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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(BABYSTEPPING)
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#include "../gcode.h"
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#include "../../module/probe.h"
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#include "../../module/temperature.h"
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#include "../../module/planner.h"
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#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
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#include "../../core/serial.h"
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#endif
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/**
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* M290: Babystepping
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*/
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void GcodeSuite::M290() {
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#if ENABLED(BABYSTEP_XY)
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for (uint8_t a = X_AXIS; a <= Z_AXIS; a++)
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if (parser.seenval(axis_codes[a]) || (a == Z_AXIS && parser.seenval('S'))) {
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const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2);
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thermalManager.babystep_axis((AxisEnum)a, offs * planner.axis_steps_per_mm[a]);
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#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
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if (a == Z_AXIS) zprobe_zoffset += offs;
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#endif
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}
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#else
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if (parser.seenval('Z') || parser.seenval('S')) {
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const float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2);
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thermalManager.babystep_axis(Z_AXIS, offs * planner.axis_steps_per_mm[Z_AXIS]);
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#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
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zprobe_zoffset += offs;
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#endif
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}
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#endif
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#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
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SERIAL_ECHO_START();
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SERIAL_ECHOLNPAIR(MSG_PROBE_Z_OFFSET ": ", zprobe_zoffset);
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#endif
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}
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#endif // BABYSTEPPING
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