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Merge pull request #1662 from josla972/refactor_scara

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Refactor SCARA calibration. Save some lines of code and possibly ROM.
This commit is contained in:
Scott Lahteine 2015-03-23 00:51:18 -07:00
commit b26a3ea02c
1 changed files with 15 additions and 64 deletions
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79
Marlin/Marlin_main.cpp
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@ -4052,18 +4052,13 @@ inline void gcode_M303() {
} }
#ifdef SCARA #ifdef SCARA
bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
inline bool gcode_M360() {
SERIAL_ECHOLN(" Cal: Theta 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration //SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled "); //SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) { if (! Stopped) {
//get_coordinates(); // For X Y Z E F //get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 0; delta[X_AXIS] = delta_x;
delta[Y_AXIS] = 120; delta[Y_AXIS] = delta_y;
calculate_SCARA_forward_Transform(delta); calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
@ -4074,25 +4069,20 @@ inline void gcode_M303() {
return false; return false;
} }
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
inline bool gcode_M360() {
SERIAL_ECHOLN(" Cal: Theta 0 ");
return SCARA_move_to_cal(0, 120);
}
/** /**
* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
*/ */
inline bool gcode_M361() { inline bool gcode_M361() {
SERIAL_ECHOLN(" Cal: Theta 90 "); SERIAL_ECHOLN(" Cal: Theta 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration return SCARA_move_to_cal(90, 130);
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 90;
delta[Y_AXIS] = 130;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
} }
/** /**
@ -4100,20 +4090,7 @@ inline void gcode_M303() {
*/ */
inline bool gcode_M362() { inline bool gcode_M362() {
SERIAL_ECHOLN(" Cal: Psi 0 "); SERIAL_ECHOLN(" Cal: Psi 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration return SCARA_move_to_cal(60, 180);
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 60;
delta[Y_AXIS] = 180;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
} }
/** /**
@ -4121,20 +4098,7 @@ inline void gcode_M303() {
*/ */
inline bool gcode_M363() { inline bool gcode_M363() {
SERIAL_ECHOLN(" Cal: Psi 90 "); SERIAL_ECHOLN(" Cal: Psi 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration return SCARA_move_to_cal(50, 90);
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 50;
delta[Y_AXIS] = 90;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
} }
/** /**
@ -4142,20 +4106,7 @@ inline void gcode_M303() {
*/ */
inline bool gcode_M364() { inline bool gcode_M364() {
SERIAL_ECHOLN(" Cal: Theta-Psi 90 "); SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
// SoftEndsEnabled = false; // Ignore soft endstops during calibration return SCARA_move_to_cal(45, 135);
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 45;
delta[Y_AXIS] = 135;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
} }
/** /**