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- /**
- * 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 <https://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
- * 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();
- }
-
- 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
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