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🐛 Update H-bot / Core for 6-axis (#22600)

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Followup to #19112
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Fjederhaek 2021-08-21 00:45:05 +02:00 committed by GitHub
parent 9046254a14
commit 1903cc23c6
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 16 additions and 5 deletions
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21
Marlin/src/module/planner.cpp
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@ -2002,15 +2002,15 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Number of steps for each axis
// See https://www.corexy.com/theory.html
#if CORE_IS_XY
block->steps.set(ABS(da + db), ABS(da - db), ABS(dc));
block->steps.set(LINEAR_AXIS_LIST(ABS(da + db), ABS(da - db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
#elif CORE_IS_XZ
block->steps.set(ABS(da + dc), ABS(db), ABS(da - dc));
block->steps.set(LINEAR_AXIS_LIST(ABS(da + dc), ABS(db), ABS(da - dc), ABS(di), ABS(dj), ABS(dk)));
#elif CORE_IS_YZ
block->steps.set(ABS(da), ABS(db + dc), ABS(db - dc));
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db + dc), ABS(db - dc), ABS(di), ABS(dj), ABS(dk)));
#elif ENABLED(MARKFORGED_XY)
block->steps.set(ABS(da + db), ABS(db), ABS(dc));
block->steps.set(LINEAR_AXIS_LIST(ABS(da + db), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
#elif IS_SCARA
block->steps.set(ABS(da), ABS(db), ABS(dc));
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
#else
// default non-h-bot planning
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
@ -2208,6 +2208,17 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (block->steps.k) ENABLE_AXIS_K()
);
#endif
#if EITHER(IS_CORE, MARKFORGED_XY)
#if LINEAR_AXES >= 4
if (block->steps.i) ENABLE_AXIS_I();
#endif
#if LINEAR_AXES >= 5
if (block->steps.j) ENABLE_AXIS_J();
#endif
#if LINEAR_AXES >= 6
if (block->steps.k) ENABLE_AXIS_K();
#endif
#endif
// Enable extruder(s)
#if HAS_EXTRUDERS