Move M665 to cpp

2017-09-17 02:21:21 -05:00
parent 33861d4e04
commit f5877aa93e
3 changed files with 16 additions and 10 deletions
--- a/Marlin/src/gcode/calibrate/M665.cpp
+++ b/Marlin/src/gcode/calibrate/M665.cpp
@@ -0,0 +1,106 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if IS_KINEMATIC
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+
+#if ENABLED(DELTA)
+
+  #include "../../module/delta.h"
+
+  /**
+   * M665: Set delta configurations
+   *
+   *    H = delta height
+   *    L = diagonal rod
+   *    R = delta radius
+   *    S = segments per second
+   *    B = delta calibration radius
+   *    X = Alpha (Tower 1) angle trim
+   *    Y = Beta (Tower 2) angle trim
+   *    Z = Rotate A and B by this angle
+   */
+  void GcodeSuite::M665() {
+    if (parser.seen('H')) {
+      home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT;
+      update_software_endstops(Z_AXIS);
+    }
+    if (parser.seen('L')) delta_diagonal_rod             = parser.value_linear_units();
+    if (parser.seen('R')) delta_radius                   = parser.value_linear_units();
+    if (parser.seen('S')) delta_segments_per_second      = parser.value_float();
+    if (parser.seen('B')) delta_calibration_radius       = parser.value_float();
+    if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float();
+    if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float();
+    if (parser.seen('Z')) { // rotate all 3 axis for Z = 0
+      delta_tower_angle_trim[A_AXIS] -= parser.value_float();
+      delta_tower_angle_trim[B_AXIS] -= parser.value_float();
+    }
+    recalc_delta_settings(delta_radius, delta_diagonal_rod);
+  }
+
+#elif IS_SCARA
+
+  #include "../../module/scara.h"
+
+  /**
+   * M665: Set SCARA settings
+   *
+   * Parameters:
+   *
+   *   S[segments-per-second] - Segments-per-second
+   *   P[theta-psi-offset]    - Theta-Psi offset, added to the shoulder (A/X) angle
+   *   T[theta-offset]        - Theta     offset, added to the elbow    (B/Y) angle
+   *
+   *   A, P, and X are all aliases for the shoulder angle
+   *   B, T, and Y are all aliases for the elbow angle
+   */
+  void GcodeSuite::M665() {
+    if (parser.seen('S')) delta_segments_per_second = parser.value_float();
+
+    const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
+    const uint8_t sumAPX = hasA + hasP + hasX;
+    if (sumAPX == 1)
+      home_offset[A_AXIS] = parser.value_float();
+    else if (sumAPX > 1) {
+      SERIAL_ERROR_START();
+      SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
+      return;
+    }
+
+    const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
+    const uint8_t sumBTY = hasB + hasT + hasY;
+    if (sumBTY == 1)
+      home_offset[B_AXIS] = parser.value_float();
+    else if (sumBTY > 1) {
+      SERIAL_ERROR_START();
+      SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
+      return;
+    }
+  }
+
+#endif
+
+#endif // IS_KINEMATIC