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This commit is contained in:
Scott Lahteine 2016-09-15 13:34:24 -05:00
parent b9d19b0008
commit 2c2688d7ad
1 changed files with 13 additions and 13 deletions
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26
Marlin/Marlin_main.cpp
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@ -1372,8 +1372,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]); // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
/** /**
* Works out real Homeposition angles using inverse kinematics, * Get Home position SCARA arm angles using inverse kinematics,
* and calculates homing offset using forward kinematics * and calculate homing offset using forward kinematics
*/ */
inverse_kinematics(homeposition); inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]); forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
@ -2030,7 +2030,10 @@ static void clean_up_after_endstop_or_probe_move() {
SERIAL_ECHOLNPGM(")"); SERIAL_ECHOLNPGM(")");
} }
#endif #endif
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S; feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the given XY
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
if (DEPLOY_PROBE()) return NAN; if (DEPLOY_PROBE()) return NAN;
@ -2167,7 +2170,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif // AUTO_BED_LEVELING_NONLINEAR #endif // AUTO_BED_LEVELING_NONLINEAR
/** /**
* Home an individual axis * Home an individual linear axis
*/ */
static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) { static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
@ -3328,8 +3331,8 @@ inline void gcode_G28() {
return; return;
} }
bool dryrun = code_seen('D'); bool dryrun = code_seen('D'),
bool stow_probe_after_each = code_seen('E'); stow_probe_after_each = code_seen('E');
#if ENABLED(AUTO_BED_LEVELING_GRID) #if ENABLED(AUTO_BED_LEVELING_GRID)
@ -3418,7 +3421,6 @@ inline void gcode_G28() {
#endif // !DELTA #endif // !DELTA
// Inform the planner about the new coordinates // Inform the planner about the new coordinates
// (This is probably not needed here)
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
} }
@ -3790,11 +3792,11 @@ inline void gcode_G28() {
* G92: Set current position to given X Y Z E * G92: Set current position to given X Y Z E
*/ */
inline void gcode_G92() { inline void gcode_G92() {
bool didE = code_seen('E'); bool didXYZ = false,
didE = code_seen('E');
if (!didE) stepper.synchronize(); if (!didE) stepper.synchronize();
bool didXYZ = false;
LOOP_XYZE(i) { LOOP_XYZE(i) {
if (code_seen(axis_codes[i])) { if (code_seen(axis_codes[i])) {
float p = current_position[i], float p = current_position[i],
@ -4179,7 +4181,7 @@ inline void gcode_M42() {
if (verbose_level > 2) if (verbose_level > 2)
SERIAL_PROTOCOLLNPGM("Positioning the probe..."); SERIAL_PROTOCOLLNPGM("Positioning the probe...");
// we don't do bed level correction in M48 because we want the raw data when we probe // Disable bed level correction in M48 because we want the raw data when we probe
#if ENABLED(AUTO_BED_LEVELING_FEATURE) #if ENABLED(AUTO_BED_LEVELING_FEATURE)
reset_bed_level(); reset_bed_level();
#endif #endif
@ -5776,9 +5778,8 @@ inline void gcode_M303() {
} }
#if ENABLED(MORGAN_SCARA) #if ENABLED(MORGAN_SCARA)
bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) { bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLNPGM(" Soft endstops disabled");
if (IsRunning()) { if (IsRunning()) {
//gcode_get_destination(); // For X Y Z E F //gcode_get_destination(); // For X Y Z E F
forward_kinematics_SCARA(delta_a, delta_b); forward_kinematics_SCARA(delta_a, delta_b);
@ -5786,7 +5787,6 @@ inline void gcode_M303() {
destination[Y_AXIS] = cartes[Y_AXIS]; destination[Y_AXIS] = cartes[Y_AXIS];
destination[Z_AXIS] = current_position[Z_AXIS]; destination[Z_AXIS] = current_position[Z_AXIS];
prepare_move_to_destination(); prepare_move_to_destination();
//ok_to_send();
return true; return true;
} }
return false; return false;
@ -7977,7 +7977,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
mesh_line_to_destination(fr_mm_s, x_splits, y_splits); mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
} }
#endif // MESH_BED_LEVELING #endif // MESH_BED_LEVELING
#if IS_KINEMATIC #if IS_KINEMATIC