Fix and improve Polargraph

Marlin/Configuration.h

@@ -60,7 +60,7 @@
 // @section info
 
 // Author info of this build printed to the host during boot and M115
-#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
+#define STRING_CONFIG_H_AUTHOR "(Marginally Clever, Makelangelo 5)" // Who made the changes.
 //#define CUSTOM_VERSION_FILE Version.h // Path from the root directory (no quotes)
 
 /**
@@ -87,7 +87,7 @@
 
 // Choose the name from boards.h that matches your setup
 #ifndef MOTHERBOARD
-  #define MOTHERBOARD BOARD_RAMPS_14_EFB
+  #define MOTHERBOARD BOARD_RUMBA
 #endif
 
 /**
@@ -135,7 +135,7 @@
 //#define BLUETOOTH
 
 // Name displayed in the LCD "Ready" message and Info menu
-//#define CUSTOM_MACHINE_NAME "3D Printer"
+#define CUSTOM_MACHINE_NAME "Polargraph"
 
 // Printer's unique ID, used by some programs to differentiate between machines.
 // Choose your own or use a service like https://www.uuidgenerator.net/version4
@@ -172,7 +172,7 @@
 //#define U_DRIVER_TYPE  A4988
 //#define V_DRIVER_TYPE  A4988
 //#define W_DRIVER_TYPE  A4988
-#define E0_DRIVER_TYPE A4988
+//#define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988
 //#define E3_DRIVER_TYPE A4988
@@ -872,10 +872,14 @@
 //#define BELTPRINTER
 
 // Enable for Polargraph Kinematics
-//#define POLARGRAPH
+#define POLARGRAPH
 #if ENABLED(POLARGRAPH)
   #define POLARGRAPH_MAX_BELT_LEN 1035.0
   #define POLAR_SEGMENTS_PER_SECOND 5
+  #if MOTHERBOARD == BOARD_RUMBA
+    #define X_MAX_PIN 37
+    #define Y_MAX_PIN 36
+  #endif
 #endif
 
 // @section delta
@@ -1030,17 +1034,17 @@
 // Specify here all the endstop connectors that are connected to any endstop or probe.
 // Almost all printers will be using one per axis. Probes will use one or more of the
 // extra connectors. Leave undefined any used for non-endstop and non-probe purposes.
-#define USE_XMIN_PLUG
-#define USE_YMIN_PLUG
+//#define USE_XMIN_PLUG
+//#define USE_YMIN_PLUG
 #define USE_ZMIN_PLUG
 //#define USE_IMIN_PLUG
 //#define USE_JMIN_PLUG
 //#define USE_KMIN_PLUG
 //#define USE_UMIN_PLUG
 //#define USE_VMIN_PLUG
 //#define USE_WMIN_PLUG
-//#define USE_XMAX_PLUG
-//#define USE_YMAX_PLUG
+#define USE_XMAX_PLUG
+#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
 //#define USE_IMAX_PLUG
 //#define USE_JMAX_PLUG
@@ -1109,8 +1113,8 @@
 #define U_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define V_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define W_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define X_MAX_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
+#define Y_MAX_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
@@ -1166,18 +1170,18 @@
  * Override with M92
  *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
-#define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }
+#define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 80, 80 }
 
 /**
  * Default Max Feed Rate (linear=mm/s, rotational=°/s)
  * Override with M203
  *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
-#define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }
+#define DEFAULT_MAX_FEEDRATE          { 300, 300, 300, 300 }
 
 //#define LIMITED_MAX_FR_EDITING        // Limit edit via M203 or LCD to DEFAULT_MAX_FEEDRATE * 2
 #if ENABLED(LIMITED_MAX_FR_EDITING)
-  #define MAX_FEEDRATE_EDIT_VALUES    { 600, 600, 10, 50 } // ...or, set your own edit limits
+  #define MAX_FEEDRATE_EDIT_VALUES    { 600, 600, 600 } // ...or, set your own edit limits
 #endif
 
 /**
@@ -1186,11 +1190,11 @@
  * Override with M201
  *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
-#define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }
+#define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 3000, 3000 }
 
 //#define LIMITED_MAX_ACCEL_EDITING     // Limit edit via M201 or LCD to DEFAULT_MAX_ACCELERATION * 2
 #if ENABLED(LIMITED_MAX_ACCEL_EDITING)
-  #define MAX_ACCEL_EDIT_VALUES       { 6000, 6000, 200, 20000 } // ...or, set your own edit limits
+  #define MAX_ACCEL_EDIT_VALUES       { 6000, 6000, 6000 } // ...or, set your own edit limits
 #endif
 
 /**
@@ -1213,7 +1217,7 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-//#define CLASSIC_JERK
+#define CLASSIC_JERK
 #if ENABLED(CLASSIC_JERK)
   #define DEFAULT_XJERK 10.0
   #define DEFAULT_YJERK 10.0
@@ -1638,7 +1642,7 @@
 // @section motion
 
 // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
-#define INVERT_X_DIR false
+#define INVERT_X_DIR true
 #define INVERT_Y_DIR true
 #define INVERT_Z_DIR false
 //#define INVERT_I_DIR false
@@ -1679,8 +1683,8 @@
 
 // Direction of endstops when homing; 1=MAX, -1=MIN
 // :[-1,1]
-#define X_HOME_DIR -1
-#define Y_HOME_DIR -1
+#define X_HOME_DIR 1
+#define Y_HOME_DIR 1
 #define Z_HOME_DIR -1
 //#define I_HOME_DIR -1
 //#define J_HOME_DIR -1
@@ -1692,16 +1696,16 @@
 // @section geometry
 
 // The size of the printable area
-#define X_BED_SIZE 200
-#define Y_BED_SIZE 200
+#define X_BED_SIZE 650
+#define Y_BED_SIZE 1000
 
 // Travel limits (linear=mm, rotational=°) after homing, corresponding to endstop positions.
-#define X_MIN_POS 0
-#define Y_MIN_POS 0
+#define X_MIN_POS (-X_BED_SIZE/2)
+#define Y_MIN_POS (-Y_BED_SIZE/2)
 #define Z_MIN_POS 0
-#define X_MAX_POS X_BED_SIZE
-#define Y_MAX_POS Y_BED_SIZE
-#define Z_MAX_POS 200
+#define X_MAX_POS (X_BED_SIZE/2)
+#define Y_MAX_POS (Y_BED_SIZE/2)
+#define Z_MAX_POS 0
 //#define I_MIN_POS 0
 //#define I_MAX_POS 50
 //#define J_MIN_POS 0
@@ -1725,7 +1729,7 @@
  */
 
 // Min software endstops constrain movement within minimum coordinate bounds
-#define MIN_SOFTWARE_ENDSTOPS
+//#define MIN_SOFTWARE_ENDSTOPS
 #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
   #define MIN_SOFTWARE_ENDSTOP_X
   #define MIN_SOFTWARE_ENDSTOP_Y
@@ -1743,13 +1747,13 @@
 #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
   #define MAX_SOFTWARE_ENDSTOP_X
   #define MAX_SOFTWARE_ENDSTOP_Y
-  #define MAX_SOFTWARE_ENDSTOP_Z
-  #define MAX_SOFTWARE_ENDSTOP_I
-  #define MAX_SOFTWARE_ENDSTOP_J
-  #define MAX_SOFTWARE_ENDSTOP_K
-  #define MAX_SOFTWARE_ENDSTOP_U
-  #define MAX_SOFTWARE_ENDSTOP_V
-  #define MAX_SOFTWARE_ENDSTOP_W
+  //#define MAX_SOFTWARE_ENDSTOP_Z
+  //#define MAX_SOFTWARE_ENDSTOP_I
+  //#define MAX_SOFTWARE_ENDSTOP_J
+  //#define MAX_SOFTWARE_ENDSTOP_K
+  //#define MAX_SOFTWARE_ENDSTOP_U
+  //#define MAX_SOFTWARE_ENDSTOP_V
+  //#define MAX_SOFTWARE_ENDSTOP_W
 #endif
 
 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
@@ -2063,12 +2067,12 @@
 // @section homing
 
 // The center of the bed is at (X=0, Y=0)
-//#define BED_CENTER_AT_0_0
+#define BED_CENTER_AT_0_0
 
 // Manually set the home position. Leave these undefined for automatic settings.
 // For DELTA this is the top-center of the Cartesian print volume.
-//#define MANUAL_X_HOME_POS 0
-//#define MANUAL_Y_HOME_POS 0
+#define MANUAL_X_HOME_POS 0
+#define MANUAL_Y_HOME_POS -482.65 //(Y_MAX_POS-( sqrt(sq(POLARGRAPH_MAX_BELT_LEN)-sq(X_BED_SIZE/2))))
 //#define MANUAL_Z_HOME_POS 0
 //#define MANUAL_I_HOME_POS 0
 //#define MANUAL_J_HOME_POS 0
@@ -2170,7 +2174,7 @@
  *   M501 - Read settings from EEPROM. (i.e., Throw away unsaved changes)
  *   M502 - Revert settings to "factory" defaults. (Follow with M500 to init the EEPROM.)
  */
-//#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
+#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
 //#define DISABLE_M503        // Saves ~2700 bytes of flash. Disable for release!
 #define EEPROM_CHITCHAT       // Give feedback on EEPROM commands. Disable to save PROGMEM.
 #define EEPROM_BOOT_SILENT    // Keep M503 quiet and only give errors during first load
@@ -2455,14 +2459,14 @@
  * SD Card support is disabled by default. If your controller has an SD slot,
  * you must uncomment the following option or it won't work.
  */
-//#define SDSUPPORT
+#define SDSUPPORT
 
 /**
  * SD CARD: ENABLE CRC
  *
  * Use CRC checks and retries on the SD communication.
  */
-//#define SD_CHECK_AND_RETRY
+#define SD_CHECK_AND_RETRY
 
 /**
  * LCD Menu Items
@@ -2568,7 +2572,7 @@
 //
 // Note: Usually sold with a white PCB.
 //
-//#define REPRAP_DISCOUNT_SMART_CONTROLLER
+#define REPRAP_DISCOUNT_SMART_CONTROLLER
 
 //
 // GT2560 (YHCB2004) LCD Display
@@ -3334,15 +3338,15 @@
  * Set this manually if there are extra servos needing manual control.
  * Set to 0 to turn off servo support.
  */
-//#define NUM_SERVOS 3 // Note: Servo index starts with 0 for M280-M282 commands
+#define NUM_SERVOS 1 // Note: Servo index starts with 0 for M280-M282 commands
 
 // (ms) Delay before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
 #define SERVO_DELAY { 300 }
 
 // Only power servos during movement, otherwise leave off to prevent jitter
-//#define DEACTIVATE_SERVOS_AFTER_MOVE
+#define DEACTIVATE_SERVOS_AFTER_MOVE
 
 // Edit servo angles with M281 and save to EEPROM with M500
 //#define EDITABLE_SERVO_ANGLES

Marlin/Configuration_adv.h

@@ -876,7 +876,7 @@
 //#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (linear=mm, rotational=°) Backoff from endstops after homing
 //#define XY_COUNTERPART_BACKOFF_MM 0         // (mm) Backoff X after homing Y, and vice-versa
 
-//#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
+#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
 //#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
 //#define HOME_Z_FIRST                        // Home Z first. Requires a Z-MIN endstop (not a probe).
 //#define CODEPENDENT_XY_HOMING               // If X/Y can't home without homing Y/X first
@@ -1240,7 +1240,7 @@
 //#define MICROSTEP32 HIGH,LOW,HIGH
 
 // Microstep settings (Requires a board with pins named X_MS1, X_MS2, etc.)
-#define MICROSTEP_MODES { 16, 16, 16, 16, 16, 16 } // [1,2,4,8,16]
+#define MICROSTEP_MODES { 16, 16 } // [1,2,4,8,16]
 
 /**
  *  @section  stepper motor current
@@ -3930,12 +3930,12 @@
  * Host Prompt Support enables Marlin to use the host for user prompts so
  * filament runout and other processes can be managed from the host side.
  */
-//#define HOST_ACTION_COMMANDS
+#define HOST_ACTION_COMMANDS
 #if ENABLED(HOST_ACTION_COMMANDS)
-  //#define HOST_PAUSE_M76                // Tell the host to pause in response to M76
-  //#define HOST_PROMPT_SUPPORT           // Initiate host prompts to get user feedback
+  #define HOST_PAUSE_M76                // Tell the host to pause in response to M76
+  #define HOST_PROMPT_SUPPORT           // Initiate host prompts to get user feedback
   #if ENABLED(HOST_PROMPT_SUPPORT)
-    //#define HOST_STATUS_NOTIFICATIONS   // Send some status messages to the host as notifications
+    #define HOST_STATUS_NOTIFICATIONS   // Send some status messages to the host as notifications
   #endif
   //#define HOST_START_MENU_ITEM          // Add a menu item that tells the host to start
   //#define HOST_SHUTDOWN_MENU_ITEM       // Add a menu item that tells the host to shut down

Marlin/src/gcode/gcode.cpp

@@ -600,11 +600,11 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 108: M108(); break;                                  // M108: Cancel Waiting
         case 112: M112(); break;                                  // M112: Full Shutdown
         case 410: M410(); break;                                  // M410: Quickstop - Abort all the planned moves.
-        TERN_(HOST_PROMPT_SUPPORT, case 876:)                     // M876: Handle Host prompt responses
+        TERN_(HOST_PROMPT_SUPPORT, case 876: M876();)                     // M876: Handle Host prompt responses
       #else
         case 108: case 112: case 410:
-        TERN_(HOST_PROMPT_SUPPORT, case 876:)
         break;
+        TERN_(HOST_PROMPT_SUPPORT, case 876: M876();)
       #endif
 
       #if ENABLED(HOST_KEEPALIVE_FEATURE)

Marlin/src/inc/SanityCheck.h

@@ -821,15 +821,15 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 /**
  * Granular software endstops (Marlin >= 1.1.7)
  */
-#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && DISABLED(MIN_SOFTWARE_ENDSTOP_Z)
+#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && DISABLED(MIN_SOFTWARE_ENDSTOP_Z) && DISABLED(POLARGRAPH)
   #if IS_KINEMATIC
     #error "MIN_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MIN_SOFTWARE_ENDSTOP_Z."
   #elif NONE(MIN_SOFTWARE_ENDSTOP_X, MIN_SOFTWARE_ENDSTOP_Y)
     #error "MIN_SOFTWARE_ENDSTOPS requires at least one of the MIN_SOFTWARE_ENDSTOP_[XYZ] options."
   #endif
 #endif
 
-#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && DISABLED(MAX_SOFTWARE_ENDSTOP_Z)
+#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && DISABLED(MAX_SOFTWARE_ENDSTOP_Z) && DISABLED(POLARGRAPH)
   #if IS_KINEMATIC
     #error "MAX_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MAX_SOFTWARE_ENDSTOP_Z."
   #elif NONE(MAX_SOFTWARE_ENDSTOP_X, MAX_SOFTWARE_ENDSTOP_Y)

Marlin/src/module/motion.cpp

@@ -341,7 +341,6 @@ void report_current_position_projected() {
       can_reach = (
            a < polargraph_max_belt_len + 1
         && b < polargraph_max_belt_len + 1
-        && (a + b) > _MIN(draw_area_size.x, draw_area_size.y)
       );
 
     #endif
@@ -562,7 +561,8 @@ void do_blocking_move_to(NUM_AXIS_ARGS(const float), const_feedRate_t fr_mm_s/*=
     const feedRate_t w_feedrate = fr_mm_s ?: homing_feedrate(W_AXIS)
   );
 
-  #if IS_KINEMATIC
+  #if IS_KINEMATIC && !ENABLED(POLARGRAPH)
+    // kinematic machines are expected to home to a point 1.5x their range?  never reachable.
     if (!position_is_reachable(x, y)) return;
     destination = current_position;          // sync destination at the start
   #endif
@@ -919,11 +919,18 @@ void restore_feedrate_and_scaling() {
         constexpr xy_pos_t offs{0};
       #endif
 
-      if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) {
-        const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
-        if (dist_2 > delta_max_radius_2)
-          target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66
-      }
+      #if ENABLED(POLARGRAPH)
+        target.x = _MIN(target.x, draw_area_max.x);
+        target.x = _MAX(target.x, draw_area_min.x);
+        target.y = _MIN(target.y, draw_area_max.y);
+        target.y = _MAX(target.y, draw_area_min.y);
+      #else
+        if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) {
+          const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
+          if (dist_2 > delta_max_radius_2)
+            target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66
+        }
+      #endif
 
     #else
 

Marlin/src/module/polargraph.cpp

@@ -44,7 +44,7 @@ xy_pos_t draw_area_min = { X_MIN_POS, Y_MIN_POS },
 
 xy_float_t draw_area_size = { X_MAX_POS - X_MIN_POS, Y_MAX_POS - Y_MIN_POS };
 
-float polargraph_max_belt_len = HYPOT(draw_area_size.x, draw_area_size.y);
+float polargraph_max_belt_len = POLARGRAPH_MAX_BELT_LEN;
 
 void inverse_kinematics(const xyz_pos_t &raw) {
   const float x1 = raw.x - (draw_area_min.x), x2 = (draw_area_max.x) - raw.x, y = raw.y - (draw_area_max.y);