITION(cartesian[Y_AXIS]) * axis_scaling[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor. sy = RAW_Y_POSITION(cartesian[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
#if (L1 == L2) #if (L1 == L2)
C2 = HYPOT2(sx, sy) / (2 * L1_2) - 1; C2 = HYPOT2(sx, sy) / (2 * L1_2) - 1;

56
Marlin/configuration_store.cpp
View file

@ -36,7 +36,7 @@
* *
*/ */
#define EEPROM_VERSION "V24" #define EEPROM_VERSION "V25"
// Change EEPROM version if these are changed: // Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100 #define EEPROM_OFFSET 100
@ -105,24 +105,21 @@
* DOGLCD: * DOGLCD:
* 379 M250 C lcd_contrast (int) * 379 M250 C lcd_contrast (int)
* *
* SCARA:
* 381 M365 XYZ axis_scaling (float x3)
*
* FWRETRACT: * FWRETRACT:
* 393 M209 S autoretract_enabled (bool) * 381 M209 S autoretract_enabled (bool)
* 394 M207 S retract_length (float) * 382 M207 S retract_length (float)
* 398 M207 W retract_length_swap (float) * 386 M207 W retract_length_swap (float)
* 402 M207 F retract_feedrate_mm_s (float) * 390 M207 F retract_feedrate_mm_s (float)
* 406 M207 Z retract_zlift (float) * 394 M207 Z retract_zlift (float)
* 410 M208 S retract_recover_length (float) * 398 M208 S retract_recover_length (float)
* 414 M208 W retract_recover_length_swap (float) * 402 M208 W retract_recover_length_swap (float)
* 418 M208 F retract_recover_feedrate_mm_s (float) * 406 M208 F retract_recover_feedrate_mm_s (float)
* *
* Volumetric Extrusion: * Volumetric Extrusion:
* 422 M200 D volumetric_enabled (bool) * 410 M200 D volumetric_enabled (bool)
* 423 M200 T D filament_size (float x4) (T0..3) * 411 M200 T D filament_size (float x4) (T0..3)
* *
* 439 This Slot is Available! * 427 This Slot is Available!
* *
*/ */
#include "Marlin.h" #include "Marlin.h"
@ -330,13 +327,6 @@ void Config_StoreSettings() {
#endif #endif
EEPROM_WRITE(lcd_contrast); EEPROM_WRITE(lcd_contrast);
#if IS_SCARA
EEPROM_WRITE(axis_scaling); // 3 floats
#else
dummy = 1.0f;
EEPROM_WRITE(dummy);
#endif
#if ENABLED(FWRETRACT) #if ENABLED(FWRETRACT)
EEPROM_WRITE(autoretract_enabled); EEPROM_WRITE(autoretract_enabled);
EEPROM_WRITE(retract_length); EEPROM_WRITE(retract_length);
@ -520,12 +510,6 @@ void Config_RetrieveSettings() {
#endif #endif
EEPROM_READ(lcd_contrast); EEPROM_READ(lcd_contrast);
#if IS_SCARA
EEPROM_READ(axis_scaling); // 3 floats
#else
EEPROM_READ(dummy);
#endif
#if ENABLED(FWRETRACT) #if ENABLED(FWRETRACT)
EEPROM_READ(autoretract_enabled); EEPROM_READ(autoretract_enabled);
EEPROM_READ(retract_length); EEPROM_READ(retract_length);
@ -584,10 +568,6 @@ void Config_ResetDefault() {
planner.axis_steps_per_mm[i] = tmp1[i]; planner.axis_steps_per_mm[i] = tmp1[i];
planner.max_feedrate_mm_s[i] = tmp2[i]; planner.max_feedrate_mm_s[i] = tmp2[i];
planner.max_acceleration_mm_per_s2[i] = tmp3[i]; planner.max_acceleration_mm_per_s2[i] = tmp3[i];
#if IS_SCARA
if (i < COUNT(axis_scaling))
axis_scaling[i] = 1;
#endif
} }
planner.acceleration = DEFAULT_ACCELERATION; planner.acceleration = DEFAULT_ACCELERATION;
@ -716,18 +696,6 @@ void Config_PrintSettings(bool forReplay) {
CONFIG_ECHO_START; CONFIG_ECHO_START;
#if IS_SCARA
if (!forReplay) {
SERIAL_ECHOLNPGM("Scaling factors:");
CONFIG_ECHO_START;
}
SERIAL_ECHOPAIR(" M365 X", axis_scaling[X_AXIS]);
SERIAL_ECHOPAIR(" Y", axis_scaling[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", axis_scaling[Z_AXIS]);
SERIAL_EOL;
CONFIG_ECHO_START;
#endif // SCARA
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):"); SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
CONFIG_ECHO_START; CONFIG_ECHO_START;

4
Marlin/ultralcd.cpp
View file

@ -1823,10 +1823,6 @@ void kill_screen(const char* lcd_msg) {
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit); MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
#endif #endif
#if IS_SCARA
MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS], 0.5, 2);
MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS], 0.5, 2);
#endif
END_MENU(); END_MENU();
} }