Merge pull request #8344 from tcm0116/2.0.x-delta_height
[2.0.x] Add delta_height variable in lieu of using home_offset
This commit is contained in:
Scott Lahteine
GitHub
commit
c66696c507
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@ -69,7 +69,7 @@ static void print_signed_float(const char * const prefix, const float &f) {
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}
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static void print_G33_settings(const bool end_stops, const bool tower_angles) {
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SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
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SERIAL_PROTOCOLPAIR(".Height:", delta_height);
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if (end_stops) {
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print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
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print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
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@ -317,7 +317,7 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
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delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
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delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
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z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
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home_offset[Z_AXIS] -= z_temp;
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delta_height -= z_temp;
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LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
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recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
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@ -337,7 +337,7 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
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delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
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delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
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z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
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home_offset[Z_AXIS] -= z_temp;
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delta_height -= z_temp;
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LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
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recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
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switch (axis) {
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@ -446,7 +446,7 @@ void GcodeSuite::G33() {
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delta_endstop_adj[C_AXIS]
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},
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dr_old = delta_radius,
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zh_old = home_offset[Z_AXIS],
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zh_old = delta_height,
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ta_old[ABC] = {
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delta_tower_angle_trim[A_AXIS],
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delta_tower_angle_trim[B_AXIS],
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@ -525,7 +525,7 @@ void GcodeSuite::G33() {
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if (zero_std_dev < zero_std_dev_min) {
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COPY(e_old, delta_endstop_adj);
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dr_old = delta_radius;
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zh_old = home_offset[Z_AXIS];
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zh_old = delta_height;
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COPY(ta_old, delta_tower_angle_trim);
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}
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@ -609,7 +609,7 @@ void GcodeSuite::G33() {
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else if (zero_std_dev >= test_precision) { // step one back
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COPY(delta_endstop_adj, e_old);
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delta_radius = dr_old;
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home_offset[Z_AXIS] = zh_old;
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delta_height = zh_old;
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COPY(delta_tower_angle_trim, ta_old);
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}
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@ -623,7 +623,7 @@ void GcodeSuite::G33() {
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// adjust delta_height and endstops by the max amount
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const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
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home_offset[Z_AXIS] -= z_temp;
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delta_height -= z_temp;
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LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
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}
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recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
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@ -45,7 +45,7 @@
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*/
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void GcodeSuite::M665() {
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if (parser.seen('H')) {
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home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT;
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delta_height = parser.value_linear_units();
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update_software_endstops(Z_AXIS);
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}
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if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
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@ -1082,7 +1082,7 @@
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// Updated G92 behavior shifts the workspace
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#define HAS_POSITION_SHIFT DISABLED(NO_WORKSPACE_OFFSETS)
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// The home offset also shifts the coordinate space
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#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DELTA))
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#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA))
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// Either offset yields extra calculations on all moves
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#define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT || HAS_HOME_OFFSET)
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// M206 doesn't apply to DELTA
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@ -2743,9 +2743,7 @@ void kill_screen(const char* lcd_msg) {
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void _goto_tower_z() { _man_probe_pt(cos(RADIANS( 90)) * delta_calibration_radius, sin(RADIANS( 90)) * delta_calibration_radius); }
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void _goto_center() { _man_probe_pt(0,0); }
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static float _delta_height = DELTA_HEIGHT;
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void _lcd_set_delta_height() {
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home_offset[Z_AXIS] = _delta_height - DELTA_HEIGHT;
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update_software_endstops(Z_AXIS);
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}
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@ -2753,8 +2751,7 @@ void kill_screen(const char* lcd_msg) {
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START_MENU();
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MENU_BACK(MSG_DELTA_CALIBRATE);
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MENU_ITEM_EDIT(float52, MSG_DELTA_DIAG_ROG, &delta_diagonal_rod, DELTA_DIAGONAL_ROD - 5.0, DELTA_DIAGONAL_ROD + 5.0);
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_delta_height = DELTA_HEIGHT + home_offset[Z_AXIS];
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MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &_delta_height, _delta_height - 10.0, _delta_height + 10.0, _lcd_set_delta_height);
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MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10.0, delta_height + 10.0, _lcd_set_delta_height);
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MENU_ITEM_EDIT(float43, "Ex", &delta_endstop_adj[A_AXIS], -5.0, 5.0);
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MENU_ITEM_EDIT(float43, "Ey", &delta_endstop_adj[B_AXIS], -5.0, 5.0);
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MENU_ITEM_EDIT(float43, "Ez", &delta_endstop_adj[C_AXIS], -5.0, 5.0);
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@ -36,7 +36,7 @@
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*
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*/
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#define EEPROM_VERSION "V44"
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#define EEPROM_VERSION "V45"
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// Change EEPROM version if these are changed:
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#define EEPROM_OFFSET 100
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@ -91,15 +91,16 @@
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* 324 G29 A planner.leveling_active (bool)
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* 325 G29 S ubl.storage_slot (int8_t)
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*
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* DELTA: 40 bytes
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* 352 M666 XYZ delta_endstop_adj (float x3)
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* 364 M665 R delta_radius (float)
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* 368 M665 L delta_diagonal_rod (float)
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* 372 M665 S delta_segments_per_second (float)
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* 376 M665 B delta_calibration_radius (float)
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* 380 M665 X delta_tower_angle_trim[A] (float)
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* 384 M665 Y delta_tower_angle_trim[B] (float)
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* 388 M665 Z delta_tower_angle_trim[C] (float)
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* DELTA: 44 bytes
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* 352 M666 H delta_height (float)
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* 364 M666 XYZ delta_endstop_adj (float x3)
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* 368 M665 R delta_radius (float)
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* 372 M665 L delta_diagonal_rod (float)
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* 376 M665 S delta_segments_per_second (float)
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* 380 M665 B delta_calibration_radius (float)
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* 384 M665 X delta_tower_angle_trim[A] (float)
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* 388 M665 Y delta_tower_angle_trim[B] (float)
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* 392 M665 Z delta_tower_angle_trim[C] (float)
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*
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* [XYZ]_DUAL_ENDSTOPS: 12 bytes
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* 352 M666 X endstops.x_endstop_adj (float)
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@ -107,65 +108,65 @@
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* 360 M666 Z endstops.z_endstop_adj (float)
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*
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* ULTIPANEL: 6 bytes
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* 392 M145 S0 H lcd_preheat_hotend_temp (int x2)
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* 396 M145 S0 B lcd_preheat_bed_temp (int x2)
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* 400 M145 S0 F lcd_preheat_fan_speed (int x2)
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* 396 M145 S0 H lcd_preheat_hotend_temp (int x2)
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* 400 M145 S0 B lcd_preheat_bed_temp (int x2)
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* 404 M145 S0 F lcd_preheat_fan_speed (int x2)
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*
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* PIDTEMP: 82 bytes
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* 404 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
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* 420 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
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* 436 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
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* 452 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
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* 468 M301 E4 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
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* 484 M301 L lpq_len (int)
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* 408 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
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* 428 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
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* 440 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
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* 456 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
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* 472 M301 E4 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
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* 488 M301 L lpq_len (int)
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*
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* PIDTEMPBED: 12 bytes
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* 486 M304 PID thermalManager.bedKp, .bedKi, .bedKd (float x3)
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* 490 M304 PID thermalManager.bedKp, .bedKi, .bedKd (float x3)
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*
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* DOGLCD: 2 bytes
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* 498 M250 C lcd_contrast (uint16_t)
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* 502 M250 C lcd_contrast (uint16_t)
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*
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* FWRETRACT: 33 bytes
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* 500 M209 S autoretract_enabled (bool)
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* 501 M207 S retract_length (float)
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* 505 M207 F retract_feedrate_mm_s (float)
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* 509 M207 Z retract_zlift (float)
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* 513 M208 S retract_recover_length (float)
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* 517 M208 F retract_recover_feedrate_mm_s (float)
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* 521 M207 W swap_retract_length (float)
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* 525 M208 W swap_retract_recover_length (float)
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* 529 M208 R swap_retract_recover_feedrate_mm_s (float)
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* 504 M209 S autoretract_enabled (bool)
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* 505 M207 S retract_length (float)
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* 509 M207 F retract_feedrate_mm_s (float)
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* 513 M207 Z retract_zlift (float)
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* 517 M208 S retract_recover_length (float)
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* 521 M208 F retract_recover_feedrate_mm_s (float)
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* 525 M207 W swap_retract_length (float)
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* 529 M208 W swap_retract_recover_length (float)
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* 533 M208 R swap_retract_recover_feedrate_mm_s (float)
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*
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* Volumetric Extrusion: 21 bytes
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* 533 M200 D volumetric_enabled (bool)
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* 534 M200 T D filament_size (float x5) (T0..3)
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* 537 M200 D volumetric_enabled (bool)
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* 538 M200 T D filament_size (float x5) (T0..3)
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*
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* HAVE_TMC2130: 22 bytes
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* 554 M906 X Stepper X current (uint16_t)
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* 556 M906 Y Stepper Y current (uint16_t)
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* 558 M906 Z Stepper Z current (uint16_t)
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* 560 M906 X2 Stepper X2 current (uint16_t)
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* 562 M906 Y2 Stepper Y2 current (uint16_t)
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* 564 M906 Z2 Stepper Z2 current (uint16_t)
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* 566 M906 E0 Stepper E0 current (uint16_t)
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* 568 M906 E1 Stepper E1 current (uint16_t)
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* 570 M906 E2 Stepper E2 current (uint16_t)
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* 572 M906 E3 Stepper E3 current (uint16_t)
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* 574 M906 E4 Stepper E4 current (uint16_t)
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* 558 M906 X Stepper X current (uint16_t)
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* 560 M906 Y Stepper Y current (uint16_t)
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* 562 M906 Z Stepper Z current (uint16_t)
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* 564 M906 X2 Stepper X2 current (uint16_t)
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* 566 M906 Y2 Stepper Y2 current (uint16_t)
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* 568 M906 Z2 Stepper Z2 current (uint16_t)
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* 570 M906 E0 Stepper E0 current (uint16_t)
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* 572 M906 E1 Stepper E1 current (uint16_t)
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* 574 M906 E2 Stepper E2 current (uint16_t)
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* 576 M906 E3 Stepper E3 current (uint16_t)
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* 578 M906 E4 Stepper E4 current (uint16_t)
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*
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* LIN_ADVANCE: 8 bytes
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* 576 M900 K extruder_advance_k (float)
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* 580 M900 WHD advance_ed_ratio (float)
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* 580 M900 K extruder_advance_k (float)
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* 584 M900 WHD advance_ed_ratio (float)
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*
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* HAS_MOTOR_CURRENT_PWM:
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* 584 M907 X Stepper XY current (uint32_t)
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* 588 M907 Z Stepper Z current (uint32_t)
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* 592 M907 E Stepper E current (uint32_t)
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* 588 M907 X Stepper XY current (uint32_t)
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* 592 M907 Z Stepper Z current (uint32_t)
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* 596 M907 E Stepper E current (uint32_t)
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*
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* CNC_COORDINATE_SYSTEMS 108 bytes
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* 596 G54-G59.3 coordinate_system (float x 27)
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* 600 G54-G59.3 coordinate_system (float x 27)
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*
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* 704 Minimum end-point
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* 708 Minimum end-point
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* 2025 (704 + 36 + 9 + 288 + 988) Maximum end-point
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*
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* ========================================================================
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@ -325,15 +326,7 @@ void MarlinSettings::postprocess() {
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#if !HAS_HOME_OFFSET
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const float home_offset[XYZ] = { 0 };
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#endif
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#if ENABLED(DELTA)
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dummy = 0.0;
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EEPROM_WRITE(dummy);
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EEPROM_WRITE(dummy);
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dummy = DELTA_HEIGHT + home_offset[Z_AXIS];
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EEPROM_WRITE(dummy);
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#else
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EEPROM_WRITE(home_offset);
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#endif
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#if HOTENDS > 1
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// Skip hotend 0 which must be 0
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@ -436,6 +429,7 @@ void MarlinSettings::postprocess() {
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// 10 floats for DELTA / [XYZ]_DUAL_ENDSTOPS
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#if ENABLED(DELTA)
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EEPROM_WRITE(delta_height); // 1 float
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EEPROM_WRITE(delta_endstop_adj); // 3 floats
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EEPROM_WRITE(delta_radius); // 1 float
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EEPROM_WRITE(delta_diagonal_rod); // 1 float
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@ -756,12 +750,6 @@ void MarlinSettings::postprocess() {
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#endif
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EEPROM_READ(home_offset);
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#if ENABLED(DELTA)
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home_offset[X_AXIS] = 0.0;
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home_offset[Y_AXIS] = 0.0;
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home_offset[Z_AXIS] -= DELTA_HEIGHT;
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#endif
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//
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// Hotend Offsets, if any
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//
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@ -867,6 +855,7 @@ void MarlinSettings::postprocess() {
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//
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#if ENABLED(DELTA)
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EEPROM_READ(delta_height); // 1 float
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EEPROM_READ(delta_endstop_adj); // 3 floats
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EEPROM_READ(delta_radius); // 1 float
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EEPROM_READ(delta_diagonal_rod); // 1 float
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@ -1333,13 +1322,13 @@ void MarlinSettings::reset() {
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#if ENABLED(DELTA)
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const float adj[ABC] = DELTA_ENDSTOP_ADJ,
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dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
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delta_height = DELTA_HEIGHT;
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COPY(delta_endstop_adj, adj);
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delta_radius = DELTA_RADIUS;
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delta_diagonal_rod = DELTA_DIAGONAL_ROD;
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delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
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delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
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COPY(delta_tower_angle_trim, dta);
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home_offset[Z_AXIS] = 0;
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#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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@ -1763,7 +1752,7 @@ void MarlinSettings::reset() {
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CONFIG_ECHO_START;
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SERIAL_ECHOPAIR(" M665 L", LINEAR_UNIT(delta_diagonal_rod));
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SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius));
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SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS]));
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SERIAL_ECHOPAIR(" H", LINEAR_UNIT(delta_height));
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SERIAL_ECHOPAIR(" S", delta_segments_per_second);
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SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius));
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SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
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@ -38,7 +38,8 @@
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#include "../Marlin.h"
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// Initialized by settings.load()
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float delta_endstop_adj[ABC] = { 0 },
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float delta_height,
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delta_endstop_adj[ABC] = { 0 },
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delta_radius,
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delta_diagonal_rod,
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delta_segments_per_second,
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@ -224,14 +225,13 @@ bool home_delta() {
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sync_plan_position();
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// Move all carriages together linearly until an endstop is hit.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10);
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feedrate_mm_s = homing_feedrate(X_AXIS);
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line_to_current_position();
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stepper.synchronize();
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// If an endstop was not hit, then damage can occur if homing is continued.
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// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
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// not set correctly.
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// This can occur if the delta height not set correctly.
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if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
|
||||
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
|
||||
SERIAL_ERROR_START();
|
||||
|
|
|
|||
|
|
@ -27,7 +27,8 @@
|
|||
#ifndef __DELTA_H__
|
||||
#define __DELTA_H__
|
||||
|
||||
extern float delta_endstop_adj[ABC],
|
||||
extern float delta_height,
|
||||
delta_endstop_adj[ABC],
|
||||
delta_radius,
|
||||
delta_diagonal_rod,
|
||||
delta_segments_per_second,
|
||||
|
|
|
|||
|
|
@ -972,6 +972,8 @@ void set_axis_is_at_home(const AxisEnum axis) {
|
|||
|
||||
#if ENABLED(MORGAN_SCARA)
|
||||
scara_set_axis_is_at_home(axis);
|
||||
#elif ENABLED(DELTA)
|
||||
current_position[axis] = (axis == Z_AXIS ? delta_height : base_home_pos(axis));
|
||||
#else
|
||||
current_position[axis] = base_home_pos(axis);
|
||||
#endif
|
||||
|
|
@ -1253,8 +1255,8 @@ void homeaxis(const AxisEnum axis) {
|
|||
}
|
||||
}
|
||||
#elif ENABLED(DELTA)
|
||||
soft_endstop_min[axis] = base_min_pos(axis) + (axis == Z_AXIS ? 0 : offs);
|
||||
soft_endstop_max[axis] = base_max_pos(axis) + offs;
|
||||
soft_endstop_min[axis] = base_min_pos(axis) + offs;
|
||||
soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height : base_max_pos(axis)) + offs;
|
||||
#else
|
||||
soft_endstop_min[axis] = base_min_pos(axis) + offs;
|
||||
soft_endstop_max[axis] = base_max_pos(axis) + offs;
|
||||
|
|
|
|||
|
|
@ -564,11 +564,7 @@ static float run_z_probe(const bool short_move=true) {
|
|||
}
|
||||
#endif
|
||||
|
||||
return current_position[Z_AXIS] + zprobe_zoffset
|
||||
#if ENABLED(DELTA)
|
||||
+ home_offset[Z_AXIS] // Account for delta height adjustment
|
||||
#endif
|
||||
;
|
||||
return current_position[Z_AXIS] + zprobe_zoffset;
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -686,7 +682,7 @@ void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
|
|||
#endif
|
||||
|
||||
#if ENABLED(DELTA) // correct the delta_height
|
||||
home_offset[Z_AXIS] -= diff;
|
||||
delta_height -= diff;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue