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Merge pull request #8343 from thinkyhead/bf2_movement_fixes

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[2.0] Fix PROBE_MANUALLY on kinematic bots
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Scott Lahteine 2017-11-08 23:20:15 -06:00 committed by GitHub
commit 02e91ffa02
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9 changed files with 28 additions and 37 deletions
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4
Marlin/src/feature/bedlevel/abl/abl.cpp
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@ -377,7 +377,7 @@ float bilinear_z_offset(const float raw[XYZ]) {
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
line_to_destination(fr_mm_s);
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
@ -404,7 +404,7 @@ float bilinear_z_offset(const float raw[XYZ]) {
}
else {
// Already split on a border
line_to_destination(fr_mm_s);
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}

21
Marlin/src/feature/bedlevel/bedlevel.cpp
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@ -27,7 +27,7 @@
#include "bedlevel.h"
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
#include "../../module/stepper.h"
#include "../../module/motion.h"
#endif
#if PLANNER_LEVELING
@ -257,27 +257,20 @@ void reset_bed_level() {
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
void _manual_goto_xy(const float &rx, const float &ry) {
const float old_feedrate_mm_s = feedrate_mm_s;
#if MANUAL_PROBE_HEIGHT > 0
const float prev_z = current_position[Z_AXIS];
feedrate_mm_s = homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = MANUAL_PROBE_HEIGHT;
line_to_current_position();
do_blocking_move_to_z(MANUAL_PROBE_HEIGHT, homing_feedrate(Z_AXIS));
#endif
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
line_to_current_position();
do_blocking_move_to_xy(rx, ry, MMM_TO_MMS(XY_PROBE_SPEED));
#if MANUAL_PROBE_HEIGHT > 0
feedrate_mm_s = homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = prev_z; // move back to the previous Z.
line_to_current_position();
do_blocking_move_to_z(prev_z, homing_feedrate(Z_AXIS));
#endif
feedrate_mm_s = old_feedrate_mm_s;
stepper.synchronize();
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
lcd_wait_for_move = false;

4
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
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@ -68,7 +68,7 @@
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
line_to_destination(fr_mm_s);
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
@ -95,7 +95,7 @@
}
else {
// Already split on a border
line_to_destination(fr_mm_s);
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}

2
Marlin/src/feature/pause.cpp
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@ -99,7 +99,7 @@ void do_pause_e_move(const float &length, const float fr) {
#if IS_KINEMATIC
planner.buffer_line_kinematic(destination, fr, active_extruder);
#else
line_to_destination(fr);
buffer_line_to_destination(fr);
#endif
stepper.synchronize();
}

2
Marlin/src/gcode/bedlevel/mbl/G29.cpp
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@ -48,7 +48,7 @@ void mesh_probing_done() {
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = Z_MIN_POS;
set_destination_from_current();
line_to_destination(homing_feedrate(Z_AXIS));
buffer_line_to_destination(homing_feedrate(Z_AXIS));
stepper.synchronize();
#endif
}

2
Marlin/src/inc/SanityCheck.h
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@ -819,7 +819,7 @@ static_assert(1 >= 0
*/
#if ENABLED(DELTA)
#error "MESH_BED_LEVELING does not yet support DELTA printers."
#error "MESH_BED_LEVELING is not compatible with DELTA printers."
#elif GRID_MAX_POINTS_X > 9 || GRID_MAX_POINTS_Y > 9
#error "GRID_MAX_POINTS_X and GRID_MAX_POINTS_Y must be less than 10 for MBL."
#endif

12
Marlin/src/module/motion.cpp
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@ -70,16 +70,16 @@ bool relative_mode = false;
/**
* Cartesian Current Position
* Used to track the native machine position as moves are queued.
* Used by 'line_to_current_position' to do a move after changing it.
* Used by 'buffer_line_to_current_position' to do a move after changing it.
* Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
*/
float current_position[XYZE] = { 0.0 };
/**
* Cartesian Destination
* A temporary position, usually applied to 'current_position'.
* Set with 'get_destination_from_command' or 'set_destination_from_current'.
* 'line_to_destination' sets 'current_position' to 'destination'.
* The destination for a move, filled in by G-code movement commands,
* and expected by functions like 'prepare_move_to_destination'.
* Set with 'gcode_get_destination' or 'set_destination_from_current'.
*/
float destination[XYZE] = { 0.0 };
@ -235,7 +235,7 @@ void line_to_current_position() {
* Move the planner to the position stored in the destination array, which is
* used by G0/G1/G2/G3/G5 and many other functions to set a destination.
*/
void line_to_destination(const float fr_mm_s) {
void buffer_line_to_destination(const float fr_mm_s) {
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
}
@ -667,7 +667,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
}
#endif // HAS_MESH
line_to_destination(MMS_SCALED(feedrate_mm_s));
buffer_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false;
}

4
Marlin/src/module/motion.h
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@ -138,9 +138,7 @@ void line_to_current_position();
* Move the planner to the position stored in the destination array, which is
* used by G0/G1/G2/G3/G5 and many other functions to set a destination.
*/
void line_to_destination(const float fr_mm_s);
inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
void buffer_line_to_destination(const float fr_mm_s);
#if IS_KINEMATIC
void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0);

14
Marlin/src/module/planner.h
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@ -376,18 +376,18 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line_kinematic(const float rtarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
static FORCE_INLINE void buffer_line_kinematic(const float cart[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
float lpos[XYZ] = { rtarget[X_AXIS], rtarget[Y_AXIS], rtarget[Z_AXIS] };
apply_leveling(lpos);
float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
apply_leveling(raw);
#else
const float * const lpos = rtarget;
const float * const raw = cart;
#endif
#if IS_KINEMATIC
inverse_kinematics(lpos);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
inverse_kinematics(raw);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder);
#else
_buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
_buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder);
#endif
}