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@ -2486,28 +2486,36 @@ void unknown_command_error() { |
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#endif //HOST_KEEPALIVE_FEATURE
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bool position_is_reachable(float target[XYZ]) { |
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bool position_is_reachable(float target[XYZ] |
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#if HAS_BED_PROBE |
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, bool by_probe=false |
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#endif |
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) { |
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float dx = RAW_X_POSITION(target[X_AXIS]), |
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dy = RAW_Y_POSITION(target[Y_AXIS]), |
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dz = RAW_Z_POSITION(target[Z_AXIS]); |
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bool good; |
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#if HAS_BED_PROBE |
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if (by_probe) { |
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dx -= X_PROBE_OFFSET_FROM_EXTRUDER; |
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dy -= Y_PROBE_OFFSET_FROM_EXTRUDER; |
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} |
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#endif |
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#if IS_SCARA |
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#if MIDDLE_DEAD_ZONE_R > 0 |
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const float R2 = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y); |
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good = (R2 >= sq(float(MIDDLE_DEAD_ZONE_R))) && (R2 <= sq(L1 + L2)); |
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return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2); |
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#else |
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good = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2); |
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return HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2); |
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#endif |
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#elif ENABLED(DELTA) |
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good = HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS); |
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return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS); |
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#else |
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good = true; |
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return dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001 |
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&& dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001 |
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&& dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001; |
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#endif |
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return good && dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001 |
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&& dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001 |
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&& dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001; |
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} |
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/**************************************************
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@ -2896,7 +2904,13 @@ inline void gcode_G4() { |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination); |
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#endif |
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if (position_is_reachable(destination)) { |
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if (position_is_reachable( |
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destination |
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#if HAS_BED_PROBE |
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, true |
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#endif |
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) |
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) { |
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do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]); |
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HOMEAXIS(Z); |
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} |
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@ -4245,7 +4259,7 @@ inline void gcode_M42() { |
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} |
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#else |
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float pos[XYZ] = { X_probe_location, Y_probe_location, 0 }; |
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if (!position_is_reachable(pos)) { |
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if (!position_is_reachable(pos, true)) { |
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SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius."); |
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return; |
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} |
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