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Merge pull request #6777 from bgort/g7

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Add `G7` gcode command to move between UBL mesh points
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bgort 2017-05-18 06:44:13 -04:00 committed by GitHub
parent e16743da45 e09b4ce4a5
commit 47245675fc
1 changed files with 49 additions and 0 deletions
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49
Marlin/Marlin_main.cpp
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@ -51,6 +51,7 @@
* G3 - CCW ARC
* G4 - Dwell S<seconds> or P<milliseconds>
* G5 - Cubic B-spline with XYZE destination and IJPQ offsets
* G7 - Coordinated move between UBL mesh points (I & J)
* G10 - Retract filament according to settings of M207
* G11 - Retract recover filament according to settings of M208
* G12 - Clean tool
@ -3395,6 +3396,44 @@ inline void gcode_G4() {
#endif // BEZIER_CURVE_SUPPORT
#if ENABLED(AUTO_BED_LEVELING_UBL) //todo: enable for other leveling systems?
/**
* G7: Move X & Y axes to mesh coordinates
*/
inline void gcode_G7(
#if IS_SCARA
bool fast_move=false
#endif
) {
if (IsRunning()) {
const bool hasI = code_seen('I');
const int8_t ix = code_has_value() ? code_value_int() : 0;
const bool hasJ = code_seen('J');
const int8_t iy = code_has_value() ? code_value_int() : 0;
if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
SERIAL_ECHOLNPGM(MSG_ERR_MESH_XY);
return;
}
destination[X_AXIS] = hasI ? pgm_read_float(&ubl.mesh_index_to_xpos[ix]) : current_position[X_AXIS];
destination[Y_AXIS] = hasJ ? pgm_read_float(&ubl.mesh_index_to_ypos[iy]) : current_position[Y_AXIS];
destination[Z_AXIS] = current_position[Z_AXIS]; //todo: perhaps add Z-move support?
destination[E_AXIS] = current_position[E_AXIS];
if (code_seen('F') && code_value_linear_units() > 0.0)
feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
#if IS_SCARA
fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
#else
prepare_move_to_destination();
#endif
}
}
#endif
#if ENABLED(FWRETRACT)
/**
@ -9982,6 +10021,16 @@ void process_next_command() {
break;
#endif // BEZIER_CURVE_SUPPORT
#if ENABLED(AUTO_BED_LEVELING_UBL)
case 7:
#if IS_SCARA
gcode_G7(codenum == 0);
#else
gcode_G7();
#endif
break;
#endif
#if ENABLED(FWRETRACT)
case 10: // G10: retract
case 11: // G11: retract_recover