Merge pull request #1662 from josla972/refactor_scara
Refactor SCARA calibration. Save some lines of code and possibly ROM.
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@ -4052,18 +4052,13 @@ inline void gcode_M303() {
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}
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#ifdef SCARA
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/**
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* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
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*/
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inline bool gcode_M360() {
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SERIAL_ECHOLN(" Cal: Theta 0 ");
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bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
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//SoftEndsEnabled = false; // Ignore soft endstops during calibration
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if (! Stopped) {
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//get_coordinates(); // For X Y Z E F
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delta[X_AXIS] = 0;
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delta[Y_AXIS] = 120;
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delta[X_AXIS] = delta_x;
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delta[Y_AXIS] = delta_y;
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calculate_SCARA_forward_Transform(delta);
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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@ -4074,25 +4069,20 @@ inline void gcode_M303() {
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return false;
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}
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/**
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* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
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*/
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inline bool gcode_M360() {
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SERIAL_ECHOLN(" Cal: Theta 0 ");
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return SCARA_move_to_cal(0, 120);
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}
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/**
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* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
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*/
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inline bool gcode_M361() {
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SERIAL_ECHOLN(" Cal: Theta 90 ");
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//SoftEndsEnabled = false; // Ignore soft endstops during calibration
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if (! Stopped) {
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//get_coordinates(); // For X Y Z E F
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delta[X_AXIS] = 90;
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delta[Y_AXIS] = 130;
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calculate_SCARA_forward_Transform(delta);
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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return true;
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}
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return false;
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return SCARA_move_to_cal(90, 130);
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}
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/**
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@ -4100,20 +4090,7 @@ inline void gcode_M303() {
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*/
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inline bool gcode_M362() {
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SERIAL_ECHOLN(" Cal: Psi 0 ");
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//SoftEndsEnabled = false; // Ignore soft endstops during calibration
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if (! Stopped) {
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//get_coordinates(); // For X Y Z E F
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delta[X_AXIS] = 60;
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delta[Y_AXIS] = 180;
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calculate_SCARA_forward_Transform(delta);
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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return true;
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}
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return false;
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return SCARA_move_to_cal(60, 180);
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}
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/**
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@ -4121,20 +4098,7 @@ inline void gcode_M303() {
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*/
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inline bool gcode_M363() {
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SERIAL_ECHOLN(" Cal: Psi 90 ");
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//SoftEndsEnabled = false; // Ignore soft endstops during calibration
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if (! Stopped) {
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//get_coordinates(); // For X Y Z E F
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delta[X_AXIS] = 50;
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delta[Y_AXIS] = 90;
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calculate_SCARA_forward_Transform(delta);
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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return true;
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}
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return false;
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return SCARA_move_to_cal(50, 90);
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}
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/**
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@ -4142,20 +4106,7 @@ inline void gcode_M303() {
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*/
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inline bool gcode_M364() {
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SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
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// SoftEndsEnabled = false; // Ignore soft endstops during calibration
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if (! Stopped) {
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//get_coordinates(); // For X Y Z E F
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delta[X_AXIS] = 45;
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delta[Y_AXIS] = 135;
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calculate_SCARA_forward_Transform(delta);
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destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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return true;
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}
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return false;
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return SCARA_move_to_cal(45, 135);
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}
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/**
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