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@ -472,11 +472,14 @@ float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS];
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#endif
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// Software Endstops are based on the configured limits.
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float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
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soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
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#if HAS_SOFTWARE_ENDSTOPS
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bool soft_endstops_enabled = true;
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#if IS_KINEMATIC
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float soft_endstop_radius, soft_endstop_radius_2;
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#endif
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#endif
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float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
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soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
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#if FAN_COUNT > 0
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int16_t fanSpeeds[FAN_COUNT] = { 0 };
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@ -1464,8 +1467,17 @@ bool get_target_extruder_from_command(const uint16_t code) {
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#endif
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#if ENABLED(DELTA)
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if (axis == Z_AXIS)
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switch(axis) {
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case X_AXIS:
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case Y_AXIS:
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// Get a minimum radius for clamping
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soft_endstop_radius = MIN3(FABS(max(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]);
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soft_endstop_radius_2 = sq(soft_endstop_radius);
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break;
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case Z_AXIS:
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delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
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default: break;
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}
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#endif
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}
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@ -12045,33 +12057,38 @@ void ok_to_send() {
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#if HAS_SOFTWARE_ENDSTOPS
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/**
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* Constrain the given coordinates to the software endstops.
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*/
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/**
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* Constrain the given coordinates to the software endstops.
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*
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* NOTE: This will only apply to Z on DELTA and SCARA. XY is
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* constrained to a circle on these kinematic systems.
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* For DELTA/SCARA the XY constraint is based on the smallest
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* radius within the set software endstops.
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*/
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void clamp_to_software_endstops(float target[XYZ]) {
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if (!soft_endstops_enabled) return;
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#if IS_KINEMATIC
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const float dist_2 = HYPOT2(target[X_AXIS], target[Y_AXIS]);
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if (dist_2 > soft_endstop_radius_2) {
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const float ratio = soft_endstop_radius / SQRT(dist_2); // 200 / 300 = 0.66
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target[X_AXIS] *= ratio;
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target[Y_AXIS] *= ratio;
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}
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#else
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
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#endif
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
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NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
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#endif
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
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NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
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#endif
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#endif
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
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NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
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#endif
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Scott Lahteine
8 years ago
committed by