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🎨 Fewer serial macros

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This commit is contained in:
Scott Lahteine
2021-09-09 04:57:05 -05:00
parent 79c72ed821
commit 754b31918a
159 changed files with 1002 additions and 1014 deletions
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24
Marlin/src/module/scara.cpp
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@@ -58,7 +58,7 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
cartes.y = a_sin + b_sin + scara_offset.y; // phi
/*
DEBUG_ECHOLNPAIR(
DEBUG_ECHOLNPGM(
"SCARA FK Angle a=", a,
" b=", b,
" a_sin=", a_sin,
@@ -66,7 +66,7 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
" b_sin=", b_sin,
" b_cos=", b_cos
);
DEBUG_ECHOLNPAIR(" cartes (X,Y) = "(cartes.x, ", ", cartes.y, ")");
DEBUG_ECHOLNPGM(" cartes (X,Y) = "(cartes.x, ", ", cartes.y, ")");
//*/
}
@@ -80,13 +80,13 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
else {
// MORGAN_SCARA uses a Cartesian XY home position
xyz_pos_t homeposition = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
//DEBUG_ECHOLNPAIR_P(PSTR("homeposition X"), homeposition.x, SP_Y_LBL, homeposition.y);
//DEBUG_ECHOLNPGM_P(PSTR("homeposition X"), homeposition.x, SP_Y_LBL, homeposition.y);
delta = homeposition;
forward_kinematics(delta.a, delta.b);
current_position[axis] = cartes[axis];
//DEBUG_ECHOLNPAIR_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y);
//DEBUG_ECHOLNPGM_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y);
update_software_endstops(axis);
}
}
@@ -132,7 +132,7 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
/*
DEBUG_POS("SCARA IK", raw);
DEBUG_POS("SCARA IK", delta);
DEBUG_ECHOLNPAIR(" SCARA (x,y) ", sx, ",", sy, " C2=", C2, " S2=", S2, " Theta=", THETA, " Psi=", PSI);
DEBUG_ECHOLNPGM(" SCARA (x,y) ", sx, ",", sy, " C2=", C2, " S2=", S2, " Theta=", THETA, " Psi=", PSI);
//*/
}
@@ -150,13 +150,13 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
#define SCARA_OFFSET_THETA2 131 // degrees
#endif
ab_float_t homeposition = { SCARA_OFFSET_THETA1, SCARA_OFFSET_THETA2 };
//DEBUG_ECHOLNPAIR("homeposition A:", homeposition.a, " B:", homeposition.b);
//DEBUG_ECHOLNPGM("homeposition A:", homeposition.a, " B:", homeposition.b);
inverse_kinematics(homeposition);
forward_kinematics(delta.a, delta.b);
current_position[axis] = cartes[axis];
//DEBUG_ECHOLNPAIR_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y);
//DEBUG_ECHOLNPGM_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y);
update_software_endstops(axis);
}
}
@@ -172,7 +172,7 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
/*
DEBUG_POS("SCARA IK", raw);
DEBUG_POS("SCARA IK", delta);
SERIAL_ECHOLNPAIR(" SCARA (x,y) ", x, ",", y," Theta1=", THETA1, " Theta2=", THETA2);
SERIAL_ECHOLNPGM(" SCARA (x,y) ", x, ",", y," Theta1=", THETA1, " Theta2=", THETA2);
//*/
}
@@ -185,13 +185,13 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
current_position.z = Z_HOME_POS;
else {
xyz_pos_t homeposition = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
//DEBUG_ECHOLNPAIR_P(PSTR("homeposition X"), homeposition.x, SP_Y_LBL, homeposition.y, SP_Z_LBL, homeposition.z);
//DEBUG_ECHOLNPGM_P(PSTR("homeposition X"), homeposition.x, SP_Y_LBL, homeposition.y, SP_Z_LBL, homeposition.z);
inverse_kinematics(homeposition);
forward_kinematics(delta.a, delta.b, delta.c);
current_position[axis] = cartes[axis];
//DEBUG_ECHOLNPAIR_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y);
//DEBUG_ECHOLNPGM_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y);
update_software_endstops(axis);
}
}
@@ -289,13 +289,13 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
delta.set(DEGREES(THETA), DEGREES(PHI), DEGREES(PSI));
//SERIAL_ECHOLNPAIR(" SCARA (x,y,z) ", spos.x , ",", spos.y, ",", spos.z, " Rho=", RHO, " Rho2=", RHO2, " Theta=", THETA, " Phi=", PHI, " Psi=", PSI, " Gamma=", GAMMA);
//SERIAL_ECHOLNPGM(" SCARA (x,y,z) ", spos.x , ",", spos.y, ",", spos.z, " Rho=", RHO, " Rho2=", RHO2, " Theta=", THETA, " Phi=", PHI, " Psi=", PSI, " Gamma=", GAMMA);
}
#endif
void scara_report_positions() {
SERIAL_ECHOLNPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS)
SERIAL_ECHOLNPGM("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS)
#if ENABLED(AXEL_TPARA)
, " Phi:", planner.get_axis_position_degrees(B_AXIS)
, " Psi:", planner.get_axis_position_degrees(C_AXIS)