✨ Polargraph M665 settings (#24401)

MarlinFirmware · Jul 17, 2022 · a01ed1e · a01ed1e
1 parent 96fe46e
commit a01ed1e
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Showing 8 changed files with 115 additions and 62 deletions.
diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp
@@ -306,7 +306,7 @@ typedef struct {
         LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
       #endif
 
-      if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
+      if (position_is_reachable(s) && position_is_reachable(e))
         print_line_from_here_to_there(s, e);
     }
   }

diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp
@@ -86,13 +86,13 @@
    *
    * Parameters:
    *
-   *   S[segments-per-second] - Segments-per-second
+   *   S[segments]          - Segments-per-second
    *
    * Without NO_WORKSPACE_OFFSETS:
    *
-   *   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
-   *   Z[z-offset]            - Z offset, added to Z
+   *   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
+   *   Z[z-offset]          - Z offset, added to Z
    *
    *   A, P, and X are all aliases for the shoulder angle
    *   B, T, and Y are all aliases for the elbow angle
@@ -152,18 +152,35 @@
    *
    * Parameters:
    *
-   *   S[segments-per-second] - Segments-per-second
+   *   S[segments]  - Segments-per-second
+   *   L[left]      - Work area minimum X
+   *   R[right]     - Work area maximum X
+   *   T[top]       - Work area maximum Y
+   *   B[bottom]    - Work area minimum Y
+   *   H[length]    - Maximum belt length
    */
   void GcodeSuite::M665() {
-    if (parser.seenval('S'))
-      segments_per_second = parser.value_float();
-    else
-      M665_report();
+    if (!parser.seen_any()) return M665_report();
+    if (parser.seenval('S')) segments_per_second = parser.value_float();
+    if (parser.seenval('L')) draw_area_min.x = parser.value_linear_units();
+    if (parser.seenval('R')) draw_area_max.x = parser.value_linear_units();
+    if (parser.seenval('T')) draw_area_max.y = parser.value_linear_units();
+    if (parser.seenval('B')) draw_area_min.y = parser.value_linear_units();
+    if (parser.seenval('H')) polargraph_max_belt_len = parser.value_linear_units();
+    draw_area_size.x = draw_area_max.x - draw_area_min.x;
+    draw_area_size.y = draw_area_max.y - draw_area_min.y;
   }
 
   void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
-    report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS " (" STR_S_SEG_PER_SEC ")"));
-    SERIAL_ECHOLNPGM("  M665 S", segments_per_second);
+    report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS));
+    SERIAL_ECHOLNPGM_P(
+      PSTR("  M665 S"), LINEAR_UNIT(segments_per_second),
+      PSTR(" L"), LINEAR_UNIT(draw_area_min.x),
+      PSTR(" R"), LINEAR_UNIT(draw_area_max.x),
+      SP_T_STR, LINEAR_UNIT(draw_area_max.y),
+      SP_B_STR, LINEAR_UNIT(draw_area_min.y),
+      PSTR(" H"), LINEAR_UNIT(polargraph_max_belt_len)
+    );
   }
 
 #endif

diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
@@ -930,7 +930,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
       #endif
 
       #if IS_KINEMATIC
-        case 665: M665(); break;                                  // M665: Set Delta/SCARA parameters
+        case 665: M665(); break;                                  // M665: Set Kinematics parameters
       #endif
 
       #if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS

diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
@@ -262,6 +262,7 @@
  * M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  * M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
  *        Set SCARA configurations: "M665 S<segments-per-second> P<theta-psi-offset> T<theta-offset> Z<z-offset> (Requires MORGAN_SCARA or MP_SCARA)
+ *        Set Polargraph draw area and belt length: "M665 S<segments-per-second> L<draw-area-left> R<draw-area-right> T<draw-area-top> B<draw-area-bottom> H<max-belt-length>"
  * M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
  * M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
  * M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)

diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
@@ -293,6 +293,73 @@ void report_current_position_projected() {
 
 #endif
 
+#if IS_KINEMATIC
+
+  bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset/*=0*/) {
+
+    bool can_reach;
+
+    #if ENABLED(DELTA)
+
+      can_reach = HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
+
+    #elif ENABLED(AXEL_TPARA)
+
+      const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
+      can_reach = (
+        R2 <= sq(L1 + L2) - inset
+        #if MIDDLE_DEAD_ZONE_R > 0
+          && R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
+        #endif
+      );
+
+    #elif IS_SCARA
+
+      const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
+      can_reach = (
+        R2 <= sq(L1 + L2) - inset
+        #if MIDDLE_DEAD_ZONE_R > 0
+          && R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
+        #endif
+      );
+
+    #elif ENABLED(POLARGRAPH)
+
+      const float d1 = rx - (draw_area_min.x),
+                  d2 = (draw_area_max.x) - rx,
+                   y = ry - (draw_area_max.y),
+                   a = HYPOT(d1, y),
+                   b = HYPOT(d2, y);
+
+      can_reach = (
+           a < polargraph_max_belt_len + 1
+        && b < polargraph_max_belt_len + 1
+        && (a + b) > _MIN(draw_area_size.x, draw_area_size.y)
+      );
+
+    #endif
+
+    return can_reach;
+  }
+
+#else // CARTESIAN
+
+  // Return true if the given position is within the machine bounds.
+  bool position_is_reachable(const_float_t rx, const_float_t ry) {
+    if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
+    #if ENABLED(DUAL_X_CARRIAGE)
+      if (active_extruder)
+        return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
+      else
+        return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
+    #else
+      return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
+    #endif
+  }
+
+#endif // CARTESIAN
+
+
 void home_if_needed(const bool keeplev/*=false*/) {
   if (!all_axes_trusted()) gcode.home_all_axes(keeplev);
 }

diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
@@ -504,63 +504,21 @@ void home_if_needed(const bool keeplev=false);
   #endif
 
   // Return true if the given point is within the printable area
-  inline bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0) {
-    #if ENABLED(DELTA)
-
-      return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
-
-    #elif ENABLED(POLARGRAPH)
-
-      const float x1 = rx - (X_MIN_POS), x2 = (X_MAX_POS) - rx, y = ry - (Y_MAX_POS),
-                  a = HYPOT(x1, y), b = HYPOT(x2, y);
-      return a < (POLARGRAPH_MAX_BELT_LEN) + 1
-          && b < (POLARGRAPH_MAX_BELT_LEN) + 1
-          && (a + b) > _MIN(X_BED_SIZE, Y_BED_SIZE);
-
-    #elif ENABLED(AXEL_TPARA)
-
-      const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
-      return (
-        R2 <= sq(L1 + L2) - inset
-        #if MIDDLE_DEAD_ZONE_R > 0
-          && R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
-        #endif
-      );
-
-    #elif IS_SCARA
-
-      const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
-      return (
-        R2 <= sq(L1 + L2) - inset
-        #if MIDDLE_DEAD_ZONE_R > 0
-          && R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
-        #endif
-      );
-
-    #endif
-  }
+  bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0);
 
   inline bool position_is_reachable(const xy_pos_t &pos, const float inset=0) {
     return position_is_reachable(pos.x, pos.y, inset);
   }
 
-#else // CARTESIAN
+#else
 
   // Return true if the given position is within the machine bounds.
-  inline bool position_is_reachable(const_float_t rx, const_float_t ry) {
-    if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
-    #if ENABLED(DUAL_X_CARRIAGE)
-      if (active_extruder)
-        return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
-      else
-        return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
-    #else
-      return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
-    #endif
+  bool position_is_reachable(const_float_t rx, const_float_t ry);
+  inline bool position_is_reachable(const xy_pos_t &pos) {
+    return position_is_reachable(pos.x, pos.y);
   }
-  inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
 
-#endif // CARTESIAN
+#endif
 
 /**
  * Duplication mode

diff --git a/Marlin/src/module/polargraph.cpp b/Marlin/src/module/polargraph.cpp
@@ -39,8 +39,15 @@
 
 float segments_per_second; // Initialized by settings.load()
 
+xy_pos_t draw_area_min = { X_MIN_POS, Y_MIN_POS },
+         draw_area_max = { X_MAX_POS, Y_MAX_POS };
+
+xy_float_t draw_area_size = { X_MAX_POS - X_MIN_POS, Y_MAX_POS - Y_MIN_POS };
+
+float polargraph_max_belt_len = HYPOT(draw_area_size.x, draw_area_size.y);
+
 void inverse_kinematics(const xyz_pos_t &raw) {
-  const float x1 = raw.x - (X_MIN_POS), x2 = (X_MAX_POS) - raw.x, y = raw.y - (Y_MAX_POS);
+  const float x1 = raw.x - (draw_area_min.x), x2 = (draw_area_max.x) - raw.x, y = raw.y - (draw_area_max.y);
   delta.set(HYPOT(x1, y), HYPOT(x2, y), raw.z);
 }
 

diff --git a/Marlin/src/module/polargraph.h b/Marlin/src/module/polargraph.h
@@ -29,5 +29,8 @@
 #include "../core/macros.h"
 
 extern float segments_per_second;
+extern xy_pos_t draw_area_min, draw_area_max;
+extern xy_float_t draw_area_size;
+extern float polargraph_max_belt_len;
 
 void inverse_kinematics(const xyz_pos_t &raw);