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CoreYX/YZ/ZX needs different endstop logic than CoreXY/YZ/XZ

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In the endstop testing section, add the "reverse" logic in addition to "normal" core handling.

In CoreXY/YZ/XZ steppers rotating the same direction gives X movement. Opposing directions produces Y movement.

In CoreYX/ZY/ZX this is reversed. Same = Y, Opposite = X.

----

Fixes the issue where the Y endstop was being checked when moving in the X direction, etc.
This commit is contained in:
Bob-the-Kuhn 2017-02-21 21:42:52 -06:00 committed by Scott Lahteine
parent 493e738575
commit c5e08e8761
2 changed files with 30 additions and 14 deletions
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4
.travis.yml
View file

@ -226,10 +226,10 @@ script:
- opt_enable COREXY
- build_marlin
#
# Enable COREXZ
# Enable COREYX (swapped)
#
- restore_configs
- opt_enable COREXZ
- opt_enable COREYX
- build_marlin
#
# Enable Z_DUAL_STEPPER_DRIVERS, Z_DUAL_ENDSTOPS

38
Marlin/endstops.cpp
View file

@ -274,16 +274,23 @@ void Endstops::update() {
#if CORE_IS_XY || CORE_IS_XZ
// Head direction in -X axis for CoreXY and CoreXZ bots.
// If DeltaA == -DeltaB, the movement is only in Y or Z axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) == stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(X_HEAD))
// If DeltaA == -DeltaB, the movement is only in only one axis
#if ENABLED(COREYX) || ENABLED(COREZX)
#define CORE_X_CMP !=
#define CORE_X_NOT !
#else
#define CORE_X_CMP ==
#define CORE_X_NOT
#endif
if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)) {
if (CORE_X_NOT stepper.motor_direction(X_HEAD))
#else
if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
#endif
{ // -direction
#if ENABLED(DUAL_X_CARRIAGE)
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0))
#endif
{
#if HAS_X_MIN
@ -294,7 +301,7 @@ void Endstops::update() {
else { // +direction
#if ENABLED(DUAL_X_CARRIAGE)
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0))
#endif
{
#if HAS_X_MAX
@ -306,11 +313,20 @@ void Endstops::update() {
}
#endif
// Handle swapped vs. typical Core axis order
#if ENABLED(COREYX) || ENABLED(COREZY) || ENABLED(COREZX)
#define CORE_YZ_CMP ==
#define CORE_YZ_NOT !
#elif CORE_IS_XY || CORE_IS_YZ || CORE_IS_XZ
#define CORE_YZ_CMP !=
#define CORE_YZ_NOT
#endif
#if CORE_IS_XY || CORE_IS_YZ
// Head direction in -Y axis for CoreXY / CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(Y_HEAD))
// If DeltaA == DeltaB, the movement is in only one axis
if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) {
if (CORE_YZ_NOT stepper.motor_direction(Y_HEAD))
#else
if (stepper.motor_direction(Y_AXIS)) // -direction
#endif
@ -330,9 +346,9 @@ void Endstops::update() {
#if CORE_IS_XZ || CORE_IS_YZ
// Head direction in -Z axis for CoreXZ or CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(Z_HEAD))
// If DeltaA == DeltaB, the movement is in only one axis
if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) {
if (CORE_YZ_NOT stepper.motor_direction(Z_HEAD))
#else
if (stepper.motor_direction(Z_AXIS))
#endif