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DELTA do_blocking_move_to() more like the Chartesian one

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AnHardt 2016-07-22 03:12:46 +02:00
parent 824c6859e2
commit 376a57232e
1 changed files with 26 additions and 4 deletions
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30
Marlin/Marlin_main.cpp
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@ -1679,15 +1679,37 @@ 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; feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M;
destination[X_AXIS] = x; // 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
destination[Y_AXIS] = y; destination[Y_AXIS] = y;
destination[Z_AXIS] = z; destination[Z_AXIS] = z;
if (x == current_position[X_AXIS] && y == current_position[Y_AXIS])
prepare_move_to_destination_raw(); // this will also set_current_to_destination prepare_move_to_destination_raw(); // this will also set_current_to_destination
else return;
} else { // leave the danger zone
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
destination[Z_AXIS] = delta_clip_start_height;
prepare_move_to_destination_raw(); // this will also 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];
destination[Z_AXIS] = z;
prepare_move_to_destination_raw(); // this will also 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(); // this will also set_current_to_destination
if (current_position[Z_AXIS] > z) { // lower
destination[Z_AXIS] = z;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
}
#else #else
// If Z needs to raise, do it before moving XY // If Z needs to raise, do it before moving XY