public override void check_move(Move move)
{
var end_pos = move.end_pos;
var xy2 = Math.Pow(end_pos.X, 2) + Math.Pow(end_pos.Y, 2);
if (xy2 > this.limit_xy2)
{
if (this.limit_xy2 < 0.0)
{
throw EndstopException.EndstopMoveError(end_pos, "Must home axis first");
}
throw EndstopException.EndstopMoveError(end_pos);
}
if (move.axes_d.Z != 0)
{
if (end_pos.Z < this.limit_z.X || end_pos.Z > this.limit_z.Y)
{
if (this.limit_z.X > this.limit_z.Y)
{
throw EndstopException.EndstopMoveError(end_pos, "Must home axis first");
}
throw EndstopException.EndstopMoveError(end_pos);
}
// Move with Z - update velocity and accel for slower Z axis
var z_ratio = move.move_d / Math.Abs(move.axes_d.Z);
move.limit_speed(this.max_z_velocity * z_ratio, this.max_z_accel * z_ratio);
}
}
void _check_endstops(Move move)
{
var end_pos = move.end_pos;
for (int i = 0; i < 3; i++)
{
if (move.axes_d.Get(i) != 0 && (end_pos.Get(i) < this.limits[i].X || end_pos.Get(i) > this.limits[i].Y))
{
if (this.limits[i].X > this.limits[i].Y)
{
throw EndstopException.EndstopMoveError(end_pos, "Must home axis first");
}
throw EndstopException.EndstopMoveError(end_pos);
}
}
}
public override void check_move(Move move)
{
throw EndstopException.EndstopMoveError(move.end_pos, "Extrude when no extruder present");
}
