From 311c7dadb60ef1e862a76198fc36f5262b4b9dbd Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 22 Jul 2016 14:18:08 -0700 Subject: [PATCH] Cleanup do_blocking_move_to for DELTA --- Marlin/Marlin_main.cpp | 30 +++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 4ddf8cddc..b4e0a5b26 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1679,35 +1679,35 @@ void do_blocking_move_to(float x, float y, float z, float fr_mm_m /*=0.0*/) { feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M; + set_destination_to_current(); // sync destination at the start + // when in the danger zone if (current_position[Z_AXIS] > delta_clip_start_height) { - if (delta_clip_start_height < z) { // staying in the danger zone - destination[X_AXIS] = x; // move directly + if (z > delta_clip_start_height) { // staying in the danger zone + destination[X_AXIS] = x; // move directly (uninterpolated) destination[Y_AXIS] = y; destination[Z_AXIS] = z; - prepare_move_to_destination_raw(); // this will also set_current_to_destination + prepare_move_to_destination_raw(); // set_current_to_destination return; - } else { // leave the danger zone - destination[X_AXIS] = current_position[X_AXIS]; - destination[Y_AXIS] = current_position[Y_AXIS]; + } + else { destination[Z_AXIS] = delta_clip_start_height; - prepare_move_to_destination_raw(); // this will also set_current_to_destination + prepare_move_to_destination_raw(); // set_current_to_destination } } - if (current_position[Z_AXIS] < z) { // raise - destination[X_AXIS] = current_position[X_AXIS]; - destination[Y_AXIS] = current_position[Y_AXIS]; + + if (z > current_position[Z_AXIS]) { // raising? destination[Z_AXIS] = z; - prepare_move_to_destination_raw(); // this will also set_current_to_destination + prepare_move_to_destination_raw(); // set_current_to_destination } + destination[X_AXIS] = x; destination[Y_AXIS] = y; - destination[Z_AXIS] = current_position[Z_AXIS]; - prepare_move_to_destination(); // this will also set_current_to_destination + prepare_move_to_destination(); // set_current_to_destination - if (current_position[Z_AXIS] > z) { // lower + if (z < current_position[Z_AXIS]) { // lowering? destination[Z_AXIS] = z; - prepare_move_to_destination_raw(); // this will also set_current_to_destination + prepare_move_to_destination_raw(); // set_current_to_destination } #else