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Fix homing and leveling

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- Include the current Z when raising the axis after and between probing
- Add `sync_plan_position_delta` for parity with `sync_plan_position`
- Clean up and clarify `M48`, `dock_sled`, and others
This commit is contained in:
Scott Lahteine 2015-03-31 18:52:19 -07:00
parent be593b600b
commit 18bb6be80e
3 changed files with 148 additions and 152 deletions
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6
Marlin/Conditionals.h
View File

@ -4,6 +4,10 @@
*/ */
#ifndef CONDITIONALS_H #ifndef CONDITIONALS_H
#ifndef M_PI
#define M_PI 3.1415926536
#endif
#ifndef CONFIGURATION_LCD // Get the LCD defines which are needed first #ifndef CONFIGURATION_LCD // Get the LCD defines which are needed first
#define CONFIGURATION_LCD #define CONFIGURATION_LCD
@ -252,7 +256,7 @@
* Advance calculated values * Advance calculated values
*/ */
#ifdef ADVANCE #ifdef ADVANCE
#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159) #define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * M_PI)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS] / EXTRUSION_AREA) #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS] / EXTRUSION_AREA)
#endif #endif

2
Marlin/Marlin.h
View File

@ -29,6 +29,8 @@
#define BIT(b) (1<<(b)) #define BIT(b) (1<<(b))
#define TEST(n,b) (((n)&BIT(b))!=0) #define TEST(n,b) (((n)&BIT(b))!=0)
#define RADIANS(d) ((d)*M_PI/180.0)
#define DEGREES(r) ((d)*180.0/M_PI)
// Arduino < 1.0.0 does not define this, so we need to do it ourselves // Arduino < 1.0.0 does not define this, so we need to do it ourselves
#ifndef analogInputToDigitalPin #ifndef analogInputToDigitalPin

288
Marlin/Marlin_main.cpp
View File

@ -1034,6 +1034,12 @@ inline void line_to_destination() {
inline void sync_plan_position() { inline void sync_plan_position() {
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
} }
#ifdef DELTA
inline void sync_plan_position_delta() {
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
#endif
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
@ -1109,8 +1115,7 @@ inline void sync_plan_position() {
long stop_steps = st_get_position(Z_AXIS); long stop_steps = st_get_position(Z_AXIS);
float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS]; float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] = mm; current_position[Z_AXIS] = mm;
calculate_delta(current_position); sync_plan_position_delta();
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#else // !DELTA #else // !DELTA
@ -1262,7 +1267,7 @@ inline void sync_plan_position() {
if (servo_endstops[Z_AXIS] >= 0) { if (servo_endstops[Z_AXIS] >= 0) {
#if Z_RAISE_AFTER_PROBING > 0 #if Z_RAISE_AFTER_PROBING > 0
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING); do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
st_synchronize(); st_synchronize();
#endif #endif
@ -1345,7 +1350,7 @@ inline void sync_plan_position() {
#if Z_RAISE_BETWEEN_PROBINGS > 0 #if Z_RAISE_BETWEEN_PROBINGS > 0
if (retract_action == ProbeStay) { if (retract_action == ProbeStay) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BETWEEN_PROBINGS); do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
st_synchronize(); st_synchronize();
} }
#endif #endif
@ -1550,62 +1555,57 @@ void refresh_cmd_timeout(void)
} }
#ifdef FWRETRACT #ifdef FWRETRACT
void retract(bool retracting, bool swapretract = false) { void retract(bool retracting, bool swapretract = false) {
if(retracting && !retracted[active_extruder]) {
destination[X_AXIS]=current_position[X_AXIS]; if (retracting == retracted[active_extruder]) return;
destination[Y_AXIS]=current_position[Y_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS]; float oldFeedrate = feedrate;
destination[E_AXIS]=current_position[E_AXIS];
if (swapretract) { for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i];
current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
} else { if (retracting) {
current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
}
plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate;
feedrate = retract_feedrate * 60; feedrate = retract_feedrate * 60;
retracted[active_extruder]=true; current_position[E_AXIS] += (swapretract ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
prepare_move();
if(retract_zlift > 0.01) {
current_position[Z_AXIS]-=retract_zlift;
#ifdef DELTA
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#else
sync_plan_position();
#endif
prepare_move();
}
feedrate = oldFeedrate;
} else if(!retracting && retracted[active_extruder]) {
destination[X_AXIS]=current_position[X_AXIS];
destination[Y_AXIS]=current_position[Y_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS];
destination[E_AXIS]=current_position[E_AXIS];
if(retract_zlift > 0.01) {
current_position[Z_AXIS]+=retract_zlift;
#ifdef DELTA
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#else
sync_plan_position();
#endif
//prepare_move();
}
if (swapretract) {
current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
} else {
current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
}
plan_set_e_position(current_position[E_AXIS]); plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate;
feedrate = retract_recover_feedrate * 60;
retracted[active_extruder] = false;
prepare_move(); prepare_move();
feedrate = oldFeedrate;
if (retract_zlift > 0.01) {
current_position[Z_AXIS] -= retract_zlift;
#ifdef DELTA
sync_plan_position_delta();
#else
sync_plan_position();
#endif
prepare_move();
}
} }
} //retract else {
#endif //FWRETRACT
if (retract_zlift > 0.01) {
current_position[Z_AXIS] + =retract_zlift;
#ifdef DELTA
sync_plan_position_delta();
#else
sync_plan_position();
#endif
//prepare_move();
}
feedrate = retract_recover_feedrate * 60;
float move_e = swapretract ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
plan_set_e_position(current_position[E_AXIS]);
prepare_move();
}
feedrate = oldFeedrate;
retracted[active_extruder] = retract;
} // retract()
#endif // FWRETRACT
#ifdef Z_PROBE_SLED #ifdef Z_PROBE_SLED
@ -1613,40 +1613,32 @@ void refresh_cmd_timeout(void)
#define SLED_DOCKING_OFFSET 0 #define SLED_DOCKING_OFFSET 0
#endif #endif
// //
// Method to dock/undock a sled designed by Charles Bell. // Method to dock/undock a sled designed by Charles Bell.
// //
// dock[in] If true, move to MAX_X and engage the electromagnet // dock[in] If true, move to MAX_X and engage the electromagnet
// offset[in] The additional distance to move to adjust docking location // offset[in] The additional distance to move to adjust docking location
// //
static void dock_sled(bool dock, int offset=0) { static void dock_sled(bool dock, int offset=0) {
int z_loc; if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
return;
}
if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) { if (dock) {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], current_position[Z_AXIS]);
SERIAL_ECHO_START; digitalWrite(SERVO0_PIN, LOW); // turn off magnet
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); } else {
return; float z_loc = current_position[Z_AXIS];
} if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
digitalWrite(SERVO0_PIN, HIGH); // turn on magnet
}
}
if (dock) { #endif // Z_PROBE_SLED
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
current_position[Y_AXIS],
current_position[Z_AXIS]);
// turn off magnet
digitalWrite(SERVO0_PIN, LOW);
} else {
if (current_position[Z_AXIS] < (Z_RAISE_BEFORE_PROBING + 5))
z_loc = Z_RAISE_BEFORE_PROBING;
else
z_loc = current_position[Z_AXIS];
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
// turn on magnet
digitalWrite(SERVO0_PIN, HIGH);
}
}
#endif
/** /**
* *
@ -1798,8 +1790,7 @@ inline void gcode_G28() {
HOMEAXIS(Y); HOMEAXIS(Y);
HOMEAXIS(Z); HOMEAXIS(Z);
calculate_delta(current_position); sync_plan_position_delta();
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#else // NOT DELTA #else // NOT DELTA
@ -1826,7 +1817,9 @@ inline void gcode_G28() {
#endif #endif
#ifdef QUICK_HOME #ifdef QUICK_HOME
if (home_all_axis || (homeX && homeY)) { //first diagonal move
if (home_all_axis || (homeX && homeY)) { // First diagonal move
current_position[X_AXIS] = current_position[Y_AXIS] = 0; current_position[X_AXIS] = current_position[Y_AXIS] = 0;
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
@ -1837,21 +1830,20 @@ inline void gcode_G28() {
#endif #endif
sync_plan_position(); sync_plan_position();
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;
destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS); float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
feedrate = homing_feedrate[X_AXIS]; mlratio = mlx>mly ? mly/mlx : mlx/mly;
if (homing_feedrate[Y_AXIS] < feedrate) feedrate = homing_feedrate[Y_AXIS];
if (max_length(X_AXIS) > max_length(Y_AXIS)) { destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1); destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
} else { feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
}
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
axis_is_at_home(X_AXIS); axis_is_at_home(X_AXIS);
axis_is_at_home(Y_AXIS); axis_is_at_home(Y_AXIS);
sync_plan_position(); sync_plan_position();
destination[X_AXIS] = current_position[X_AXIS]; destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS]; destination[Y_AXIS] = current_position[Y_AXIS];
line_to_destination(); line_to_destination();
@ -1865,7 +1857,7 @@ inline void gcode_G28() {
current_position[Z_AXIS] = destination[Z_AXIS]; current_position[Z_AXIS] = destination[Z_AXIS];
#endif #endif
} }
#endif //QUICK_HOME #endif // QUICK_HOME
// Home X // Home X
if (home_all_axis || homeX) { if (home_all_axis || homeX) {
@ -1947,7 +1939,7 @@ inline void gcode_G28() {
&& cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER && cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
&& cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) { && cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(cpx, cpy, 0, current_position[E_AXIS]);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS]; feedrate = max_feedrate[Z_AXIS];
line_to_destination(); line_to_destination();
@ -1986,8 +1978,7 @@ inline void gcode_G28() {
#endif // else DELTA #endif // else DELTA
#ifdef SCARA #ifdef SCARA
calculate_delta(current_position); sync_plan_position_delta();
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#endif #endif
#ifdef ENDSTOPS_ONLY_FOR_HOMING #ifdef ENDSTOPS_ONLY_FOR_HOMING
@ -2826,9 +2817,7 @@ inline void gcode_M42() {
inline void gcode_M48() { inline void gcode_M48() {
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50]; double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
int verbose_level = 1, n = 0, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0; int verbose_level = 1, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0;
double X_current, Y_current, Z_current;
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
if (code_seen('V') || code_seen('v')) { if (code_seen('V') || code_seen('v')) {
verbose_level = code_value(); verbose_level = code_value();
@ -2849,11 +2838,12 @@ inline void gcode_M42() {
} }
} }
X_current = X_probe_location = st_get_position_mm(X_AXIS); double X_probe_location, Y_probe_location,
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS); X_current = X_probe_location = st_get_position_mm(X_AXIS),
Z_current = st_get_position_mm(Z_AXIS); Y_current = Y_probe_location = st_get_position_mm(Y_AXIS),
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING; Z_current = st_get_position_mm(Z_AXIS),
ext_position = st_get_position_mm(E_AXIS); Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING,
ext_position = st_get_position_mm(E_AXIS);
if (code_seen('E') || code_seen('e')) if (code_seen('E') || code_seen('e'))
engage_probe_for_each_reading++; engage_probe_for_each_reading++;
@ -2936,33 +2926,29 @@ inline void gcode_M42() {
if (engage_probe_for_each_reading) retract_z_probe(); if (engage_probe_for_each_reading) retract_z_probe();
for (n=0; n < n_samples; n++) { for (uint16_t n=0; n < n_samples; n++) {
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
if (n_legs) { if (n_legs) {
double radius=0.0, theta=0.0; unsigned long ms = millis();
int l; double radius = ms % (X_MAX_LENGTH / 4), // limit how far out to go
int rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise theta = RADIANS(ms % 360L);
radius = (unsigned long)millis() % (long)(X_MAX_LENGTH / 4); // limit how far out to go float dir = (ms & 0x0001) ? 1 : -1; // clockwise or counter clockwise
theta = (float)((unsigned long)millis() % 360L) / (360. / (2 * 3.1415926)); // turn into radians
//SERIAL_ECHOPAIR("starting radius: ",radius); //SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta); //SERIAL_ECHOPAIR(" theta: ",theta);
//SERIAL_ECHOPAIR(" direction: ",rotational_direction); //SERIAL_ECHOPAIR(" direction: ",dir);
//SERIAL_EOL; //SERIAL_EOL;
float dir = rotational_direction ? 1 : -1; for (int l = 0; l < n_legs - 1; l++) {
for (l = 0; l < n_legs - 1; l++) { ms = millis();
theta += dir * (float)((unsigned long)millis() % 20L) / (360.0/(2*3.1415926)); // turn into radians theta += RADIANS(dir * (ms % 20L));
radius += (ms % 10L) - 5L;
radius += (float)(((long)((unsigned long) millis() % 10L)) - 5L);
if (radius < 0.0) radius = -radius; if (radius < 0.0) radius = -radius;
X_current = X_probe_location + cos(theta) * radius; X_current = X_probe_location + cos(theta) * radius;
Y_current = Y_probe_location + sin(theta) * radius; Y_current = Y_probe_location + sin(theta) * radius;
// Make sure our X & Y are sane
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS); X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS); Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
@ -2972,10 +2958,13 @@ inline void gcode_M42() {
SERIAL_EOL; SERIAL_EOL;
} }
do_blocking_move_to( X_current, Y_current, Z_current ); do_blocking_move_to(X_current, Y_current, Z_current);
}
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location } // n_legs loop
}
do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
} // n_legs
if (engage_probe_for_each_reading) { if (engage_probe_for_each_reading) {
engage_z_probe(); engage_z_probe();
@ -2991,36 +2980,37 @@ inline void gcode_M42() {
// Get the current mean for the data points we have so far // Get the current mean for the data points we have so far
// //
sum = 0.0; sum = 0.0;
for (j=0; j<=n; j++) sum += sample_set[j]; for (int j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (double (n+1)); mean = sum / (n + 1);
// //
// Now, use that mean to calculate the standard deviation for the // Now, use that mean to calculate the standard deviation for the
// data points we have so far // data points we have so far
// //
sum = 0.0; sum = 0.0;
for (j=0; j<=n; j++) sum += (sample_set[j]-mean) * (sample_set[j]-mean); for (int j = 0; j <= n; j++) {
sigma = sqrt( sum / (double (n+1)) ); float ss = sample_set[j] - mean;
sum += ss * ss;
}
sigma = sqrt(sum / (n + 1));
if (verbose_level > 1) { if (verbose_level > 1) {
SERIAL_PROTOCOL(n+1); SERIAL_PROTOCOL(n+1);
SERIAL_PROTOCOL(" of "); SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL(n_samples); SERIAL_PROTOCOL(n_samples);
SERIAL_PROTOCOLPGM(" z: "); SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6); SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
} if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" mean: ");
if (verbose_level > 2) { SERIAL_PROTOCOL_F(mean,6);
SERIAL_PROTOCOL(" mean: "); SERIAL_PROTOCOLPGM(" sigma: ");
SERIAL_PROTOCOL_F(mean,6); SERIAL_PROTOCOL_F(sigma,6);
SERIAL_PROTOCOL(" sigma: "); }
SERIAL_PROTOCOL_F(sigma,6);
} }
if (verbose_level > 0) SERIAL_EOL; if (verbose_level > 0) SERIAL_EOL;
plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize(); st_synchronize();
if (engage_probe_for_each_reading) { if (engage_probe_for_each_reading) {
@ -3029,8 +3019,10 @@ inline void gcode_M42() {
} }
} }
retract_z_probe(); if (!engage_probe_for_each_reading) {
delay(1000); retract_z_probe();
delay(1000);
}
clean_up_after_endstop_move(); clean_up_after_endstop_move();
@ -4674,9 +4666,7 @@ inline void gcode_T() {
active_extruder = tmp_extruder; active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE #endif // !DUAL_X_CARRIAGE
#ifdef DELTA #ifdef DELTA
calculate_delta(current_position); // change cartesian kinematic to delta kinematic; sync_plan_position_delta();
//sent position to plan_set_position();
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
#else #else
sync_plan_position(); sync_plan_position();
#endif #endif