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Fix position_is_reachable_by_probe typo, add comment

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Fix #10029
This commit is contained in:
Scott Lahteine 2018-03-09 21:12:05 -06:00
parent 26dc594ebb
commit 2908e76151
1 changed files with 16 additions and 8 deletions
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24
Marlin/src/module/motion.h
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@ -236,6 +236,7 @@ void homeaxis(const AxisEnum axis);
#if IS_KINEMATIC // (DELTA or SCARA) #if IS_KINEMATIC // (DELTA or SCARA)
// Return true if the given point is within the printable area
inline bool position_is_reachable(const float &rx, const float &ry) { inline bool position_is_reachable(const float &rx, const float &ry) {
#if ENABLED(DELTA) #if ENABLED(DELTA)
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS); return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
@ -251,28 +252,35 @@ void homeaxis(const AxisEnum axis);
#endif #endif
} }
// Return true if the both nozzle and the probe can reach the given point.
// Note: This won't work on SCARA since the probe offset rotates with the arm.
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) { inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
// Both the nozzle and the probe must be able to reach the point.
// This won't work on SCARA since the probe offset rotates with the arm.
return position_is_reachable(rx, ry) return position_is_reachable(rx, ry)
&& position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER)); && position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER));
} }
#else // CARTESIAN #else // CARTESIAN
// Return true if the given position is within the machine bounds.
inline bool position_is_reachable(const float &rx, const float &ry) { inline bool position_is_reachable(const float &rx, const float &ry) {
// Add 0.001 margin to deal with float imprecision // Add 0.001 margin to deal with float imprecision
return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001) return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
&& WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001); && WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
} }
/**
* Return whether the given position is within the bed, and whether the nozzle
* can reach the position required to put the probe at the given position.
*
* Example: For a probe offset of -10,+10, then for the probe to reach 0,0 the
* nozzle must be be able to reach +10,-10.
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) { inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
const float nx = rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ry - (Y_PROBE_OFFSET_FROM_EXTRUDER); const float nx = rx - (X_PROBE_OFFSET_FROM_EXTRUDER),
return position_is_reachable(rx, ry) ny = ry - (Y_PROBE_OFFSET_FROM_EXTRUDER);
&& WITHIN(nx, X_MIN_BED - 0.001, X_MAX_BED + 0.001) return position_is_reachable(nx, ny)
&& WITHIN(ny, Y_MIN_BED - 0.001, Y_MAX_BED + 0.001); && WITHIN(rx, X_MIN_BED - 0.001, X_MAX_BED + 0.001)
&& WITHIN(ry, Y_MIN_BED - 0.001, Y_MAX_BED + 0.001);
} }
#endif // CARTESIAN #endif // CARTESIAN