/** * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . * */ #include "../../inc/MarlinConfig.h" #if IS_KINEMATIC #include "../gcode.h" #include "../../module/motion.h" #if ENABLED(DELTA) #include "../../module/delta.h" /** * M665: Set delta configurations * * H = delta height * L = diagonal rod * R = delta radius * S = segments per second * X = Alpha (Tower 1) angle trim * Y = Beta (Tower 2) angle trim * Z = Gamma (Tower 3) angle trim * A = Alpha (Tower 1) diagonal rod trim * B = Beta (Tower 2) diagonal rod trim * C = Gamma (Tower 3) diagonal rod trim */ void GcodeSuite::M665() { if (!parser.seen_any()) return M665_report(); if (parser.seenval('H')) delta_height = parser.value_linear_units(); if (parser.seenval('L')) delta_diagonal_rod = parser.value_linear_units(); if (parser.seenval('R')) delta_radius = parser.value_linear_units(); if (parser.seenval('S')) segments_per_second = parser.value_float(); if (parser.seenval('X')) delta_tower_angle_trim.a = parser.value_float(); if (parser.seenval('Y')) delta_tower_angle_trim.b = parser.value_float(); if (parser.seenval('Z')) delta_tower_angle_trim.c = parser.value_float(); if (parser.seenval('A')) delta_diagonal_rod_trim.a = parser.value_float(); if (parser.seenval('B')) delta_diagonal_rod_trim.b = parser.value_float(); if (parser.seenval('C')) delta_diagonal_rod_trim.c = parser.value_float(); recalc_delta_settings(); } void GcodeSuite::M665_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_DELTA_SETTINGS)); SERIAL_ECHOLNPGM_P( PSTR(" M665 L"), LINEAR_UNIT(delta_diagonal_rod) , PSTR(" R"), LINEAR_UNIT(delta_radius) , PSTR(" H"), LINEAR_UNIT(delta_height) , PSTR(" S"), segments_per_second , SP_X_STR, LINEAR_UNIT(delta_tower_angle_trim.a) , SP_Y_STR, LINEAR_UNIT(delta_tower_angle_trim.b) , SP_Z_STR, LINEAR_UNIT(delta_tower_angle_trim.c) , PSTR(" A"), LINEAR_UNIT(delta_diagonal_rod_trim.a) , PSTR(" B"), LINEAR_UNIT(delta_diagonal_rod_trim.b) , PSTR(" C"), LINEAR_UNIT(delta_diagonal_rod_trim.c) ); } #elif IS_SCARA #include "../../module/scara.h" /** * M665: Set SCARA settings * * Parameters: * * S[segments] - Segments-per-second * * Without NO_WORKSPACE_OFFSETS: * * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle * Z[z-offset] - Z offset, added to Z * * A, P, and X are all aliases for the shoulder angle * B, T, and Y are all aliases for the elbow angle */ void GcodeSuite::M665() { if (!parser.seen_any()) return M665_report(); if (parser.seenval('S')) segments_per_second = parser.value_float(); #if HAS_SCARA_OFFSET if (parser.seenval('Z')) scara_home_offset.z = parser.value_linear_units(); const bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X'); const uint8_t sumAPX = hasA + hasP + hasX; if (sumAPX) { if (sumAPX == 1) scara_home_offset.a = parser.value_float(); else { SERIAL_ERROR_MSG("Only one of A, P, or X is allowed."); return; } } const bool hasB = parser.seenval('B'), hasT = parser.seenval('T'), hasY = parser.seenval('Y'); const uint8_t sumBTY = hasB + hasT + hasY; if (sumBTY) { if (sumBTY == 1) scara_home_offset.b = parser.value_float(); else { SERIAL_ERROR_MSG("Only one of B, T, or Y is allowed."); return; } } #endif // HAS_SCARA_OFFSET } void GcodeSuite::M665_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_SCARA_SETTINGS " (" STR_S_SEG_PER_SEC TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")")); SERIAL_ECHOLNPGM_P( PSTR(" M665 S"), segments_per_second #if HAS_SCARA_OFFSET , SP_P_STR, scara_home_offset.a , SP_T_STR, scara_home_offset.b , SP_Z_STR, LINEAR_UNIT(scara_home_offset.z) #endif ); } #elif ENABLED(POLARGRAPH) #include "../../module/polargraph.h" /** * M665: Set POLARGRAPH settings * * Parameters: * * S[segments] - Segments-per-second * L[left] - Work area minimum X * R[right] - Work area maximum X * T[top] - Work area maximum Y * B[bottom] - Work area minimum Y * H[length] - Maximum belt length */ void GcodeSuite::M665() { if (!parser.seen_any()) return M665_report(); if (parser.seenval('S')) segments_per_second = parser.value_float(); if (parser.seenval('L')) draw_area_min.x = parser.value_linear_units(); if (parser.seenval('R')) draw_area_max.x = parser.value_linear_units(); if (parser.seenval('T')) draw_area_max.y = parser.value_linear_units(); if (parser.seenval('B')) draw_area_min.y = parser.value_linear_units(); if (parser.seenval('H')) polargraph_max_belt_len = parser.value_linear_units(); draw_area_size.x = draw_area_max.x - draw_area_min.x; draw_area_size.y = draw_area_max.y - draw_area_min.y; } void GcodeSuite::M665_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS)); SERIAL_ECHOLNPGM_P( PSTR(" M665 S"), LINEAR_UNIT(segments_per_second), PSTR(" L"), LINEAR_UNIT(draw_area_min.x), PSTR(" R"), LINEAR_UNIT(draw_area_max.x), SP_T_STR, LINEAR_UNIT(draw_area_max.y), SP_B_STR, LINEAR_UNIT(draw_area_min.y), PSTR(" H"), LINEAR_UNIT(polargraph_max_belt_len) ); } #endif #endif // IS_KINEMATIC