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universalize axis_unhomed_error()

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This commit is contained in:
AnHardt 2016-06-28 00:46:40 +02:00 committed by Scott Lahteine
parent e616093d4c
commit 39883d03fc
24 changed files with 92 additions and 74 deletions
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83
Marlin/Marlin_main.cpp
View file

@ -1723,17 +1723,30 @@ static void clean_up_after_endstop_or_probe_move() {
#endif //HAS_BED_PROBE
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
static void axis_unhomed_error(bool xyz=false) {
if (xyz) {
LCD_MESSAGEPGM(MSG_XYZ_UNHOMED);
static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
zz = z && !axis_homed[Z_AXIS];
if (xx || yy || zz) {
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_XYZ_UNHOMED);
}
else {
LCD_MESSAGEPGM(MSG_YX_UNHOMED);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_YX_UNHOMED);
SERIAL_ECHOPGM(MSG_HOME " ");
if (xx) SERIAL_ECHOPGM(MSG_X);
if (yy) SERIAL_ECHOPGM(MSG_Y);
if (zz) SERIAL_ECHOPGM(MSG_Z);
SERIAL_ECHOLNPGM(" " MSG_FIRST);
#if ENABLED(ULTRA_LCD)
char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
strcat_P(message, PSTR(MSG_HOME " "));
if (xx) strcat_P(message, PSTR(MSG_X));
if (yy) strcat_P(message, PSTR(MSG_Y));
if (zz) strcat_P(message, PSTR(MSG_Z));
strcat_P(message, PSTR(" " MSG_FIRST));
lcd_setstatus(message);
#endif
return true;
}
return false;
}
#endif
@ -1757,10 +1770,7 @@ static void clean_up_after_endstop_or_probe_move() {
}
#endif
if (!axis_homed[X_AXIS]) {
axis_unhomed_error(true);
return;
}
if (axis_unhomed_error(true, false, false)) return;
float oldXpos = current_position[X_AXIS]; // save x position
@ -3000,32 +3010,27 @@ inline void gcode_G28() {
else if (homeZ) { // Don't need to Home Z twice
// Let's see if X and Y are homed
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS]) {
if (axis_unhomed_error(true, true, false)) return;
/**
* Make sure the Z probe is within the physical limits
* NOTE: This doesn't necessarily ensure the Z probe is also
* within the bed!
*/
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
/**
* Make sure the Z probe is within the physical limits
* NOTE: This doesn't necessarily ensure the Z probe is also
* within the bed!
*/
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
// Home the Z axis
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
// Home the Z axis
HOMEAXIS(Z);
}
else {
axis_unhomed_error();
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
} // !home_all_axes && homeZ
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -3366,10 +3371,7 @@ inline void gcode_G28() {
#endif
// Don't allow auto-leveling without homing first
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
axis_unhomed_error(true);
return;
}
if (axis_unhomed_error(true, true, true)) return;
int verbose_level = code_seen('V') ? code_value_int() : 1;
if (verbose_level < 0 || verbose_level > 4) {
@ -4121,10 +4123,7 @@ inline void gcode_M42() {
*/
inline void gcode_M48() {
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
axis_unhomed_error(true);
return;
}
if (axis_unhomed_error(true, true, true)) return;
int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
if (verbose_level < 0 || verbose_level > 4) {

3
Marlin/language_an.h
View file

@ -142,7 +142,8 @@
#define MSG_INIT_SDCARD "Encetan. tarcheta"
#define MSG_CNG_SDCARD "Cambiar tarcheta"
#define MSG_ZPROBE_OUT "Z probe out. bed"
#define MSG_YX_UNHOMED "Home X/Y before Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z Offset"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

3
Marlin/language_bg.h
View file

@ -143,7 +143,8 @@
#define MSG_INIT_SDCARD "Иниц. SD-Карта"
#define MSG_CNG_SDCARD "Смяна SD-Карта"
#define MSG_ZPROBE_OUT "Z-сондата е извадена"
#define MSG_YX_UNHOMED "Задайте X/Y преди Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z Отстояние"
#define MSG_BABYSTEP_X "Министъпка X"
#define MSG_BABYSTEP_Y "Министъпка Y"

3
Marlin/language_ca.h
View file

@ -143,7 +143,8 @@
#define MSG_INIT_SDCARD "Iniciant SD"
#define MSG_CNG_SDCARD "Canviar SD"
#define MSG_ZPROBE_OUT "Z probe out. bed"
#define MSG_YX_UNHOMED "Home X/Y abans Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z Offset"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

3
Marlin/language_cn.h
View file

@ -142,7 +142,8 @@
#define MSG_INIT_SDCARD "Init. SD card"
#define MSG_CNG_SDCARD "Change SD card"
#define MSG_ZPROBE_OUT "Z probe out. bed"
#define MSG_YX_UNHOMED "Home X/Y before Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z Offset"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

4
Marlin/language_cz.h
View file

@ -174,8 +174,8 @@
#define MSG_INIT_SDCARD "Nacist SD kartu"
#define MSG_CNG_SDCARD "Vymenit SD kartu"
#define MSG_ZPROBE_OUT "Sonda Z mimo podl"
#define MSG_YX_UNHOMED "Domu X/Y pred Z"
#define MSG_XYZ_UNHOMED "Domu XYZ prvni"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z ofset"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

4
Marlin/language_da.h
View file

@ -170,8 +170,8 @@
#define MSG_INIT_SDCARD "Init. SD card"
#define MSG_CNG_SDCARD "Skift SD kort"
#define MSG_ZPROBE_OUT "Probe udenfor plade"
#define MSG_YX_UNHOMED "Home X/Y før Z"
#define MSG_XYZ_UNHOMED "Home XYZ first"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z Offset"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

3
Marlin/language_de.h
View file

@ -145,7 +145,8 @@
#define MSG_INIT_SDCARD "SD-Karte erkennen" // Manually initialize the SD-card via user interface
#define MSG_CNG_SDCARD "SD-Karte getauscht" // SD-card changed by user. For machines with no autocarddetect. Both send "M21"
#define MSG_ZPROBE_OUT "Sensor ausserhalb"
#define MSG_YX_UNHOMED "X/Y vor Z homen!"
#define MSG_HOME "Vorher" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "homen"
#define MSG_ZPROBE_ZOFFSET "Z Offset"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

8
Marlin/language_en.h
View file

@ -445,11 +445,11 @@
#ifndef MSG_ZPROBE_OUT
#define MSG_ZPROBE_OUT "Z probe out. bed"
#endif
#ifndef MSG_YX_UNHOMED
#define MSG_YX_UNHOMED "Home X/Y before Z"
#ifndef MSG_HOME
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#endif
#ifndef MSG_XYZ_UNHOMED
#define MSG_XYZ_UNHOMED "Home XYZ first"
#ifndef MSG_FIRST
#define MSG_FIRST "first"
#endif
#ifndef MSG_ZPROBE_ZOFFSET
#define MSG_ZPROBE_ZOFFSET "Z Offset"

4
Marlin/language_es.h
View file

@ -169,8 +169,8 @@
#define MSG_INIT_SDCARD "Iniciando tarjeta"
#define MSG_CNG_SDCARD "Cambiar tarjeta"
#define MSG_ZPROBE_OUT "Sonda Z fuera"
#define MSG_YX_UNHOMED "Reiniciar X/Y y Z"
#define MSG_XYZ_UNHOMED "Reiniciar XYZ"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Desfase Z"
#define MSG_BABYSTEP_X "Micropaso X"
#define MSG_BABYSTEP_Y "Micropaso Y"

3
Marlin/language_eu.h
View file

@ -142,7 +142,8 @@
#define MSG_INIT_SDCARD "Hasieratu txartela"
#define MSG_CNG_SDCARD "Aldatu txartela"
#define MSG_ZPROBE_OUT "Z ohe hasiera"
#define MSG_YX_UNHOMED "Posizio ezezaguna"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z konpentsatu"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

3
Marlin/language_fi.h
View file

@ -142,7 +142,8 @@
#define MSG_INIT_SDCARD "Init. SD-Card"
#define MSG_CNG_SDCARD "Change SD-Card"
#define MSG_ZPROBE_OUT "Z probe out. bed"
#define MSG_YX_UNHOMED "Home X/Y before Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z Offset"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

3
Marlin/language_fr.h
View file

@ -145,7 +145,8 @@
#define MSG_INIT_SDCARD "Init. la carte SD"
#define MSG_CNG_SDCARD "Changer de carte"
#define MSG_ZPROBE_OUT "Z sonde exte. lit"
#define MSG_YX_UNHOMED "Rev. dans XY av.Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Decalage Z"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

4
Marlin/language_gl.h
View file

@ -170,8 +170,8 @@
#define MSG_INIT_SDCARD "Iniciando SD"
#define MSG_CNG_SDCARD "Cambiar SD"
#define MSG_ZPROBE_OUT "Sonda-Z sen cama"
#define MSG_YX_UNHOMED "X/Y antes que Z"
#define MSG_XYZ_UNHOMED "Orixe XYZ antes"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Offset Z"
#define MSG_BABYSTEP_X "Micropaso X"
#define MSG_BABYSTEP_Y "Micropaso Y"

4
Marlin/language_hr.h
View file

@ -171,8 +171,8 @@
#define MSG_INIT_SDCARD "Init. SD karticu"
#define MSG_CNG_SDCARD "Promijeni SD karticu"
#define MSG_ZPROBE_OUT "Z probe out. bed"
#define MSG_YX_UNHOMED "Home-aj X/Y prije Z"
#define MSG_XYZ_UNHOMED "Home-aj XYZ prvo"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z Offset"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

4
Marlin/language_it.h
View file

@ -150,8 +150,8 @@
#define MSG_INIT_SDCARD "Iniz. SD-Card"
#define MSG_CNG_SDCARD "Cambia SD-Card"
#define MSG_ZPROBE_OUT "Z probe out. bed"
#define MSG_YX_UNHOMED "Home X/Y prima di Z"
#define MSG_XYZ_UNHOMED "Home XYZ prima"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z Offset"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

5
Marlin/language_kana.h
View file

@ -184,6 +184,10 @@
#define MSG_INIT_SDCARD "SD\xb6\xb0\xc4\xde\xbb\xb2\xd6\xd0\xba\xd0" // "SDｶｰﾄﾞｻｲﾖﾐｺﾐ" ("Init. SD card")
#define MSG_CNG_SDCARD "SD\xb6\xb0\xc4\xde\xba\xb3\xb6\xdd" // "SDｶｰﾄﾞｺｳｶﾝ" ("Change SD card")
#define MSG_ZPROBE_OUT "Z\xcc\xdf\xdb\xb0\xcc\xde\x20\xcd\xde\xaf\xc4\xde\xb6\xde\xb2" // "Zﾌﾟﾛｰﾌﾞ ﾍﾞｯﾄﾞｶﾞｲ" ("Z probe out. bed")
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
/*
#if LCD_WIDTH < 20
#define MSG_YX_UNHOMED "\xbb\xb7\xc6X/Y\xa6\xcc\xaf\xb7\xbb\xbe\xd6" // "ｻｷﾆX/Yｦﾌｯｷｻｾﾖ" ("Home X/Y before Z")
#define MSG_XYZ_UNHOMED "\xbb\xb7\xc6\xb9\xde\xdd\xc3\xdd\xcc\xaf\xb7\xa6\xbe\xd6" // "ｻｷﾆｹﾞﾝﾃﾝﾌｯｷｦｾﾖ" ("Home XYZ first")
@ -191,6 +195,7 @@
#define MSG_YX_UNHOMED "\xbb\xb7\xc6X/Y\xa6\xcc\xaf\xb7\xbb\xbe\xc3\xb8\xc0\xde\xbb\xb2" // "ｻｷﾆX/Yｦﾌｯｷｻｾﾃｸﾀﾞｻｲ" ("Home X/Y before Z")
#define MSG_XYZ_UNHOMED "\xbb\xb7\xc6\xb9\xde\xdd\xc3\xdd\xcc\xaf\xb7\xa6\xbc\xc3\xb8\xc0\xde\xbb\xb2" // "ｻｷﾆｹﾞﾝﾃﾝﾌｯｷｦｼﾃｸﾀﾞｻｲ" ("Home XYZ first")
#endif
*/
#define MSG_ZPROBE_ZOFFSET "Z\xb5\xcc\xbe\xaf\xc4" // "Zｵﾌｾｯﾄ" ("Z Offset")
#define MSG_BABYSTEP_X "X\xbc\xde\xb8\x20\xcb\xde\xc4\xde\xb3" // "Xｼﾞｸ ﾋﾞﾄﾞｳ" ("Babystep X")
#define MSG_BABYSTEP_Y "Y\xbc\xde\xb8\x20\xcb\xde\xc4\xde\xb3" // "Yｼﾞｸ ﾋﾞﾄﾞｳ" ("Babystep Y")

4
Marlin/language_kana_utf8.h
View file

@ -155,8 +155,8 @@
#define MSG_INIT_SDCARD "SDカードサイヨミコミ" // "Init. SD card"
#define MSG_CNG_SDCARD "SDカードコウカン" // "Change SD card"
#define MSG_ZPROBE_OUT "Zプローブ ベッドガイ" // "Z probe out. bed"
#define MSG_YX_UNHOMED "サキニX/Yヲフッキサセテクダサイ" // "Home X/Y before Z"
#define MSG_XYZ_UNHOMED "サキニゲンテンフッキヲシテクダサイ" // "Home XYZ first"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Zオフセット" // "Z Offset"
#define MSG_BABYSTEP_X "Xジク ビドウ" // "Babystep X"
#define MSG_BABYSTEP_Y "Yジク ビドウ" // "Babystep Y"

3
Marlin/language_nl.h
View file

@ -144,7 +144,8 @@
#define MSG_INIT_SDCARD "Init. SD kaart"
#define MSG_CNG_SDCARD "Verv. SD Kaart"
#define MSG_ZPROBE_OUT "Z probe uit. bed"
#define MSG_YX_UNHOMED "Home X/Y voor Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Z Offset"
#define MSG_BABYSTEP_X "Babystap X"
#define MSG_BABYSTEP_Y "Babystap Y"

3
Marlin/language_pl.h
View file

@ -167,7 +167,8 @@
#define MSG_INIT_SDCARD "Inicjal. karty SD"
#define MSG_CNG_SDCARD "Zmiana karty SD"
#define MSG_ZPROBE_OUT "Sonda Z za lozem"
#define MSG_YX_UNHOMED "Wroc w XY przed Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Offset Z"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

3
Marlin/language_pt-br.h
View file

@ -144,7 +144,8 @@
#define MSG_INIT_SDCARD "Iniciar SD"
#define MSG_CNG_SDCARD "Trocar SD"
#define MSG_ZPROBE_OUT "Son. fora da mesa"
#define MSG_YX_UNHOMED "Pos. Desconhecida"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Deslocamento no Z"
#define MSG_BABYSTEP_X "Passinho X"
#define MSG_BABYSTEP_Y "Passinho Y"

3
Marlin/language_pt-br_utf8.h
View file

@ -144,7 +144,8 @@
#define MSG_INIT_SDCARD "Iniciar SD"
#define MSG_CNG_SDCARD "Trocar SD"
#define MSG_ZPROBE_OUT "Son. fora da mesa"
#define MSG_YX_UNHOMED "Pos. Desconhecida"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Deslocamento no Z"
#define MSG_BABYSTEP_X "Passinho X"
#define MSG_BABYSTEP_Y "Passinho Y"

3
Marlin/language_pt.h
View file

@ -152,7 +152,8 @@
#define MSG_INIT_SDCARD "Inici. cartao SD"
#define MSG_CNG_SDCARD "Trocar cartao SD"
#define MSG_ZPROBE_OUT "Sensor fora/base"
#define MSG_YX_UNHOMED "XY antes de Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Desvio Z"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"

3
Marlin/language_pt_utf8.h
View file

@ -152,7 +152,8 @@
#define MSG_INIT_SDCARD "Inici. cartão SD"
#define MSG_CNG_SDCARD "Trocar cartão SD"
#define MSG_ZPROBE_OUT "Sensor fora/base"
#define MSG_YX_UNHOMED "XY antes de Z"
#define MSG_HOME "Home" // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
#define MSG_FIRST "first"
#define MSG_ZPROBE_ZOFFSET "Desvio Z"
#define MSG_BABYSTEP_X "Babystep X"
#define MSG_BABYSTEP_Y "Babystep Y"