Fix get_cartesian_from_steppers
This commit is contained in:
parent
435c3ed404
commit
46cc2e3f6a
@ -3445,20 +3445,8 @@ inline void gcode_G28() {
|
||||
// Re-orient the current position without leveling
|
||||
// based on where the steppers are positioned.
|
||||
//
|
||||
#if IS_KINEMATIC
|
||||
|
||||
// For DELTA/SCARA we need to apply forward kinematics.
|
||||
// This returns raw positions and we remap to the space.
|
||||
get_cartesian_from_steppers();
|
||||
LOOP_XYZ(i) current_position[i] = LOGICAL_POSITION(cartes[i], i);
|
||||
|
||||
#else
|
||||
|
||||
// For cartesian/core the steppers are already mapped to
|
||||
// the coordinate space by design.
|
||||
LOOP_XYZ(i) current_position[i] = stepper.get_axis_position_mm((AxisEnum)i);
|
||||
|
||||
#endif // !DELTA
|
||||
get_cartesian_from_steppers();
|
||||
memcpy(current_position, cartes, sizeof(cartes));
|
||||
|
||||
// Inform the planner about the new coordinates
|
||||
SYNC_PLAN_POSITION_KINEMATIC();
|
||||
@ -7918,11 +7906,16 @@ void get_cartesian_from_steppers() {
|
||||
stepper.get_axis_position_mm(B_AXIS),
|
||||
stepper.get_axis_position_mm(C_AXIS)
|
||||
);
|
||||
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
|
||||
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
|
||||
cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
|
||||
#elif IS_SCARA
|
||||
forward_kinematics_SCARA(
|
||||
stepper.get_axis_position_degrees(A_AXIS),
|
||||
stepper.get_axis_position_degrees(B_AXIS)
|
||||
);
|
||||
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
|
||||
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
|
||||
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
|
||||
#else
|
||||
cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
|
||||
|
Loading…
Reference in New Issue
Block a user