Only constrain motion on homed axes (#16533)
Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
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@ -592,10 +592,14 @@ void restore_feedrate_and_scaling() {
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*/
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void apply_motion_limits(xyz_pos_t &target) {
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if (!soft_endstops_enabled || !all_axes_homed()) return;
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if (!soft_endstops_enabled) return;
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#if IS_KINEMATIC
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#if ENABLED(DELTA)
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if (!all_axes_homed()) return;
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#endif
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#if HAS_HOTEND_OFFSET && ENABLED(DELTA)
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// The effector center position will be the target minus the hotend offset.
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const xy_pos_t offs = hotend_offset[active_extruder];
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@ -604,33 +608,46 @@ void restore_feedrate_and_scaling() {
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constexpr xy_pos_t offs{0};
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#endif
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const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
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if (dist_2 > delta_max_radius_2)
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target *= delta_max_radius / SQRT(dist_2); // 200 / 300 = 0.66
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if (true
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#if IS_SCARA
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&& TEST(axis_homed, X_AXIS) && TEST(axis_homed, Y_AXIS)
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#endif
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) {
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const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
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if (dist_2 > delta_max_radius_2)
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target *= delta_max_radius / SQRT(dist_2); // 200 / 300 = 0.66
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}
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#else
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target.x, soft_endstop.min.x);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target.x, soft_endstop.max.x);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
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NOLESS(target.y, soft_endstop.min.y);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
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NOMORE(target.y, soft_endstop.max.y);
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#endif
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if (TEST(axis_homed, X_AXIS)) {
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target.x, soft_endstop.min.x);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target.x, soft_endstop.max.x);
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#endif
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}
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if (TEST(axis_homed, Y_AXIS)) {
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
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NOLESS(target.y, soft_endstop.min.y);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
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NOMORE(target.y, soft_endstop.max.y);
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#endif
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}
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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NOLESS(target.z, soft_endstop.min.z);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
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NOMORE(target.z, soft_endstop.max.z);
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#endif
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if (TEST(axis_homed, Z_AXIS)) {
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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NOLESS(target.z, soft_endstop.min.z);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
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NOMORE(target.z, soft_endstop.max.z);
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#endif
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}
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}
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#endif // HAS_SOFTWARE_ENDSTOPS
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@ -41,6 +41,7 @@
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// Axis homed and known-position states
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extern uint8_t axis_homed, axis_known_position;
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constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
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FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
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FORCE_INLINE bool all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; }
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FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; }
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FORCE_INLINE void set_all_unhomed() { axis_homed = 0; }
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