0x90/Marlin
12
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

Use set_current_from_steppers_for_axis

Browse source
This commit is contained in:
Scott Lahteine 2016-07-23 13:11:18 -07:00
parent 96a162beda
commit bb93b6822a
1 changed files with 10 additions and 19 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

29
Marlin/Marlin_main.cpp
View file

@ -564,7 +564,7 @@ void stop();
void get_available_commands(); void get_available_commands();
void process_next_command(); void process_next_command();
void prepare_move_to_destination(); void prepare_move_to_destination();
void set_current_from_steppers(); void set_current_from_steppers_for_axis(AxisEnum axis);
#if ENABLED(ARC_SUPPORT) #if ENABLED(ARC_SUPPORT)
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
@ -2116,7 +2116,7 @@ static void clean_up_after_endstop_or_probe_move() {
do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST); do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST);
endstops.hit_on_purpose(); endstops.hit_on_purpose();
set_current_from_steppers(); set_current_from_steppers_for_axis(Z_AXIS);
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
// move up the retract distance // move up the retract distance
@ -2125,7 +2125,7 @@ static void clean_up_after_endstop_or_probe_move() {
// move back down slowly to find bed // move back down slowly to find bed
do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW); do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW);
endstops.hit_on_purpose(); endstops.hit_on_purpose();
set_current_from_steppers(); set_current_from_steppers_for_axis(Z_AXIS);
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -6074,8 +6074,8 @@ void quickstop_stepper() {
stepper.quick_stop(); stepper.quick_stop();
#if DISABLED(SCARA) #if DISABLED(SCARA)
stepper.synchronize(); stepper.synchronize();
set_current_from_steppers(); LOOP_XYZ(i) set_current_from_steppers_for_axis((AxisEnum)i);
sync_plan_position(); // ...re-apply to planner position SYNC_PLAN_POSITION_KINEMATIC();
#endif #endif
} }
@ -7912,25 +7912,16 @@ void clamp_to_software_endstops(float target[3]) {
#endif // DELTA #endif // DELTA
void set_current_from_steppers() { void set_current_from_steppers_for_axis(AxisEnum axis) {
#if ENABLED(DELTA) #if ENABLED(DELTA)
set_cartesian_from_steppers(); set_cartesian_from_steppers();
current_position[X_AXIS] = cartesian_position[X_AXIS]; current_position[axis] = LOGICAL_POSITION(cartesian_position[axis], axis);
current_position[Y_AXIS] = cartesian_position[Y_AXIS];
current_position[Z_AXIS] = cartesian_position[Z_AXIS];
#elif ENABLED(AUTO_BED_LEVELING_FEATURE) #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
vector_3 pos = planner.adjusted_position(); // values directly from steppers... vector_3 pos = planner.adjusted_position();
current_position[X_AXIS] = pos.x; current_position[axis] = LOGICAL_POSITION(axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z, axis);
current_position[Y_AXIS] = pos.y;
current_position[Z_AXIS] = pos.z;
#else #else
current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS); // CORE handled transparently current_position[axis] = LOGICAL_POSITION(stepper.get_axis_position_mm(axis), axis); // CORE handled transparently
current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif #endif
for (uint8_t i = X_AXIS; i <= Z_AXIS; i++)
current_position[i] += LOGICAL_POSITION(0, i);
} }
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)