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@ -203,7 +203,8 @@
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float homing_feedrate[] = HOMING_FEEDRATE;
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#ifdef ENABLE_AUTO_BED_LEVELING
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int xy_travel_speed = XY_TRAVEL_SPEED;
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int xy_travel_speed = XY_TRAVEL_SPEED;
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float zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
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#endif
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int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
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bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
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@ -255,7 +256,6 @@ float home_offset[3] = { 0, 0, 0 };
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float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
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float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
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bool axis_known_position[3] = { false, false, false };
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float zprobe_zoffset;
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// Extruder offset
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#if EXTRUDERS > 1
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@ -1097,9 +1097,6 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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// put the bed at 0 so we don't go below it.
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current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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}
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#endif
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@ -1113,11 +1110,13 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
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vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
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vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
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vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
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vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
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vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
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vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
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vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
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planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
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if (planeNormal.z < 0) {
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planeNormal.x = -planeNormal.x;
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planeNormal.y = -planeNormal.y;
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planeNormal.z = -planeNormal.z;
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}
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plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
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@ -1126,11 +1125,7 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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// put the bed at 0 so we don't go below it.
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current_position[Z_AXIS] = zprobe_zoffset;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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}
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#endif // AUTO_BED_LEVELING_GRID
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@ -2017,8 +2012,19 @@ inline void gcode_G28() {
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endstops_hit_on_purpose();
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}
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#if defined(MESH_BED_LEVELING)
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#ifdef MESH_BED_LEVELING
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/**
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* G29: Mesh-based Z-Probe, probes a grid and produces a
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* mesh to compensate for variable bed height
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*
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* Parameters With MESH_BED_LEVELING:
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*
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* S0 Produce a mesh report
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* S1 Start probing mesh points
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* S2 Probe the next mesh point
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*
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*/
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inline void gcode_G29() {
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static int probe_point = -1;
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int state = 0;
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@ -2060,7 +2066,7 @@ inline void gcode_G28() {
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} else if (state == 2) { // Goto next point
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if (probe_point < 0) {
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SERIAL_PROTOCOLPGM("Mesh probing not started.\n");
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SERIAL_PROTOCOLPGM("Start mesh probing with \"G29 S1\" first.\n");
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return;
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}
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int ix, iy;
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@ -2070,16 +2076,14 @@ inline void gcode_G28() {
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} else {
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ix = (probe_point-1) % MESH_NUM_X_POINTS;
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iy = (probe_point-1) / MESH_NUM_X_POINTS;
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if (iy&1) { // Zig zag
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ix = (MESH_NUM_X_POINTS - 1) - ix;
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}
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if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
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mbl.set_z(ix, iy, current_position[Z_AXIS]);
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current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
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st_synchronize();
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}
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if (probe_point == MESH_NUM_X_POINTS*MESH_NUM_Y_POINTS) {
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SERIAL_PROTOCOLPGM("Mesh done.\n");
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if (probe_point == MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
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SERIAL_PROTOCOLPGM("Mesh probing done.\n");
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probe_point = -1;
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mbl.active = 1;
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enquecommands_P(PSTR("G28"));
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@ -2087,9 +2091,7 @@ inline void gcode_G28() {
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}
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ix = probe_point % MESH_NUM_X_POINTS;
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iy = probe_point / MESH_NUM_X_POINTS;
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if (iy&1) { // Zig zag
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ix = (MESH_NUM_X_POINTS - 1) - ix;
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}
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if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
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current_position[X_AXIS] = mbl.get_x(ix);
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current_position[Y_AXIS] = mbl.get_y(iy);
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
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@ -2098,9 +2100,7 @@ inline void gcode_G28() {
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}
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}
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#endif
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#ifdef ENABLE_AUTO_BED_LEVELING
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#elif defined(ENABLE_AUTO_BED_LEVELING)
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/**
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* G29: Detailed Z-Probe, probes the bed at 3 or more points.
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@ -2116,8 +2116,9 @@ inline void gcode_G28() {
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*
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* S Set the XY travel speed between probe points (in mm/min)
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*
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* D Dry-Run mode. Just evaluate the bed Topology - It does not apply or clean the rotation Matrix
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* Useful to check the topology after a first run of G29.
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* D Dry-Run mode. Just evaluate the bed Topology - Don't apply
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* or clean the rotation Matrix. Useful to check the topology
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* after a first run of G29.
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*
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* V Set the verbose level (0-4). Example: "G29 V3"
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*
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@ -2165,9 +2166,9 @@ inline void gcode_G28() {
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#ifdef AUTO_BED_LEVELING_GRID
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#ifndef DELTA
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bool do_topography_map = verbose_level > 2 || code_seen('T') || code_seen('t');
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#endif
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#ifndef DELTA
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bool do_topography_map = verbose_level > 2 || code_seen('T') || code_seen('t');
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#endif
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if (verbose_level > 0)
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{
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@ -2224,7 +2225,7 @@ inline void gcode_G28() {
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#ifdef Z_PROBE_SLED
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dock_sled(false); // engage (un-dock) the probe
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#elif defined(Z_PROBE_ALLEN_KEY)
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#elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
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engage_z_probe();
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#endif
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@ -2234,19 +2235,18 @@ inline void gcode_G28() {
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{
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#ifdef DELTA
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reset_bed_level();
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#else
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// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
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//vector_3 corrected_position = plan_get_position_mm();
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//corrected_position.debug("position before G29");
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plan_bed_level_matrix.set_to_identity();
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vector_3 uncorrected_position = plan_get_position();
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// uncorrected_position.debug("position during G29");
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current_position[X_AXIS] = uncorrected_position.x;
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current_position[Y_AXIS] = uncorrected_position.y;
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current_position[Z_AXIS] = uncorrected_position.z;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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#else //!DELTA
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// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
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//vector_3 corrected_position = plan_get_position_mm();
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//corrected_position.debug("position before G29");
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plan_bed_level_matrix.set_to_identity();
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vector_3 uncorrected_position = plan_get_position();
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//uncorrected_position.debug("position during G29");
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current_position[X_AXIS] = uncorrected_position.x;
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current_position[Y_AXIS] = uncorrected_position.y;
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current_position[Z_AXIS] = uncorrected_position.z;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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#endif
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}
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@ -2261,26 +2261,24 @@ inline void gcode_G28() {
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const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
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const int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
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#ifndef DELTA
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// solve the plane equation ax + by + d = z
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// A is the matrix with rows [x y 1] for all the probed points
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// B is the vector of the Z positions
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// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
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// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
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int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
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double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
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eqnBVector[abl2], // "B" vector of Z points
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mean = 0.0;
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#else
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delta_grid_spacing[0] = xGridSpacing;
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delta_grid_spacing[1] = yGridSpacing;
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float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
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if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
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#endif
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#ifdef DELTA
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delta_grid_spacing[0] = xGridSpacing;
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delta_grid_spacing[1] = yGridSpacing;
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float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
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if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
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#else // !DELTA
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// solve the plane equation ax + by + d = z
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// A is the matrix with rows [x y 1] for all the probed points
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// B is the vector of the Z positions
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// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
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// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
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int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
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double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
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eqnBVector[abl2], // "B" vector of Z points
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mean = 0.0;
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#endif // !DELTA
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int probePointCounter = 0;
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bool zig = true;
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@ -2313,12 +2311,12 @@ inline void gcode_G28() {
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float measured_z,
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z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
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#ifdef DELTA
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// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
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float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
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if (distance_from_center > DELTA_PROBABLE_RADIUS)
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continue;
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#endif //DELTA
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#ifdef DELTA
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// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
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float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
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if (distance_from_center > DELTA_PROBABLE_RADIUS)
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continue;
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#endif //DELTA
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// Enhanced G29 - Do not retract servo between probes
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ProbeAction act;
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@ -2335,16 +2333,16 @@ inline void gcode_G28() {
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measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
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#ifndef DELTA
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mean += measured_z;
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#ifndef DELTA
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mean += measured_z;
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eqnBVector[probePointCounter] = measured_z;
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eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
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eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
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eqnAMatrix[probePointCounter + 2 * abl2] = 1;
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#else
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bed_level[xCount][yCount] = measured_z + z_offset;
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#endif
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eqnBVector[probePointCounter] = measured_z;
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eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
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eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
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eqnAMatrix[probePointCounter + 2 * abl2] = 1;
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#else
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bed_level[xCount][yCount] = measured_z + z_offset;
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#endif
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probePointCounter++;
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} //xProbe
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@ -2352,60 +2350,64 @@ inline void gcode_G28() {
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clean_up_after_endstop_move();
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#ifndef DELTA
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// solve lsq problem
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double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
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mean /= abl2;
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if (verbose_level) {
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SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
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SERIAL_PROTOCOLPGM(" b: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
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SERIAL_PROTOCOLPGM(" d: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
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SERIAL_EOL;
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if (verbose_level > 2) {
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SERIAL_PROTOCOLPGM("Mean of sampled points: ");
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SERIAL_PROTOCOL_F(mean, 8);
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#ifdef DELTA
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if (!dryrun) extrapolate_unprobed_bed_level();
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print_bed_level();
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#else // !DELTA
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// solve lsq problem
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double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
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mean /= abl2;
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if (verbose_level) {
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SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
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SERIAL_PROTOCOLPGM(" b: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
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SERIAL_PROTOCOLPGM(" d: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
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SERIAL_EOL;
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if (verbose_level > 2) {
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SERIAL_PROTOCOLPGM("Mean of sampled points: ");
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SERIAL_PROTOCOL_F(mean, 8);
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SERIAL_EOL;
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}
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}
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}
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// Show the Topography map if enabled
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if (do_topography_map) {
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SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
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SERIAL_PROTOCOLPGM("+-----------+\n");
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SERIAL_PROTOCOLPGM("|...Back....|\n");
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SERIAL_PROTOCOLPGM("|Left..Right|\n");
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SERIAL_PROTOCOLPGM("|...Front...|\n");
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SERIAL_PROTOCOLPGM("+-----------+\n");
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for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
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for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
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int ind = yy * auto_bed_leveling_grid_points + xx;
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float diff = eqnBVector[ind] - mean;
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if (diff >= 0.0)
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SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
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else
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SERIAL_PROTOCOLPGM(" ");
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SERIAL_PROTOCOL_F(diff, 5);
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} // xx
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// Show the Topography map if enabled
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if (do_topography_map) {
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SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
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SERIAL_PROTOCOLPGM("+-----------+\n");
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SERIAL_PROTOCOLPGM("|...Back....|\n");
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SERIAL_PROTOCOLPGM("|Left..Right|\n");
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SERIAL_PROTOCOLPGM("|...Front...|\n");
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SERIAL_PROTOCOLPGM("+-----------+\n");
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for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
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for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
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int ind = yy * auto_bed_leveling_grid_points + xx;
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float diff = eqnBVector[ind] - mean;
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if (diff >= 0.0)
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SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
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else
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SERIAL_PROTOCOLPGM(" ");
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SERIAL_PROTOCOL_F(diff, 5);
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} // xx
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SERIAL_EOL;
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} // yy
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SERIAL_EOL;
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} // yy
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SERIAL_EOL;
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} //do_topography_map
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} //do_topography_map
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if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
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free(plane_equation_coefficients);
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if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
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free(plane_equation_coefficients);
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#else //Delta
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|
if (!dryrun) extrapolate_unprobed_bed_level();
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print_bed_level();
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#endif //Delta
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|
#endif //!DELTA
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#else // !AUTO_BED_LEVELING_GRID
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|
@ -2428,35 +2430,36 @@ inline void gcode_G28() {
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#endif // !AUTO_BED_LEVELING_GRID
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|
#ifndef DELTA
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|
|
if (verbose_level > 0) plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
|
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|
|
#ifndef DELTA
|
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|
|
if (verbose_level > 0)
|
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|
|
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
|
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|
|
|
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|
|
// Correct the Z height difference from z-probe position and hotend tip position.
|
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|
|
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
|
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|
|
// When the bed is uneven, this height must be corrected.
|
|
|
|
|
if (!dryrun)
|
|
|
|
|
{
|
|
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|
|
real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
|
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|
|
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
|
|
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|
|
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
|
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|
|
|
z_tmp = current_position[Z_AXIS];
|
|
|
|
|
// Correct the Z height difference from z-probe position and hotend tip position.
|
|
|
|
|
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
|
|
|
|
|
// When the bed is uneven, this height must be corrected.
|
|
|
|
|
if (!dryrun)
|
|
|
|
|
{
|
|
|
|
|
real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
|
|
|
|
|
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
|
|
|
|
|
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
|
|
|
|
|
z_tmp = current_position[Z_AXIS];
|
|
|
|
|
|
|
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|
|
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
|
|
|
|
|
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
|
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
|
|
|
|
|
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
|
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
|
}
|
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|
|
|
#endif // !DELTA
|
|
|
|
|
|
|
|
|
|
#ifdef Z_PROBE_SLED
|
|
|
|
|
dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
|
|
|
|
|
#elif defined(Z_PROBE_ALLEN_KEY)
|
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|
|
|
retract_z_probe();
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifdef Z_PROBE_END_SCRIPT
|
|
|
|
|
enquecommands_P(PSTR(Z_PROBE_END_SCRIPT));
|
|
|
|
|
st_synchronize();
|
|
|
|
|
#endif
|
|
|
|
|
#ifdef Z_PROBE_SLED
|
|
|
|
|
dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
|
|
|
|
|
#elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
|
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|
|
|
retract_z_probe();
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifdef Z_PROBE_END_SCRIPT
|
|
|
|
|
enquecommands_P(PSTR(Z_PROBE_END_SCRIPT));
|
|
|
|
|
st_synchronize();
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#ifndef Z_PROBE_SLED
|
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|
|
@ -2919,7 +2922,7 @@ inline void gcode_M42() {
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|
|
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
|
|
|
|
|
|
|
|
|
|
if (n_legs) {
|
|
|
|
|
double radius=0.0, theta=0.0, x_sweep, y_sweep;
|
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|
|
|
double radius=0.0, theta=0.0;
|
|
|
|
|
int l;
|
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|
|
|
int rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
|
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|
|
radius = (unsigned long)millis() % (long)(X_MAX_LENGTH / 4); // limit how far out to go
|
|
|
|
|
@ -3545,7 +3548,6 @@ inline void gcode_M200() {
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|
}
|
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|
|
}
|
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|
|
|
|
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|
|
float area = .0;
|
|
|
|
|
if (code_seen('D')) {
|
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|
|
|
float diameter = code_value();
|
|
|
|
|
// setting any extruder filament size disables volumetric on the assumption that
|
|
|
|
|
@ -4283,7 +4285,7 @@ inline void gcode_M502() {
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|
|
* M503: print settings currently in memory
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|
|
*/
|
|
|
|
|
inline void gcode_M503() {
|
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|
|
|
Config_PrintSettings(code_seen('S') && code_value == 0);
|
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|
|
|
Config_PrintSettings(code_seen('S') && code_value() == 0);
|
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|
|
|
}
|
|
|
|
|
|
|
|
|
|
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
|
|
|
|
|
@ -4580,9 +4582,14 @@ inline void gcode_T() {
|
|
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|
|
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
|
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|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
boolean make_move = false;
|
|
|
|
|
#if EXTRUDERS > 1
|
|
|
|
|
bool make_move = false;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
if (code_seen('F')) {
|
|
|
|
|
make_move = true;
|
|
|
|
|
#if EXTRUDERS > 1
|
|
|
|
|
make_move = true;
|
|
|
|
|
#endif
|
|
|
|
|
next_feedrate = code_value();
|
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|
|
|
if (next_feedrate > 0.0) feedrate = next_feedrate;
|
|
|
|
|
}
|
|
|
|
|
@ -5179,20 +5186,22 @@ void ClearToSend()
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|
|
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void get_coordinates()
|
|
|
|
|
{
|
|
|
|
|
bool seen[4]={false,false,false,false};
|
|
|
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
|
|
|
if(code_seen(axis_codes[i]))
|
|
|
|
|
{
|
|
|
|
|
destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
|
|
|
|
|
seen[i]=true;
|
|
|
|
|
void get_coordinates() {
|
|
|
|
|
for (int i = 0; i < NUM_AXIS; i++) {
|
|
|
|
|
float dest;
|
|
|
|
|
if (code_seen(axis_codes[i])) {
|
|
|
|
|
dest = code_value();
|
|
|
|
|
if (axis_relative_modes[i] || relative_mode)
|
|
|
|
|
dest += current_position[i];
|
|
|
|
|
}
|
|
|
|
|
else destination[i] = current_position[i]; //Are these else lines really needed?
|
|
|
|
|
else
|
|
|
|
|
dest = current_position[i];
|
|
|
|
|
|
|
|
|
|
destination[i] = dest;
|
|
|
|
|
}
|
|
|
|
|
if(code_seen('F')) {
|
|
|
|
|
if (code_seen('F')) {
|
|
|
|
|
next_feedrate = code_value();
|
|
|
|
|
if(next_feedrate > 0.0) feedrate = next_feedrate;
|
|
|
|
|
if (next_feedrate > 0.0) feedrate = next_feedrate;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
Scott Lahteine
10 years ago