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Various cleanups - Part 1 #4799

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Various cleanups - Part 1 #4799

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413b61e
Add HYPOT2 and float comparison macros
thinkyhead Sep 12, 2016
2151456
Add enum for ALL_AXES
thinkyhead Sep 12, 2016
6ab54c6
Add conditionals for kinematics, leveling
thinkyhead Sep 12, 2016
74d7f5e
Patch SCARA example config
thinkyhead Sep 12, 2016
8ff338c
Patch stepper.h for SCARA
thinkyhead Sep 12, 2016
f9a192c
Move setup() and loop() to the end
thinkyhead Sep 12, 2016
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52 changes: 37 additions & 15 deletions Marlin/Conditionals_post.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,12 +61,16 @@
#define NORMAL_AXIS X_AXIS
#endif

#define IS_SCARA (ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA))
#define IS_KINEMATIC (ENABLED(DELTA) || IS_SCARA)
#define IS_CARTESIAN !IS_KINEMATIC

/**
* SCARA
* SCARA cannot use SLOWDOWN and requires QUICKHOME
*/
#if ENABLED(SCARA)
#if IS_SCARA
#undef SLOWDOWN
#define QUICK_HOME //SCARA needs Quickhome
#define QUICK_HOME
#endif

/**
Expand Down Expand Up @@ -132,12 +136,6 @@

#define HOMING_Z_WITH_PROBE (HAS_BED_PROBE && Z_HOME_DIR < 0 && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN))

// Boundaries for probing based on set limits
#define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))

#define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)

/**
Expand Down Expand Up @@ -657,18 +655,28 @@
#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
#endif
#if ENABLED(AUTO_BED_LEVELING_GRID)
#define DELTA_BED_LEVELING_GRID
#endif
#endif

/**
* When not using other bed leveling...
* Specify the exact style of auto bed leveling
*
* 3POINT - 3 Point Probing with the least-squares solution.
* LINEAR - Grid Probing with the least-squares solution.
* NONLINEAR - Grid Probing with a mesh solution. Best for large beds.
*/
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(AUTO_BED_LEVELING_GRID) && DISABLED(DELTA_BED_LEVELING_GRID)
#define AUTO_BED_LEVELING_3POINT
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if DISABLED(AUTO_BED_LEVELING_GRID)
#define AUTO_BED_LEVELING_LINEAR
#define AUTO_BED_LEVELING_3POINT
#elif IS_KINEMATIC
#define AUTO_BED_LEVELING_NONLINEAR
#else
#define AUTO_BED_LEVELING_LINEAR
#endif
#endif

#define PLANNER_LEVELING (ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_LINEAR))

/**
* Buzzer/Speaker
*/
Expand Down Expand Up @@ -702,4 +710,18 @@
#define Z_PROBE_TRAVEL_HEIGHT Z_HOMING_HEIGHT
#endif

#if IS_KINEMATIC
// Check for this in the code instead
#define MIN_PROBE_X X_MIN_POS
#define MAX_PROBE_X X_MAX_POS
#define MIN_PROBE_Y Y_MIN_POS
#define MAX_PROBE_Y Y_MAX_POS
#else
// Boundaries for probing based on set limits
#define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#endif

#endif // CONDITIONALS_POST_H
2 changes: 1 addition & 1 deletion Marlin/Marlin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -313,7 +313,7 @@ float code_value_temp_diff();
extern int delta_grid_spacing[2];
void adjust_delta(float cartesian[XYZ]);
#endif
#elif ENABLED(SCARA)
#elif IS_SCARA
extern float delta[ABC];
extern float axis_scaling[ABC]; // Build size scaling
void inverse_kinematics(const float cartesian[XYZ]);
Expand Down
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