Merge pull request #4833 from thinkyhead/rc_no_scara_axis_scaling

Remove SCARA axis_scaling

Marlin/Marlin.h

@@ -317,7 +317,6 @@ float code_value_temp_diff();
                delta_diagonal_rod_trim_tower_3;
   void recalc_delta_settings(float radius, float diagonal_rod);
 #elif IS_SCARA
-  extern float axis_scaling[ABC];  // Build size scaling
   void forward_kinematics_SCARA(const float &a, const float &b);
 #endif
 

Marlin/Marlin_main.cpp

@@ -253,7 +253,6 @@
  * 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)
  * 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 ***************
  *
  * ************ 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));
 
   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
 
 float cartes[XYZ] = { 0 };
@@ -5750,8 +5748,8 @@ inline void gcode_M303() {
     if (IsRunning()) {
       //gcode_get_destination(); // For X Y Z E F
       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];
       prepare_move_to_destination();
       //ok_to_send();
@@ -5800,15 +5798,6 @@ inline void gcode_M303() {
     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
 
 #if ENABLED(EXT_SOLENOID)
@@ -7407,9 +7396,6 @@ void process_next_command() {
         case 364:  // M364 SCARA Psi pos3 (90 deg to Theta)
           if (gcode_M364()) return;
           break;
-        case 365: // M365 Set SCARA scaling for X Y Z
-          gcode_M365();
-          break;
       #endif // SCARA
 
       case 400: // M400 finish all moves
@@ -8359,8 +8345,8 @@ void prepare_move_to_destination() {
 
     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)
       C2 = HYPOT2(sx, sy) / (2 * L1_2) - 1;

Marlin/configuration_store.cpp

@@ -36,7 +36,7 @@
  *
  */
 
-#define EEPROM_VERSION "V24"
+#define EEPROM_VERSION "V25"
 
 // Change EEPROM version if these are changed:
 #define EEPROM_OFFSET 100
@@ -105,24 +105,21 @@
  * DOGLCD:
  *  379  M250 C    lcd_contrast (int)
  *
- * SCARA:
- *  381  M365 XYZ  axis_scaling (float x3)
- *
  * 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:
- *  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"
@@ -330,13 +327,6 @@ void Config_StoreSettings()  {
   #endif
   EEPROM_WRITE(lcd_contrast);
 
-  #if IS_SCARA
-    EEPROM_WRITE(axis_scaling); // 3 floats
-  #else
-    dummy = 1.0f;
-    EEPROM_WRITE(dummy);
-  #endif
-
   #if ENABLED(FWRETRACT)
     EEPROM_WRITE(autoretract_enabled);
     EEPROM_WRITE(retract_length);
@@ -520,12 +510,6 @@ void Config_RetrieveSettings() {
     #endif
     EEPROM_READ(lcd_contrast);
 
-    #if IS_SCARA
-      EEPROM_READ(axis_scaling);  // 3 floats
-    #else
-      EEPROM_READ(dummy);
-    #endif
-
     #if ENABLED(FWRETRACT)
       EEPROM_READ(autoretract_enabled);
       EEPROM_READ(retract_length);
@@ -584,10 +568,6 @@ void Config_ResetDefault() {
     planner.axis_steps_per_mm[i] = tmp1[i];
     planner.max_feedrate_mm_s[i] = tmp2[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;
@@ -716,18 +696,6 @@ void Config_PrintSettings(bool forReplay) {
 
   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) {
     SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
     CONFIG_ECHO_START;

Marlin/ultralcd.cpp

@@ -1823,10 +1823,6 @@ void kill_screen(const char* lcd_msg) {
     #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
       MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
     #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();
   }