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replace "position_is_reachable" functions with more forgiving ones.
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Adds 0.3mm of wiggle room to DELTA_PRINTABLE_RADIUS
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@aegean-odyssey
aegean-odyssey committed Dec 21, 2020
1 parent ebdfca8 commit 26c57ed
Showing 1 changed file with 36 additions and 21 deletions.
57 changes: 36 additions & 21 deletions marlin_changes/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -517,6 +517,21 @@ bool axis_relative_modes[XYZE] = AXIS_RELATIVE_MODES;
#endif
#endif

/* ###AO### */
#if MB(MALYAN_M300)
// replace the "is_reachable" functions with our more forgiving ones
#define AO_position_is_reachable_by_probe(x,y) AO_position_is_reachable(x,y)
inline bool AO_position_is_reachable(const float &rx, const float &ry)
{
constexpr float radius_squared = sq(DELTA_PRINTABLE_RADIUS + 0.3);
return (sq(rx) + sq(ry)) <= radius_squared;
}
#else
#define AO_position_is_reachable(x,y) position_is_reachable(x,y)
#define AO_position_is_reachable_by_probe(x,y) position_is_reachable_by_probe(x,y)
#endif


/* ###AO### */
#if MB(MALYAN_M300)
// software endstops are based on the configured limits
Expand Down Expand Up @@ -2043,7 +2058,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f

#if ENABLED(DELTA)

if (!position_is_reachable(rx, ry)) return;
if (!AO_position_is_reachable(rx, ry)) return;

feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;

Expand Down Expand Up @@ -2097,7 +2112,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f

#elif IS_SCARA

if (!position_is_reachable(rx, ry)) return;
if (!AO_position_is_reachable(rx, ry)) return;

set_destination_from_current();

Expand Down Expand Up @@ -3140,11 +3155,11 @@ static float run_z_probe(uint16_t verbosity)
// TODO: Adapt for SCARA, where the offset rotates
float nx = rx, ny = ry;
if (probe_relative) {
if (!position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe
if (!AO_position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe
nx -= (X_PROBE_OFFSET_FROM_EXTRUDER); // Get the nozzle position
ny -= (Y_PROBE_OFFSET_FROM_EXTRUDER);
}
else if (!position_is_reachable(nx, ny)) return NAN; // The given position is in terms of the nozzle
else if (!AO_position_is_reachable(nx, ny)) return NAN; // The given position is in terms of the nozzle

/* ###AO### */
#if MB(MALYAN_M300)
Expand Down Expand Up @@ -4920,7 +4935,7 @@ inline void gcode_G4() {
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif

if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {
if (AO_position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
Expand Down Expand Up @@ -5475,7 +5490,7 @@ int least_squares_fit_to_plane(void)
if (isnan(w))
continue;

if (! position_is_reachable_by_probe(u,v))
if (! AO_position_is_reachable_by_probe(u,v))
continue;

x += u;
Expand Down Expand Up @@ -6026,14 +6041,14 @@ inline void gcode_G29() {

if (
#if IS_SCARA || ENABLED(DELTA)
!position_is_reachable_by_probe(left_probe_bed_position, 0)
|| !position_is_reachable_by_probe(right_probe_bed_position, 0)
|| !position_is_reachable_by_probe(0, front_probe_bed_position)
|| !position_is_reachable_by_probe(0, back_probe_bed_position)
!AO_position_is_reachable_by_probe(left_probe_bed_position, 0)
|| !AO_position_is_reachable_by_probe(right_probe_bed_position, 0)
|| !AO_position_is_reachable_by_probe(0, front_probe_bed_position)
|| !AO_position_is_reachable_by_probe(0, back_probe_bed_position)
#else
!position_is_reachable_by_probe(left_probe_bed_position,
!AO_position_is_reachable_by_probe(left_probe_bed_position,
front_probe_bed_position)
|| !position_is_reachable_by_probe(right_probe_bed_position,
|| !AO_position_is_reachable_by_probe(right_probe_bed_position,
back_probe_bed_position)
#endif
) {
Expand Down Expand Up @@ -6293,7 +6308,7 @@ inline void gcode_G29() {
indexIntoAB[xCount][yCount] = abl_probe_index;
#endif
// Keep looping till a reachable point is found
if (position_is_reachable(xProbe, yProbe)) break;
if (AO_position_is_reachable(xProbe, yProbe)) break;
++abl_probe_index;
}

Expand Down Expand Up @@ -6415,7 +6430,7 @@ inline void gcode_G29() {
#endif
#if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area
if (!position_is_reachable_by_probe(xProbe, yProbe))
if (!AO_position_is_reachable_by_probe(xProbe, yProbe))
continue;
#endif
measured_z = faux
Expand Down Expand Up @@ -6779,7 +6794,7 @@ void gcode_G30()
ypos = parser.linearval('Y', current_position[Y_AXIS]
+ Y_PROBE_OFFSET_FROM_EXTRUDER);

if (! position_is_reachable_by_probe(xpos, ypos))
if (! AO_position_is_reachable_by_probe(xpos, ypos))
return;

#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
Expand Down Expand Up @@ -6814,7 +6829,7 @@ void gcode_G30()
const float xpos = parser.linearval('X', current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),
ypos = parser.linearval('Y', current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);

if (!position_is_reachable_by_probe(xpos, ypos)) return;
if (!AO_position_is_reachable_by_probe(xpos, ypos)) return;

// Disable leveling so the planner won't mess with us
#if HAS_LEVELING
Expand Down Expand Up @@ -7430,7 +7445,7 @@ void gcode_G33()
LOOP_CAL_RAD(axis) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1));
const float r = delta_calibration_radius;
if (! position_is_reachable(cos(a) * r, sin(a) * r)) {
if (! AO_position_is_reachable(cos(a) * r, sin(a) * r)) {
SERIAL_PROTOCOLLN("?(M665 B)ed radius unreachable.");
return;
}
Expand Down Expand Up @@ -7700,7 +7715,7 @@ void gcode_G33()
LOOP_CAL_RAD(axis) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
r = delta_calibration_radius;
if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
if (!AO_position_is_reachable(cos(a) * r, sin(a) * r)) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return;
}
Expand Down Expand Up @@ -9807,7 +9822,7 @@ inline void gcode_M42() {
const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER),
Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER);

if (!position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
if (!AO_position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
SERIAL_PROTOCOLLNPGM("? (X,Y) out of bounds.");
return;
}
Expand Down Expand Up @@ -9899,7 +9914,7 @@ inline void gcode_M42() {
#else
// If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin.
while (!position_is_reachable_by_probe(X_current, Y_current)) {
while (!AO_position_is_reachable_by_probe(X_current, Y_current)) {
X_current *= 0.8;
Y_current *= 0.8;
if (verbose_level > 3) {
Expand Down Expand Up @@ -16096,7 +16111,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
}

// Fail if attempting move outside printable radius
if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) return true;
if (!AO_position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) return true;

// Remaining cartesian distances
const float
Expand Down

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