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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 <http://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if HAS_M206_COMMAND
-
- #include "../gcode.h"
- #include "../../module/motion.h"
- #include "../../lcd/ultralcd.h"
- #include "../../libs/buzzer.h"
-
- /**
- * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
- *
- * *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
- * *** M206 for SCARA will remain enabled in 1.1.x for compatibility.
- * *** In the 2.0 release, it will simply be disabled by default.
- */
- void GcodeSuite::M206() {
- LOOP_XYZ(i)
- if (parser.seen(axis_codes[i]))
- set_home_offset((AxisEnum)i, parser.value_linear_units());
-
- #if ENABLED(MORGAN_SCARA)
- if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_float()); // Theta
- if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi
- #endif
-
- report_current_position();
- }
-
- /**
- * M428: Set home_offset based on the distance between the
- * current_position and the nearest "reference point."
- * If an axis is past center its endstop position
- * is the reference-point. Otherwise it uses 0. This allows
- * the Z offset to be set near the bed when using a max endstop.
- *
- * M428 can't be used more than 2cm away from 0 or an endstop.
- *
- * Use M206 to set these values directly.
- */
- void GcodeSuite::M428() {
- if (axis_unhomed_error()) return;
-
- xyz_float_t diff;
- LOOP_XYZ(i) {
- diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
- if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)
- diff[i] = -current_position[i];
- if (!WITHIN(diff[i], -20, 20)) {
- SERIAL_ERROR_MSG(STR_ERR_M428_TOO_FAR);
- LCD_ALERTMESSAGEPGM_P(PSTR("Err: Too far!"));
- BUZZ(200, 40);
- return;
- }
- }
-
- LOOP_XYZ(i) set_home_offset((AxisEnum)i, diff[i]);
- report_current_position();
- LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
- BUZZ(100, 659);
- BUZZ(100, 698);
- }
-
- #endif // HAS_M206_COMMAND
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