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SCARA support in position_is_reachable

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This commit is contained in:
Scott Lahteine 2016-09-15 15:43:59 -05:00
parent 1c5f9821c4
commit 7194e4434f
1 changed files with 17 additions and 7 deletions
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24
Marlin/Marlin_main.cpp
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@ -2501,16 +2501,26 @@ void unknown_command_error() {
bool position_is_reachable(float target[XYZ]) {
float dx = RAW_X_POSITION(target[X_AXIS]),
dy = RAW_Y_POSITION(target[Y_AXIS]);
dy = RAW_Y_POSITION(target[Y_AXIS]),
dz = RAW_Z_POSITION(target[Z_AXIS]);
#if ENABLED(DELTA)
return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
bool good;
#if IS_SCARA
#if MIDDLE_DEAD_ZONE_R > 0
const float R2 = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y);
good = (R2 >= sq(float(MIDDLE_DEAD_ZONE_R))) && (R2 <= sq(L1 + L2));
#else
good = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2);
#endif
#elif ENABLED(DELTA)
good = HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
#else
float dz = RAW_Z_POSITION(target[Z_AXIS]);
return dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001
&& dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001
&& dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001;
good = true;
#endif
return good && dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001
&& dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001
&& dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001;
}
/**************************************************