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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
- *
- */
-
- #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
- */
- void GcodeSuite::M665() {
- if (parser.seen('H')) delta_height = parser.value_linear_units();
- if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
- if (parser.seen('R')) delta_radius = parser.value_linear_units();
- if (parser.seen('S')) delta_segments_per_second = parser.value_float();
- if (parser.seen('X')) delta_tower_angle_trim.a = parser.value_float();
- if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
- if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();
- recalc_delta_settings();
- }
-
- #elif IS_SCARA
-
- #include "../../module/scara.h"
-
- /**
- * M665: Set SCARA settings
- *
- * Parameters:
- *
- * S[segments-per-second] - Segments-per-second
- * 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.seenval('S')) delta_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
- }
-
- #endif
-
- #endif // IS_KINEMATIC
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