From e8701195e66f2d27ffe17fb514eae8173795aaf7 Mon Sep 17 00:00:00 2001
From: Georgiy Bondarenko <69736697+nehilo@users.noreply.github.com>
Date: Thu, 4 Mar 2021 22:54:23 +0500
Subject: Initial commit

---
 Marlin/src/gcode/scara/M360-M364.cpp | 81 ++++++++++++++++++++++++++++++++++++
 1 file changed, 81 insertions(+)
 create mode 100644 Marlin/src/gcode/scara/M360-M364.cpp

(limited to 'Marlin/src/gcode/scara/M360-M364.cpp')

diff --git a/Marlin/src/gcode/scara/M360-M364.cpp b/Marlin/src/gcode/scara/M360-M364.cpp
new file mode 100644
index 0000000..562beee
--- /dev/null
+++ b/Marlin/src/gcode/scara/M360-M364.cpp
@@ -0,0 +1,81 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(MORGAN_SCARA)
+
+#include "../gcode.h"
+#include "../../module/scara.h"
+#include "../../module/motion.h"
+#include "../../MarlinCore.h" // for IsRunning()
+
+inline bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
+  if (IsRunning()) {
+    forward_kinematics_SCARA(delta_a, delta_b);
+    do_blocking_move_to_xy(cartes);
+    return true;
+  }
+  return false;
+}
+
+/**
+ * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+ */
+bool GcodeSuite::M360() {
+  SERIAL_ECHOLNPGM(" Cal: Theta 0");
+  return SCARA_move_to_cal(0, 120);
+}
+
+/**
+ * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
+ */
+bool GcodeSuite::M361() {
+  SERIAL_ECHOLNPGM(" Cal: Theta 90");
+  return SCARA_move_to_cal(90, 130);
+}
+
+/**
+ * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
+ */
+bool GcodeSuite::M362() {
+  SERIAL_ECHOLNPGM(" Cal: Psi 0");
+  return SCARA_move_to_cal(60, 180);
+}
+
+/**
+ * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
+ */
+bool GcodeSuite::M363() {
+  SERIAL_ECHOLNPGM(" Cal: Psi 90");
+  return SCARA_move_to_cal(50, 90);
+}
+
+/**
+ * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
+ */
+bool GcodeSuite::M364() {
+  SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
+  return SCARA_move_to_cal(45, 135);
+}
+
+#endif // MORGAN_SCARA
-- 
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