✨ MARKFORGED_INVERSE (#26516)

Marlin/Configuration.h

@@ -892,8 +892,16 @@
 //#define COREYX
 //#define COREZX
 //#define COREZY
-//#define MARKFORGED_XY  // MarkForged. See https://reprap.org/forum/read.php?152,504042
+
+//
+// MarkForged Kinematics
+// See https://reprap.org/forum/read.php?152,504042
+//
+//#define MARKFORGED_XY
 //#define MARKFORGED_YX
+#if ANY(MARKFORGED_XY, MARKFORGED_YX)
+  //#define MARKFORGED_INVERSE  // Enable for an inverted Markforged kinematics belt path
+#endif
 
 // Enable for a belt style printer with endless "Z" motion
 //#define BELTPRINTER

Marlin/src/module/planner.cpp

@@ -1990,11 +1990,11 @@ bool Planner::_populate_block(
       dm.c  = (CORESIGN(dist.b - dist.c) > 0);  // Motor C direction
     #endif
   #elif ENABLED(MARKFORGED_XY)
-    dm.a = (dist.a + dist.b > 0);               // Motor A direction
+    dm.a = (dist.a TERN(MARKFORGED_INVERSE, -, +) dist.b > 0); // Motor A direction
     dm.b = (dist.b > 0);                        // Motor B direction
   #elif ENABLED(MARKFORGED_YX)
     dm.a = (dist.a > 0);                        // Motor A direction
-    dm.b = (dist.b + dist.a > 0);               // Motor B direction
+    dm.b = (dist.b TERN(MARKFORGED_INVERSE, -, +) dist.a > 0); // Motor B direction
   #else
     XYZ_CODE(
       dm.x = (dist.a > 0),
@@ -2062,9 +2062,9 @@ bool Planner::_populate_block(
     #elif CORE_IS_YZ
       ABS(dist.a), ABS(dist.b + dist.c), ABS(dist.b - dist.c)
     #elif ENABLED(MARKFORGED_XY)
-      ABS(dist.a + dist.b), ABS(dist.b), ABS(dist.c)
+      ABS(dist.a TERN(MARKFORGED_INVERSE, -, +) dist.b), ABS(dist.b), ABS(dist.c)
     #elif ENABLED(MARKFORGED_YX)
-      ABS(dist.a), ABS(dist.b + dist.a), ABS(dist.c)
+      ABS(dist.a), ABS(dist.b TERN(MARKFORGED_INVERSE, -, +) dist.a), ABS(dist.c)
     #elif IS_SCARA
       ABS(dist.a), ABS(dist.b), ABS(dist.c)
     #else // default non-h-bot planning
@@ -2110,11 +2110,11 @@ bool Planner::_populate_block(
       dist_mm.c      = CORESIGN(dist.b - dist.c) * mm_per_step[C_AXIS];
     #endif
   #elif ENABLED(MARKFORGED_XY)
-    dist_mm.a = (dist.a - dist.b) * mm_per_step[A_AXIS];
+    dist_mm.a = (dist.a TERN(MARKFORGED_INVERSE, +, -) dist.b) * mm_per_step[A_AXIS];
     dist_mm.b = dist.b * mm_per_step[B_AXIS];
   #elif ENABLED(MARKFORGED_YX)
     dist_mm.a = dist.a * mm_per_step[A_AXIS];
-    dist_mm.b = (dist.b - dist.a) * mm_per_step[B_AXIS];
+    dist_mm.b = (dist.b TERN(MARKFORGED_INVERSE, +, -) dist.a) * mm_per_step[B_AXIS];
   #else
     XYZ_CODE(
       dist_mm.a = dist.a * mm_per_step[A_AXIS],

Marlin/src/module/stepper.cpp

@@ -3287,9 +3287,9 @@ void Stepper::_set_position(const abce_long_t &spos) {
       // coreyz planning
       count_position.set(spos.a, spos.b + spos.c, CORESIGN(spos.b - spos.c));
     #elif ENABLED(MARKFORGED_XY)
-      count_position.set(spos.a - spos.b, spos.b, spos.c);
+      count_position.set(spos.a TERN(MARKFORGED_INVERSE, +, -) spos.b, spos.b, spos.c);
     #elif ENABLED(MARKFORGED_YX)
-      count_position.set(spos.a, spos.b - spos.a, spos.c);
+      count_position.set(spos.a, spos.b TERN(MARKFORGED_INVERSE, +, -) spos.a, spos.c);
     #endif
     SECONDARY_AXIS_CODE(
       count_position.i = spos.i,
@@ -3382,12 +3382,12 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
       ) * double(0.5)
     #elif ENABLED(MARKFORGED_XY)
       axis == CORE_AXIS_1
-        ? count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2]
+        ? count_position[CORE_AXIS_1] ENABLED(MARKFORGED_INVERSE, +, -) count_position[CORE_AXIS_2]
         : count_position[CORE_AXIS_2]
     #elif ENABLED(MARKFORGED_YX)
       axis == CORE_AXIS_1
         ? count_position[CORE_AXIS_1]
-        : count_position[CORE_AXIS_2] - count_position[CORE_AXIS_1]
+        : count_position[CORE_AXIS_2] ENABLED(MARKFORGED_INVERSE, +, -) count_position[CORE_AXIS_1]
     #else // !IS_CORE
       count_position[axis]
     #endif

buildroot/tests/mks_robin_mini

@@ -9,6 +9,7 @@ set -e
 
 use_example_configs Mks/Robin
 opt_set MOTHERBOARD BOARD_MKS_ROBIN_MINI EXTRUDERS 1 TEMP_SENSOR_1 0
+opt_enable MARKFORGED_XY MARKFORGED_INVERSE
 exec_test $1 $2 "MKS Robin mini" "$3"
 
 # cleanup