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@ -161,6 +161,7 @@
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// M503 - print the current settings (from memory not from EEPROM)
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// M503 - print the current settings (from memory not from EEPROM)
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// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
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// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
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// M665 - set delta configurations
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// M666 - set delta endstop adjustment
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// M666 - set delta endstop adjustment
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// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
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// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
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// M907 - Set digital trimpot motor current using axis codes.
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// M907 - Set digital trimpot motor current using axis codes.
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@ -249,10 +250,22 @@ int EtoPPressure=0;
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#endif
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#endif
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#ifdef DELTA
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#ifdef DELTA
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float delta[3] = {0.0, 0.0, 0.0};
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float delta[3] = {0.0, 0.0, 0.0};
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#define SIN_60 0.8660254037844386
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#define COS_60 0.5
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// these are the default values, can be overriden with M665
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float delta_radius= DELTA_RADIUS;
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float delta_tower1_x= -SIN_60*delta_radius; // front left tower
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float delta_tower1_y= -COS_60*delta_radius;
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float delta_tower2_x= SIN_60*delta_radius; // front right tower
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float delta_tower2_y= -COS_60*delta_radius;
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float delta_tower3_x= 0.0; // back middle tower
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float delta_tower3_y= delta_radius;
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float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
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float delta_diagonal_rod_2= sq(delta_diagonal_rod);
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float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
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#endif
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#endif
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//===========================================================================
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//===========================================================================
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//=============================Private Variables=============================
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//=============================Private Variables=============================
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//===========================================================================
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//===========================================================================
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@ -2293,6 +2306,19 @@ void process_commands()
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}
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}
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break;
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break;
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#ifdef DELTA
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#ifdef DELTA
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case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
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if(code_seen('L')) {
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delta_diagonal_rod= code_value();
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}
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if(code_seen('R')) {
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delta_radius= code_value();
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}
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if(code_seen('S')) {
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delta_segments_per_second= code_value();
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}
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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break;
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case 666: // M666 set delta endstop adjustemnt
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case 666: // M666 set delta endstop adjustemnt
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for(int8_t i=0; i < 3; i++)
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for(int8_t i=0; i < 3; i++)
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{
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{
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@ -3091,19 +3117,30 @@ void clamp_to_software_endstops(float target[3])
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}
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}
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#ifdef DELTA
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#ifdef DELTA
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void recalc_delta_settings(float radius, float diagonal_rod)
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{
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delta_tower1_x= -SIN_60*radius; // front left tower
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delta_tower1_y= -COS_60*radius;
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delta_tower2_x= SIN_60*radius; // front right tower
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delta_tower2_y= -COS_60*radius;
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delta_tower3_x= 0.0; // back middle tower
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delta_tower3_y= radius;
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delta_diagonal_rod_2= sq(diagonal_rod);
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}
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void calculate_delta(float cartesian[3])
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void calculate_delta(float cartesian[3])
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{
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{
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delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
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delta[X_AXIS] = sqrt(delta_diagonal_rod_2
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- sq(DELTA_TOWER1_X-cartesian[X_AXIS])
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- sq(delta_tower1_x-cartesian[X_AXIS])
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- sq(DELTA_TOWER1_Y-cartesian[Y_AXIS])
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- sq(delta_tower1_y-cartesian[Y_AXIS])
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) + cartesian[Z_AXIS];
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) + cartesian[Z_AXIS];
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delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
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delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
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- sq(DELTA_TOWER2_X-cartesian[X_AXIS])
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- sq(delta_tower2_x-cartesian[X_AXIS])
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- sq(DELTA_TOWER2_Y-cartesian[Y_AXIS])
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- sq(delta_tower2_y-cartesian[Y_AXIS])
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) + cartesian[Z_AXIS];
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) + cartesian[Z_AXIS];
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delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
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delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
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- sq(DELTA_TOWER3_X-cartesian[X_AXIS])
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- sq(delta_tower3_x-cartesian[X_AXIS])
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- sq(DELTA_TOWER3_Y-cartesian[Y_AXIS])
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- sq(delta_tower3_y-cartesian[Y_AXIS])
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) + cartesian[Z_AXIS];
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) + cartesian[Z_AXIS];
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/*
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/*
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SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
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SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
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@ -3133,7 +3170,7 @@ void prepare_move()
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if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
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if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
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if (cartesian_mm < 0.000001) { return; }
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if (cartesian_mm < 0.000001) { return; }
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float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
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float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
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int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds));
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int steps = max(1, int(delta_segments_per_second * seconds));
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// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
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// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
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// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
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// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
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// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
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// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
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