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Fix get_cartesian_from_steppers

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This commit is contained in:
Scott Lahteine 2016-09-15 15:07:14 -05:00
parent 435c3ed404
commit 46cc2e3f6a
1 changed files with 7 additions and 14 deletions
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19
Marlin/Marlin_main.cpp
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@ -3445,20 +3445,8 @@ inline void gcode_G28() {
// Re-orient the current position without leveling // Re-orient the current position without leveling
// based on where the steppers are positioned. // based on where the steppers are positioned.
// //
#if IS_KINEMATIC
// For DELTA/SCARA we need to apply forward kinematics.
// This returns raw positions and we remap to the space.
get_cartesian_from_steppers(); get_cartesian_from_steppers();
LOOP_XYZ(i) current_position[i] = LOGICAL_POSITION(cartes[i], i); memcpy(current_position, cartes, sizeof(cartes));
#else
// For cartesian/core the steppers are already mapped to
// the coordinate space by design.
LOOP_XYZ(i) current_position[i] = stepper.get_axis_position_mm((AxisEnum)i);
#endif // !DELTA
// Inform the planner about the new coordinates // Inform the planner about the new coordinates
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
@ -7918,11 +7906,16 @@ void get_cartesian_from_steppers() {
stepper.get_axis_position_mm(B_AXIS), stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS) stepper.get_axis_position_mm(C_AXIS)
); );
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
#elif IS_SCARA #elif IS_SCARA
forward_kinematics_SCARA( forward_kinematics_SCARA(
stepper.get_axis_position_degrees(A_AXIS), stepper.get_axis_position_degrees(A_AXIS),
stepper.get_axis_position_degrees(B_AXIS) stepper.get_axis_position_degrees(B_AXIS)
); );
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS); cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#else #else
cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS); cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);