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Add probe option to position_is_reachable #4864

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Merged
thinkyhead merged 1 commit into from
Sep 22, 2016
Merged

Add probe option to position_is_reachable #4864

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38 changes: 26 additions & 12 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2525,28 +2525,36 @@ void unknown_command_error() {

#endif //HOST_KEEPALIVE_FEATURE

bool position_is_reachable(float target[XYZ]) {
bool position_is_reachable(float target[XYZ]
#if HAS_BED_PROBE
, bool by_probe=false
#endif
) {
float dx = RAW_X_POSITION(target[X_AXIS]),
dy = RAW_Y_POSITION(target[Y_AXIS]),
dz = RAW_Z_POSITION(target[Z_AXIS]);

bool good;
#if HAS_BED_PROBE
if (by_probe) {
dx -= X_PROBE_OFFSET_FROM_EXTRUDER;
dy -= Y_PROBE_OFFSET_FROM_EXTRUDER;
}
#endif

#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));
return 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);
return HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2);
#endif
#elif ENABLED(DELTA)
good = HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
#else
good = true;
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;
#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;
}

/**************************************************
Expand Down Expand Up @@ -2935,7 +2943,13 @@ inline void gcode_G4() {
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif

if (position_is_reachable(destination)) {
if (position_is_reachable(
destination
#if HAS_BED_PROBE
, true
#endif
)
) {
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
HOMEAXIS(Z);
}
Expand Down Expand Up @@ -4284,7 +4298,7 @@ inline void gcode_M42() {
}
#else
float pos[XYZ] = { X_probe_location, Y_probe_location, 0 };
if (!position_is_reachable(pos)) {
if (!position_is_reachable(pos, true)) {
SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
return;
}
Expand Down