diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index d34445ac43..08088f7bfa 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -317,7 +317,6 @@ float code_value_temp_diff(); delta_diagonal_rod_trim_tower_3; void recalc_delta_settings(float radius, float diagonal_rod); #elif IS_SCARA - extern float axis_scaling[ABC]; // Build size scaling void forward_kinematics_SCARA(const float &a, const float &b); #endif diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 64e9cbabbb..fabdd430d4 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -253,7 +253,6 @@ * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration) * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position) - * M365 - SCARA calibration: Scaling factor, X, Y, Z axis * ************* SCARA End *************** * * ************ Custom codes - This can change to suit future G-code regulations @@ -505,8 +504,7 @@ static uint8_t target_extruder; L2_2 = sq(float(L2)); float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND, - delta[ABC], - axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1 + delta[ABC]; #endif float cartes[XYZ] = { 0 }; @@ -5750,8 +5748,8 @@ inline void gcode_M303() { if (IsRunning()) { //gcode_get_destination(); // For X Y Z E F forward_kinematics_SCARA(delta_a, delta_b); - destination[X_AXIS] = cartes[X_AXIS] / axis_scaling[X_AXIS]; - destination[Y_AXIS] = cartes[Y_AXIS] / axis_scaling[Y_AXIS]; + destination[X_AXIS] = cartes[X_AXIS]; + destination[Y_AXIS] = cartes[Y_AXIS]; destination[Z_AXIS] = current_position[Z_AXIS]; prepare_move_to_destination(); //ok_to_send(); @@ -5800,15 +5798,6 @@ inline void gcode_M303() { return SCARA_move_to_cal(45, 135); } - /** - * M365: SCARA calibration: Scaling factor, X, Y, Z axis - */ - inline void gcode_M365() { - LOOP_XYZ(i) - if (code_seen(axis_codes[i])) - axis_scaling[i] = code_value_float(); - } - #endif // SCARA #if ENABLED(EXT_SOLENOID) @@ -7407,9 +7396,6 @@ void process_next_command() { case 364: // M364 SCARA Psi pos3 (90 deg to Theta) if (gcode_M364()) return; break; - case 365: // M365 Set SCARA scaling for X Y Z - gcode_M365(); - break; #endif // SCARA case 400: // M400 finish all moves @@ -8359,8 +8345,8 @@ void prepare_move_to_destination() { static float C2, S2, SK1, SK2, THETA, PSI; - float sx = RAW_X_POSITION(cartesian[X_AXIS]) * axis_scaling[X_AXIS] - SCARA_OFFSET_X, //Translate SCARA to standard X Y - sy = RAW_Y_POSITION(cartesian[Y_AXIS]) * axis_scaling[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor. + float sx = RAW_X_POSITION(cartesian[X_AXIS]) - SCARA_OFFSET_X, //Translate SCARA to standard X Y + sy = RAW_Y_POSITION(cartesian[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor. #if (L1 == L2) C2 = HYPOT2(sx, sy) / (2 * L1_2) - 1; diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 0dd1ce6da4..f6d061dcb6 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -36,7 +36,7 @@ * */ -#define EEPROM_VERSION "V24" +#define EEPROM_VERSION "V25" // Change EEPROM version if these are changed: #define EEPROM_OFFSET 100 @@ -105,24 +105,21 @@ * DOGLCD: * 379 M250 C lcd_contrast (int) * - * SCARA: - * 381 M365 XYZ axis_scaling (float x3) - * * FWRETRACT: - * 393 M209 S autoretract_enabled (bool) - * 394 M207 S retract_length (float) - * 398 M207 W retract_length_swap (float) - * 402 M207 F retract_feedrate_mm_s (float) - * 406 M207 Z retract_zlift (float) - * 410 M208 S retract_recover_length (float) - * 414 M208 W retract_recover_length_swap (float) - * 418 M208 F retract_recover_feedrate_mm_s (float) + * 381 M209 S autoretract_enabled (bool) + * 382 M207 S retract_length (float) + * 386 M207 W retract_length_swap (float) + * 390 M207 F retract_feedrate_mm_s (float) + * 394 M207 Z retract_zlift (float) + * 398 M208 S retract_recover_length (float) + * 402 M208 W retract_recover_length_swap (float) + * 406 M208 F retract_recover_feedrate_mm_s (float) * * Volumetric Extrusion: - * 422 M200 D volumetric_enabled (bool) - * 423 M200 T D filament_size (float x4) (T0..3) + * 410 M200 D volumetric_enabled (bool) + * 411 M200 T D filament_size (float x4) (T0..3) * - * 439 This Slot is Available! + * 427 This Slot is Available! * */ #include "Marlin.h" @@ -330,13 +327,6 @@ void Config_StoreSettings() { #endif EEPROM_WRITE(lcd_contrast); - #if IS_SCARA - EEPROM_WRITE(axis_scaling); // 3 floats - #else - dummy = 1.0f; - EEPROM_WRITE(dummy); - #endif - #if ENABLED(FWRETRACT) EEPROM_WRITE(autoretract_enabled); EEPROM_WRITE(retract_length); @@ -520,12 +510,6 @@ void Config_RetrieveSettings() { #endif EEPROM_READ(lcd_contrast); - #if IS_SCARA - EEPROM_READ(axis_scaling); // 3 floats - #else - EEPROM_READ(dummy); - #endif - #if ENABLED(FWRETRACT) EEPROM_READ(autoretract_enabled); EEPROM_READ(retract_length); @@ -584,10 +568,6 @@ void Config_ResetDefault() { planner.axis_steps_per_mm[i] = tmp1[i]; planner.max_feedrate_mm_s[i] = tmp2[i]; planner.max_acceleration_mm_per_s2[i] = tmp3[i]; - #if IS_SCARA - if (i < COUNT(axis_scaling)) - axis_scaling[i] = 1; - #endif } planner.acceleration = DEFAULT_ACCELERATION; @@ -716,18 +696,6 @@ void Config_PrintSettings(bool forReplay) { CONFIG_ECHO_START; - #if IS_SCARA - if (!forReplay) { - SERIAL_ECHOLNPGM("Scaling factors:"); - CONFIG_ECHO_START; - } - SERIAL_ECHOPAIR(" M365 X", axis_scaling[X_AXIS]); - SERIAL_ECHOPAIR(" Y", axis_scaling[Y_AXIS]); - SERIAL_ECHOPAIR(" Z", axis_scaling[Z_AXIS]); - SERIAL_EOL; - CONFIG_ECHO_START; - #endif // SCARA - if (!forReplay) { SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):"); CONFIG_ECHO_START; diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index f2768a8c17..caa8099f67 100755 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1823,10 +1823,6 @@ void kill_screen(const char* lcd_msg) { #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit); #endif - #if IS_SCARA - MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS], 0.5, 2); - MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS], 0.5, 2); - #endif END_MENU(); }