Merge pull request #1586 from maverikou/delta_auto_bed_level

Delta auto bed level (Updated PR)
2015-03-16 18:17:11 -07:00 · 2015-03-16 18:17:11 -07:00 · 89fe77468d
commit 89fe77468d
parent cb676cdf39 e93eb3e8d3
16 changed files with 1868 additions and 38 deletions
--- a/.travis.yml
+++ b/.travis.yml
@ -140,8 +140,12 @@ script:
  - rm -rf .build/
  - ino build -m mega2560
  ######## Example Configurations ##############
-  # Delta Config
+  # Delta Config (generic)
-  - cp Marlin/example_configurations/delta/Configuration* Marlin/
+  - cp Marlin/example_configurations/delta/generic/Configuration* Marlin/
  - rm -rf .build/
  - ino build -m mega2560
  # Delta Config (Mini Kossel)
  - cp Marlin/example_configurations/delta/kossel_mini/Configuration* Marlin/
  - rm -rf .build/
  - ino build -m mega2560
  # Makibox Config  need to check board type for Teensy++ 2.0
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@ -443,6 +443,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
 //   #define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10" //These commands will be executed in the end of G29 routine.
                                                                            //Useful to retract a deployable probe.
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@ -192,12 +192,18 @@ void ClearToSend();
 void get_coordinates();
 #ifdef DELTA
 void calculate_delta(float cartesian[3]);
  #ifdef ENABLE_AUTO_BED_LEVELING
  extern int delta_grid_spacing[2];
  void adjust_delta(float cartesian[3]);
  #endif
 extern float delta[3];
 void prepare_move_raw();
 #endif
 #ifdef SCARA
 void calculate_delta(float cartesian[3]);
 void calculate_SCARA_forward_Transform(float f_scara[3]);
 #endif
 void reset_bed_level();
 void prepare_move();
 void kill();
 void Stop();
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -350,6 +350,9 @@ int fanSpeed = 0;
  float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
  float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
  float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
  #ifdef ENABLE_AUTO_BED_LEVELING
    float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
  #endif
 #endif
 #ifdef SCARA
@ -1077,6 +1080,8 @@ static void axis_is_at_home(int axis) {
 #ifdef ENABLE_AUTO_BED_LEVELING
 #ifdef AUTO_BED_LEVELING_GRID
 #ifndef DELTA
 static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
 {
    vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
@ -1099,6 +1104,7 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 }
 #endif
 #else // not AUTO_BED_LEVELING_GRID
@ -1132,6 +1138,27 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
 #endif // AUTO_BED_LEVELING_GRID
 static void run_z_probe() {
  #ifdef DELTA
    float start_z = current_position[Z_AXIS];
    long start_steps = st_get_position(Z_AXIS);
    // move down slowly until you find the bed
    feedrate = homing_feedrate[Z_AXIS] / 4;
    destination[Z_AXIS] = -10;
    prepare_move_raw();
    st_synchronize();
    endstops_hit_on_purpose();
    // we have to let the planner know where we are right now as it is not where we said to go.
    long stop_steps = st_get_position(Z_AXIS);
    float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
    current_position[Z_AXIS] = mm;
    calculate_delta(current_position);
    plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  #else
    plan_bed_level_matrix.set_to_identity();
    feedrate = homing_feedrate[Z_AXIS];
@ -1169,11 +1196,25 @@ static void run_z_probe() {
    current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
    // make sure the planner knows where we are as it may be a bit different than we last said to move to
    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  #endif
 }
 static void do_blocking_move_to(float x, float y, float z) {
    float oldFeedRate = feedrate;
 #ifdef DELTA
    feedrate = XY_TRAVEL_SPEED;
    destination[X_AXIS] = x;
    destination[Y_AXIS] = y;
    destination[Z_AXIS] = z;
    prepare_move_raw();
    st_synchronize();
 #else
    feedrate = homing_feedrate[Z_AXIS];
    current_position[Z_AXIS] = z;
@ -1187,6 +1228,8 @@ static void do_blocking_move_to(float x, float y, float z) {
    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
    st_synchronize();
 #endif
    feedrate = oldFeedRate;
 }
@ -1226,7 +1269,40 @@ static void engage_z_probe() {
        servos[servo_endstops[Z_AXIS]].detach();
      #endif
    }
  #elif defined(Z_PROBE_ALLEN_KEY)
    feedrate = homing_feedrate[X_AXIS];
    // Move to the start position to initiate deployment
    destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
    destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
    destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
    prepare_move_raw();
    // Home X to touch the belt
    feedrate = homing_feedrate[X_AXIS]/10;
    destination[X_AXIS] = 0;
    prepare_move_raw();
    // Home Y for safety
    feedrate = homing_feedrate[X_AXIS]/2;
    destination[Y_AXIS] = 0;
    prepare_move_raw();
    st_synchronize();
    bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
    if (z_min_endstop)
    {
        if (!Stopped)
        {
            SERIAL_ERROR_START;
            SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
            LCD_ALERTMESSAGEPGM("Err: ZPROBE");
        }
        Stop();
    }
  #endif
 }
 static void retract_z_probe() {
@ -1242,7 +1318,49 @@ static void retract_z_probe() {
        servos[servo_endstops[Z_AXIS]].detach();
      #endif
    }
  #elif defined(Z_PROBE_ALLEN_KEY)
    // Move up for safety
    feedrate = homing_feedrate[X_AXIS];
    destination[Z_AXIS] = current_position[Z_AXIS] + 20;
    prepare_move_raw();
    // Move to the start position to initiate retraction
    destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
    destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
    destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z;
    prepare_move_raw();
    // Move the nozzle down to push the probe into retracted position
    feedrate = homing_feedrate[Z_AXIS]/10;
    destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH;
    prepare_move_raw();
    // Move up for safety
    feedrate = homing_feedrate[Z_AXIS]/2;
    destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
    prepare_move_raw();
    // Home XY for safety
    feedrate = homing_feedrate[X_AXIS]/2;
    destination[X_AXIS] = 0;
    destination[Y_AXIS] = 0;
    prepare_move_raw();
    st_synchronize();
    bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
    if (!z_min_endstop)
    {
        if (!Stopped)
        {
            SERIAL_ERROR_START;
            SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
            LCD_ALERTMESSAGEPGM("Err: ZPROBE");
        }
        Stop();
    }
  #endif
 }
 enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract };
@ -1253,14 +1371,14 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
  do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
-  #ifndef Z_PROBE_SLED
+  #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
    if (retract_action & ProbeEngage) engage_z_probe();
  #endif
  run_z_probe();
  float measured_z = current_position[Z_AXIS];
-  #ifndef Z_PROBE_SLED
+  #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
    if (retract_action & ProbeRetract) retract_z_probe();
  #endif
@ -1277,6 +1395,62 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
  return measured_z;
 }
 #ifdef DELTA
 static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
  if (bed_level[x][y] != 0.0) {
    return;  // Don't overwrite good values.
  }
  float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y];  // Left to right.
  float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2];  // Front to back.
  float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2];  // Diagonal.
  float median = c;  // Median is robust (ignores outliers).
  if (a < b) {
    if (b < c) median = b;
    if (c < a) median = a;
  } else {  // b <= a
    if (c < b) median = b;
    if (a < c) median = a;
  }
  bed_level[x][y] = median;
 }
 // Fill in the unprobed points (corners of circular print surface)
 // using linear extrapolation, away from the center.
 static void extrapolate_unprobed_bed_level() {
  int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
  for (int y = 0; y <= half; y++) {
    for (int x = 0; x <= half; x++) {
      if (x + y < 3) continue;
      extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0);
      extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0);
      extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0);
      extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
    }
  }
 }
 // Print calibration results for plotting or manual frame adjustment.
 static void print_bed_level() {
  for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
    for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
      SERIAL_PROTOCOL_F(bed_level[x][y], 2);
      SERIAL_PROTOCOLPGM(" ");
    }
    SERIAL_ECHOLN("");
  }
 }
 // Reset calibration results to zero.
 void reset_bed_level() {
  for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
    for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
      bed_level[x][y] = 0.0;
    }
  }
 }
 #endif // DELTA
 #endif // ENABLE_AUTO_BED_LEVELING
 static void homeaxis(int axis) {
@ -1559,8 +1733,12 @@ inline void gcode_G4() {
 */
 inline void gcode_G28() {
  #ifdef ENABLE_AUTO_BED_LEVELING
    #ifdef DELTA
      reset_bed_level();
    #else
      plan_bed_level_matrix.set_to_identity();  //Reset the plane ("erase" all leveling data)
    #endif
  #endif
  saved_feedrate = feedrate;
  saved_feedmultiply = feedmultiply;
@ -1831,6 +2009,7 @@ inline void gcode_G28() {
   * Parameters With AUTO_BED_LEVELING_GRID:
   *
   *  P  Set the size of the grid that will be probed (P x P points).
   *     Not supported by non-linear delta printer bed leveling.
   *     Example: "G29 P4"
   *
   *  S  Set the XY travel speed between probe points (in mm/min)
@ -1840,6 +2019,7 @@ inline void gcode_G28() {
   *  T  Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
   *     This is useful for manual bed leveling and finding flaws in the bed (to
   *     assist with part placement).
   *     Not supported by non-linear delta printer bed leveling.
   *
   *  F  Set the Front limit of the probing grid
   *  B  Set the Back limit of the probing grid
@ -1879,16 +2059,21 @@ inline void gcode_G28() {
    #ifdef AUTO_BED_LEVELING_GRID
    #ifndef DELTA
      bool topo_flag = verbose_level > 2 || code_seen('T') || code_seen('t');
    #endif
      if (verbose_level > 0)
        SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
-      int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : AUTO_BED_LEVELING_GRID_POINTS;
+      int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
      #ifndef DELTA
        if (code_seen('P')) auto_bed_leveling_grid_points = code_value_long();
        if (auto_bed_leveling_grid_points < 2) {
          SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
          return;
        }
      #endif
      xy_travel_speed = code_seen('S') ? code_value_long() : XY_TRAVEL_SPEED;
@ -1930,20 +2115,27 @@ inline void gcode_G28() {
    #ifdef Z_PROBE_SLED
      dock_sled(false); // engage (un-dock) the probe
    #elif not defined(SERVO_ENDSTOPS)
      engage_z_probe();
    #endif
    st_synchronize();
  #ifdef DELTA
    reset_bed_level();
  #else
    // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
    //vector_3 corrected_position = plan_get_position_mm();
    //corrected_position.debug("position before G29");
    plan_bed_level_matrix.set_to_identity();
    vector_3 uncorrected_position = plan_get_position();
-    //uncorrected_position.debug("position durring G29");
+    //uncorrected_position.debug("position during G29");
    current_position[X_AXIS] = uncorrected_position.x;
    current_position[Y_AXIS] = uncorrected_position.y;
    current_position[Z_AXIS] = uncorrected_position.z;
    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  #endif
    setup_for_endstop_move();
    feedrate = homing_feedrate[Z_AXIS];
@ -1951,9 +2143,10 @@ inline void gcode_G28() {
    #ifdef AUTO_BED_LEVELING_GRID
      // probe at the points of a lattice grid
-      int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
+      const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
-      int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
+      const int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
    #ifndef DELTA
      // solve the plane equation ax + by + d = z
      // A is the matrix with rows [x y 1] for all the probed points
      // B is the vector of the Z positions
@ -1966,26 +2159,60 @@ inline void gcode_G28() {
             eqnBVector[abl2],     // "B" vector of Z points
             mean = 0.0;
    #else
      delta_grid_spacing[0] = xGridSpacing;
      delta_grid_spacing[1] = yGridSpacing;
      float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
      if (code_seen(axis_codes[Z_AXIS])) {
        z_offset += code_value();
      }
    #endif
      int probePointCounter = 0;
      bool zig = true;
-      for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) {
+      for (int yCount=0; yCount < auto_bed_leveling_grid_points; yCount++)
-        int xProbe, xInc;
+      {
        double yProbe = front_probe_bed_position + yGridSpacing * yCount;
        int xStart, xStop, xInc;
        if (zig)
-          xProbe = left_probe_bed_position, xInc = xGridSpacing;
+        {
          xStart = 0;
          xStop = auto_bed_leveling_grid_points;
          xInc = 1;
          zig = false;
        }
        else
-          xProbe = right_probe_bed_position, xInc = -xGridSpacing;
+        {
          xStart = auto_bed_leveling_grid_points - 1;
          xStop = -1;
          xInc = -1;
          zig = true;
        }
      #ifndef DELTA
        // If topo_flag is set then don't zig-zag. Just scan in one direction.
        // This gets the probe points in more readable order.
        if (!topo_flag) zig = !zig;
      #endif
        for (int xCount=xStart; xCount != xStop; xCount += xInc)
        {
          double xProbe = left_probe_bed_position + xGridSpacing * xCount;
        for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) {
          // raise extruder
          float measured_z,
                z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
        #ifdef DELTA
          // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
          float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
          if (distance_from_center > DELTA_PROBABLE_RADIUS)
            continue;
        #endif //DELTA
          // Enhanced G29 - Do not retract servo between probes
          ProbeAction act;
          if (enhanced_g29) {
@ -2001,22 +2228,24 @@ inline void gcode_G28() {
          measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
        #ifndef DELTA
          mean += measured_z;
          eqnBVector[probePointCounter] = measured_z;
          eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
          eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
          eqnAMatrix[probePointCounter + 2 * abl2] = 1;
        #else
          bed_level[xCount][yCount] = measured_z + z_offset;
        #endif
          probePointCounter++;
          xProbe += xInc;
        } //xProbe
      } //yProbe
      clean_up_after_endstop_move();
    #ifndef DELTA
      // solve lsq problem
      double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
@ -2084,6 +2313,10 @@ inline void gcode_G28() {
      set_bed_level_equation_lsq(plane_equation_coefficients);
      free(plane_equation_coefficients);
    #else
      extrapolate_unprobed_bed_level();
      print_bed_level();
    #endif
    #else // !AUTO_BED_LEVELING_GRID
@ -2106,8 +2339,10 @@ inline void gcode_G28() {
    #endif // !AUTO_BED_LEVELING_GRID
    do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
    st_synchronize();
  #ifndef DELTA
    if (verbose_level > 0)
      plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
@ -2122,9 +2357,12 @@ inline void gcode_G28() {
    apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);         //Apply the correction sending the probe offset
    current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS];   //The difference is added to current position and sent to planner.
    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  #endif
  #ifdef Z_PROBE_SLED
    dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
  #elif not defined(SERVO_ENDSTOPS)
    retract_z_probe();
  #endif
  #ifdef Z_PROBE_END_SCRIPT
@ -3899,7 +4137,7 @@ inline void gcode_M303() {
 */
 inline void gcode_M400() { st_synchronize(); }
-#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
+#if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
  /**
   * M401: Engage Z Servo endstop if available
@ -4761,7 +4999,7 @@ void process_commands() {
        gcode_M400();
        break;
-      #if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
+      #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
        case 401:
          gcode_M401();
          break;
@ -4979,7 +5217,64 @@ void calculate_delta(float cartesian[3])
  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  */
 }
-#endif
+
 #ifdef ENABLE_AUTO_BED_LEVELING
 // Adjust print surface height by linear interpolation over the bed_level array.
 int delta_grid_spacing[2] = { 0, 0 };
 void adjust_delta(float cartesian[3])
 {
  if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0)
    return; // G29 not done
  int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  float grid_x = max(0.001-half, min(half-0.001, cartesian[X_AXIS] / delta_grid_spacing[0]));
  float grid_y = max(0.001-half, min(half-0.001, cartesian[Y_AXIS] / delta_grid_spacing[1]));
  int floor_x = floor(grid_x);
  int floor_y = floor(grid_y);
  float ratio_x = grid_x - floor_x;
  float ratio_y = grid_y - floor_y;
  float z1 = bed_level[floor_x+half][floor_y+half];
  float z2 = bed_level[floor_x+half][floor_y+half+1];
  float z3 = bed_level[floor_x+half+1][floor_y+half];
  float z4 = bed_level[floor_x+half+1][floor_y+half+1];
  float left = (1-ratio_y)*z1 + ratio_y*z2;
  float right = (1-ratio_y)*z3 + ratio_y*z4;
  float offset = (1-ratio_x)*left + ratio_x*right;
  delta[X_AXIS] += offset;
  delta[Y_AXIS] += offset;
  delta[Z_AXIS] += offset;
  /*
  SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
  SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
  SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
  SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
  SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
  SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
  SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
  SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
  SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
  SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
  SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
  SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
  SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
  */
 }
 #endif //ENABLE_AUTO_BED_LEVELING
 void prepare_move_raw()
 {
  previous_millis_cmd = millis();
  calculate_delta(destination);
  plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
                   destination[E_AXIS], feedrate*feedmultiply/60/100.0,
                   active_extruder);
  for(int8_t i=0; i < NUM_AXIS; i++) {
    current_position[i] = destination[i];
  }
 }
 #endif //DELTA
 void prepare_move()
 {
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@ -453,6 +453,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@ -458,6 +458,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@ -482,6 +482,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@ -452,6 +452,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@ -110,6 +110,9 @@ Here are some standard links for getting your machine calibrated:
 // Effective horizontal distance bridged by diagonal push rods.
 #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
 // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
 #define DELTA_PRINTABLE_RADIUS 90
 //===========================================================================
 //============================= Thermal Settings ============================
@ -361,8 +364,7 @@ const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
 const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
 //#define DISABLE_MAX_ENDSTOPS
-// Deltas never have min endstops
+#define DISABLE_MIN_ENDSTOPS // Deltas only use min endstops for probing
 #define DISABLE_MIN_ENDSTOPS
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
@ -413,8 +415,80 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //============================= Bed Auto Leveling ===========================
 //===========================================================================
-//Bed Auto Leveling is still not compatible with Delta Kinematics
+//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
 // Z-Probe Repeatability test is not supported in Deltas yet.
 #ifdef ENABLE_AUTO_BED_LEVELING
  // Deltas only support grid mode
  #define AUTO_BED_LEVELING_GRID
  #define DELTA_PROBABLE_RADIUS (DELTA_PRINTABLE_RADIUS - 10)
  #define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS
  #define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
  #define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
  #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS   
  // Non-linear bed leveling will be used.
  // Compensate by interpolating between the nearest four Z probe values for each point.
  // Useful for deltas where the print surface may appear like a bowl or dome shape.
  // Works best with ACCURATE_BED_LEVELING_POINTS 5 or higher.
  #define AUTO_BED_LEVELING_GRID_POINTS 9
  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
  // X and Y offsets must be integers
  #define X_PROBE_OFFSET_FROM_EXTRUDER 0     // -left  +right
  #define Y_PROBE_OFFSET_FROM_EXTRUDER -10   // -front +behind
  #define Z_PROBE_OFFSET_FROM_EXTRUDER -3.5  // -below (always!)
  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case
  #define XY_TRAVEL_SPEED 4000         // X and Y axis travel speed between probes, in mm/min
  #define Z_RAISE_BEFORE_PROBING 15   //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 50    //How much the extruder will be raised after the last probing point.
  // Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
  // Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
  //#define Z_PROBE_ALLEN_KEY
  #ifdef Z_PROBE_ALLEN_KEY
    #define Z_PROBE_ALLEN_KEY_DEPLOY_X 30
    #define Z_PROBE_ALLEN_KEY_DEPLOY_Y DELTA_PRINTABLE_RADIUS
    #define Z_PROBE_ALLEN_KEY_DEPLOY_Z 100
    #define Z_PROBE_ALLEN_KEY_RETRACT_X     -64
    #define Z_PROBE_ALLEN_KEY_RETRACT_Y     56
    #define Z_PROBE_ALLEN_KEY_RETRACT_Z     23
    #define Z_PROBE_ALLEN_KEY_RETRACT_DEPTH 20
  #endif
  //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
  //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
  // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
 //  #define PROBE_SERVO_DEACTIVATION_DELAY 300
 //If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
 //it is highly recommended you let this Z_SAFE_HOMING enabled!!!
  #define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
                          // When defined, it will:
                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing
                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
                          // - Block Z homing only when the probe is outside bed area.
  #ifdef Z_SAFE_HOMING
    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)
  #endif
 #endif // ENABLE_AUTO_BED_LEVELING
--- a/Marlin/example_configurations/delta/generic/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/generic/Configuration_adv.h
@ -456,7 +456,25 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 //===========================================================================
 #if defined (ENABLE_AUTO_BED_LEVELING) && defined (DELTA)
-  #error "Bed Auto Leveling is still not compatible with Delta Kinematics."
+
  #if not defined(AUTO_BED_LEVELING_GRID)
    #error "Only Grid Bed Auto Leveling is supported on Deltas."
  #endif
  #if defined(Z_PROBE_SLED)
    #error "You cannot use Z_PROBE_SLED together with DELTA."
  #endif
  #if defined(Z_PROBE_REPEATABILITY_TEST)
    #error "Z-probe repeatability test is not supported on Deltas yet."
  #endif
 #endif  
 #if defined(Z_PROBE_ALLEN_KEY)
  #if !defined(AUTO_BED_LEVELING_GRID) || !defined(DELTA)
    #error "Invalid use of Z_PROBE_ALLEN_KEY."
  #endif
 #endif
 #if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@ -0,0 +1,877 @@
 #ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 #include "boards.h"
 //===========================================================================
 //============================= Getting Started =============================
 //===========================================================================
 /*
 Here are some standard links for getting your machine calibrated:
 * http://reprap.org/wiki/Calibration
 * http://youtu.be/wAL9d7FgInk
 * http://calculator.josefprusa.cz
 * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
 * http://www.thingiverse.com/thing:5573
 * https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
 * http://www.thingiverse.com/thing:298812
 */
 // This configuration file contains the basic settings.
 // Advanced settings can be found in Configuration_adv.h
 // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
 // For a Delta printer replace the configuration files with the files in the
 // example_configurations/delta directory.
 //
 //===========================================================================
 //============================= SCARA Printer ===============================
 //===========================================================================
 // For a Delta printer replace the configuration files with the files in the
 // example_configurations/SCARA directory.
 //
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
 #define STRING_VERSION "1.0.2"
 #define STRING_URL "reprap.org"
 #define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
 #define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
 #define STRING_SPLASH_LINE1 "v" STRING_VERSION // will be shown during bootup in line 1
 //#define STRING_SPLASH_LINE2 STRING_VERSION_CONFIG_H // will be shown during bootup in line2
 // SERIAL_PORT selects which serial port should be used for communication with the host.
 // This allows the connection of wireless adapters (for instance) to non-default port pins.
 // Serial port 0 is still used by the Arduino bootloader regardless of this setting.
 #define SERIAL_PORT 0
 // This determines the communication speed of the printer
 #define BAUDRATE 250000
 // This enables the serial port associated to the Bluetooth interface
 //#define BTENABLED              // Enable BT interface on AT90USB devices
 // The following define selects which electronics board you have.
 // Please choose the name from boards.h that matches your setup
 #ifndef MOTHERBOARD
  #define MOTHERBOARD BOARD_RAMPS_13_EFB
 #endif
 // Define this to set a custom name for your generic Mendel,
 #define CUSTOM_MENDEL_NAME "Mini Kossel"
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
 // #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
 // This defines the number of extruders
 #define EXTRUDERS 1
 //// The following define selects which power supply you have. Please choose the one that matches your setup
 // 1 = ATX
 // 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
 #define POWER_SUPPLY 1
 // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
 // #define PS_DEFAULT_OFF
 //===========================================================================
 //============================== Delta Settings =============================
 //===========================================================================
 // Enable DELTA kinematics and most of the default configuration for Deltas
 #define DELTA
 // Make delta curves from many straight lines (linear interpolation).
 // This is a trade-off between visible corners (not enough segments)
 // and processor overload (too many expensive sqrt calls).
 #define DELTA_SEGMENTS_PER_SECOND 200
 // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
 // Center-to-center distance of the holes in the diagonal push rods.
 #define DELTA_DIAGONAL_ROD 215.0 // mm
 // Horizontal offset from middle of printer to smooth rod center.
 #define DELTA_SMOOTH_ROD_OFFSET 145.0 // mm
 // Horizontal offset of the universal joints on the end effector.
 #define DELTA_EFFECTOR_OFFSET 19.9 // mm
 // Horizontal offset of the universal joints on the carriages.
 #define DELTA_CARRIAGE_OFFSET 19.5 // mm
 // Horizontal distance bridged by diagonal push rods when effector is centered.
 #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
 // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
 #define DELTA_PRINTABLE_RADIUS 90
 //===========================================================================
 //============================= Thermal Settings ============================
 //===========================================================================
 //
 //--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
 //
 //// Temperature sensor settings:
 // -2 is thermocouple with MAX6675 (only for sensor 0)
 // -1 is thermocouple with AD595
 // 0 is not used
 // 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
 // 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
 // 3 is Mendel-parts thermistor (4.7k pullup)
 // 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
 // 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
 // 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
 // 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
 // 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
 // 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
 // 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
 // 10 is 100k RS thermistor 198-961 (4.7k pullup)
 // 11 is 100k beta 3950 1% thermistor (4.7k pullup)
 // 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
 // 13 is 100k Hisens 3950  1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE" 
 // 20 is the PT100 circuit found in the Ultimainboard V2.x
 // 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
 //
 //    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
 //                          (but gives greater accuracy and more stable PID)
 // 51 is 100k thermistor - EPCOS (1k pullup)
 // 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
 // 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
 //
 // 1047 is Pt1000 with 4k7 pullup
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
 // 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
 //     Use it for Testing or Development purposes. NEVER for production machine.
 //     #define DUMMY_THERMISTOR_998_VALUE 25
 //     #define DUMMY_THERMISTOR_999_VALUE 100
 #define TEMP_SENSOR_0 7
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
 #define TEMP_SENSOR_3 0
 #define TEMP_SENSOR_BED 11
 // This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
 //#define TEMP_SENSOR_1_AS_REDUNDANT
 #define MAX_REDUNDANT_TEMP_SENSOR_DIFF 5
 // Actual temperature must be close to target for this long before M109 returns success
 #define TEMP_RESIDENCY_TIME 10  // (seconds)
 #define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
 #define TEMP_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.
 // The minimal temperature defines the temperature below which the heater will not be enabled It is used
 // to check that the wiring to the thermistor is not broken.
 // Otherwise this would lead to the heater being powered on all the time.
 #define HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define HEATER_2_MINTEMP 5
 #define HEATER_3_MINTEMP 5
 #define BED_MINTEMP 5
 // When temperature exceeds max temp, your heater will be switched off.
 // This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
 // You should use MINTEMP for thermistor short/failure protection.
 #define HEATER_0_MAXTEMP 275
 #define HEATER_1_MAXTEMP 275
 #define HEATER_2_MAXTEMP 275
 #define HEATER_3_MAXTEMP 275
 #define BED_MAXTEMP 150
 // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
 // average current. The value should be an integer and the heat bed will be turned on for 1 interval of
 // HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
 //#define HEATER_BED_DUTY_CYCLE_DIVIDER 4
 // If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS
 //#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R
 //#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R
 //===========================================================================
 //============================= PID Settings ================================
 //===========================================================================
 // PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
 #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
 #define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #ifdef PIDTEMP
  //#define PID_DEBUG // Sends debug data to the serial port.
  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
  //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
  //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
                                    // Set/get with gcode: M301 E[extruder number, 0-2]
  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
  #define PID_INTEGRAL_DRIVE_MAX PID_MAX  //limit for the integral term
  #define K1 0.95 //smoothing factor within the PID
  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
 // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
 // Ultimaker
    #define  DEFAULT_Kp 22.2
    #define  DEFAULT_Ki 1.08
    #define  DEFAULT_Kd 114
 // MakerGear
 //    #define  DEFAULT_Kp 7.0
 //    #define  DEFAULT_Ki 0.1
 //    #define  DEFAULT_Kd 12
 // Mendel Parts V9 on 12V
 //    #define  DEFAULT_Kp 63.0
 //    #define  DEFAULT_Ki 2.25
 //    #define  DEFAULT_Kd 440
 #endif // PIDTEMP
 //===========================================================================
 //============================= PID > Bed Temperature Control ===============
 //===========================================================================
 // Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
 //
 // Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
 // If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
 // which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
 // This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
 // If your configuration is significantly different than this and you don't understand the issues involved, you probably
 // shouldn't use bed PID until someone else verifies your hardware works.
 // If this is enabled, find your own PID constants below.
 //#define PIDTEMPBED
 //
 //#define BED_LIMIT_SWITCHING
 // This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
 // all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
 // setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
    #define  DEFAULT_bedKp 10.00
    #define  DEFAULT_bedKi .023
    #define  DEFAULT_bedKd 305.4
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from pidautotune
 //    #define  DEFAULT_bedKp 97.1
 //    #define  DEFAULT_bedKi 1.41
 //    #define  DEFAULT_bedKd 1675.16
 // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
 #endif // PIDTEMPBED
 //this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
 //can be software-disabled for whatever purposes by
 #define PREVENT_DANGEROUS_EXTRUDE
 //if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
 #define PREVENT_LENGTHY_EXTRUDE
 #define EXTRUDE_MINTEMP 170
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
 //===========================================================================
 //============================= Thermal Runaway Protection ==================
 //===========================================================================
 /*
 This is a feature to protect your printer from burn up in flames if it has
 a thermistor coming off place (this happened to a friend of mine recently and
 motivated me writing this feature).
 The issue: If a thermistor come off, it will read a lower temperature than actual.
 The system will turn the heater on forever, burning up the filament and anything
 else around.
 After the temperature reaches the target for the first time, this feature will 
 start measuring for how long the current temperature stays below the target 
 minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS).
 If it stays longer than _PERIOD, it means the thermistor temperature
 cannot catch up with the target, so something *may be* wrong. Then, to be on the
 safe side, the system will he halt.
 Bear in mind the count down will just start AFTER the first time the 
 thermistor temperature is over the target, so you will have no problem if
 your extruder heater takes 2 minutes to hit the target on heating.
 */
 // If you want to enable this feature for all your extruder heaters,
 // uncomment the 2 defines below:
 // Parameters for all extruder heaters
 //#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds
 //#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius
 // If you want to enable this feature for your bed heater,
 // uncomment the 2 defines below:
 // Parameters for the bed heater
 //#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds
 //#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius
 //===========================================================================
 //============================= Mechanical Settings =========================
 //===========================================================================
 // Uncomment this option to enable CoreXY kinematics
 // #define COREXY
 // Enable this option for Toshiba steppers
 // #define CONFIG_STEPPERS_TOSHIBA
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
 #ifndef ENDSTOPPULLUPS
  // fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
  // #define ENDSTOPPULLUP_XMAX
  // #define ENDSTOPPULLUP_YMAX
  // #define ENDSTOPPULLUP_ZMAX
  // #define ENDSTOPPULLUP_XMIN
  // #define ENDSTOPPULLUP_YMIN
  // #define ENDSTOPPULLUP_ZMIN
 #endif
 #ifdef ENDSTOPPULLUPS
  #define ENDSTOPPULLUP_XMAX
  #define ENDSTOPPULLUP_YMAX
  #define ENDSTOPPULLUP_ZMAX
  #define ENDSTOPPULLUP_XMIN
  #define ENDSTOPPULLUP_YMIN
  #define ENDSTOPPULLUP_ZMIN
 #endif
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
 const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
 const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
 const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
 const bool X_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
 const bool Y_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
 const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
 //#define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS // Deltas only use min endstops for probing
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
 #define Y_ENABLE_ON 0
 #define Z_ENABLE_ON 0
 #define E_ENABLE_ON 0 // For all extruders
 // Disables axis when it's not being used.
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
 #define DISABLE_E false // For all extruders
 #define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
 #define INVERT_X_DIR false // DELTA does not invert
 #define INVERT_Y_DIR false
 #define INVERT_Z_DIR false
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 // deltas always home to max
 #define X_HOME_DIR 1
 #define Y_HOME_DIR 1
 #define Z_HOME_DIR 1
 #define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
 #define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.
 // Travel limits after homing (units are in mm)
 #define X_MAX_POS DELTA_PRINTABLE_RADIUS
 #define X_MIN_POS -DELTA_PRINTABLE_RADIUS
 #define Y_MAX_POS DELTA_PRINTABLE_RADIUS
 #define Y_MIN_POS -DELTA_PRINTABLE_RADIUS
 #define Z_MAX_POS MANUAL_Z_HOME_POS
 #define Z_MIN_POS 0
 #define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
 #define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
 #define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
 //===========================================================================
 //============================= Bed Auto Leveling ===========================
 //===========================================================================
 #define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
 // Z-Probe Repeatability test is not supported in Deltas yet.
 #ifdef ENABLE_AUTO_BED_LEVELING
  // Deltas only support grid mode
  #define AUTO_BED_LEVELING_GRID
  #define DELTA_PROBABLE_RADIUS (DELTA_PRINTABLE_RADIUS - 10)
  #define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS
  #define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
  #define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
  #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS  
  #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this      
  // Non-linear bed leveling will be used.
  // Compensate by interpolating between the nearest four Z probe values for each point.
  // Useful for deltas where the print surface may appear like a bowl or dome shape.
  // Works best with ACCURATE_BED_LEVELING_POINTS 5 or higher.
  #define AUTO_BED_LEVELING_GRID_POINTS 9
  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
  // X and Y offsets must be integers
  #define X_PROBE_OFFSET_FROM_EXTRUDER 0     // -left  +right
  #define Y_PROBE_OFFSET_FROM_EXTRUDER -10   // -front +behind
  #define Z_PROBE_OFFSET_FROM_EXTRUDER -3.5  // -below (always!)
  #define Z_RAISE_BEFORE_HOMING 15      // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case
  #define XY_TRAVEL_SPEED 4000         // X and Y axis travel speed between probes, in mm/min
  #define Z_RAISE_BEFORE_PROBING 15   //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 50    //How much the extruder will be raised after the last probing point.
  // Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
  // Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
  #define Z_PROBE_ALLEN_KEY
  #ifdef Z_PROBE_ALLEN_KEY
    #define Z_PROBE_ALLEN_KEY_DEPLOY_X 30
    #define Z_PROBE_ALLEN_KEY_DEPLOY_Y DELTA_PRINTABLE_RADIUS
    #define Z_PROBE_ALLEN_KEY_DEPLOY_Z 100
    #define Z_PROBE_ALLEN_KEY_RETRACT_X     -64
    #define Z_PROBE_ALLEN_KEY_RETRACT_Y     56
    #define Z_PROBE_ALLEN_KEY_RETRACT_Z     23
    #define Z_PROBE_ALLEN_KEY_RETRACT_DEPTH 20
  #endif
  //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
  //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
  // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
 //  #define PROBE_SERVO_DEACTIVATION_DELAY 300
 //If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
 //it is highly recommended you let this Z_SAFE_HOMING enabled!!!
  #define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
                          // When defined, it will:
                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing
                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
                          // - Block Z homing only when the probe is outside bed area.
  #ifdef Z_SAFE_HOMING
    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)
  #endif
 #endif // ENABLE_AUTO_BED_LEVELING
 // The position of the homing switches
 #define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used
 #define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)
 //Manual homing switch locations:
 // For deltabots this means top and center of the Cartesian print volume.
 #define MANUAL_X_HOME_POS 0
 #define MANUAL_Y_HOME_POS 0
 #define MANUAL_Z_HOME_POS 250 // For delta: Distance between nozzle and print surface after homing.
 //// MOVEMENT SETTINGS
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
 // delta homing speeds must be the same on xyz
 #define HOMING_FEEDRATE {200*60, 200*60, 200*60, 0}  // set the homing speeds (mm/min)
 // default settings
 // delta speeds must be the same on xyz
 #define DEFAULT_AXIS_STEPS_PER_UNIT   {80, 80, 80, 760*1.1}  // default steps per unit for Kossel (GT2, 20 tooth)
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 500, 25}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,9000,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
 #define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
 #define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
 // For the other hotends it is their distance from the extruder 0 hotend.
 // #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
 // #define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis
 // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
 #define DEFAULT_XYJERK                20.0    // (mm/sec)
 #define DEFAULT_ZJERK                 20.0    // (mm/sec) Must be same as XY for delta
 #define DEFAULT_EJERK                 5.0    // (mm/sec)
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
 // Custom M code points
 #define CUSTOM_M_CODES
 #ifdef CUSTOM_M_CODES
  #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
  #define Z_PROBE_OFFSET_RANGE_MIN -15
  #define Z_PROBE_OFFSET_RANGE_MAX -5
 #endif
 // EEPROM
 // The microcontroller can store settings in the EEPROM, e.g. max velocity...
 // M500 - stores parameters in EEPROM
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
 //define this to enable EEPROM support
 //#define EEPROM_SETTINGS
 //to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
 // please keep turned on if you can.
 //#define EEPROM_CHITCHAT
 // Preheat Constants
 #define PLA_PREHEAT_HOTEND_TEMP 180
 #define PLA_PREHEAT_HPB_TEMP 70
 #define PLA_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
 #define ABS_PREHEAT_HOTEND_TEMP 240
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
 //==============================LCD and SD support=============================
 // Define your display language below. Replace (en) with your language code and uncomment.
 // en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
 // See also language.h
 //#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
 // Character based displays can have different extended charsets.
 #define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
 //#define DISPLAY_CHARSET_HD44780_WESTERN // "ÄäÖöÜüß²³°" if you see a '~' instead of a 'arrow_right' at the right of submenuitems - this is the right one.
 //#define ULTRA_LCD  //general LCD support, also 16x2
 //#define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
 //#define SDSUPPORT // Enable SD Card Support in Hardware Console
 //#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
 //#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
 //#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
 //#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne
 #define PANEL_ONE
 // The MaKr3d Makr-Panel with graphic controller and SD support
 // http://reprap.org/wiki/MaKr3d_MaKrPanel
 //#define MAKRPANEL
 // The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
 // http://panucatt.com
 // ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
 //#define VIKI2
 //#define miniVIKI
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 //#define REPRAP_DISCOUNT_SMART_CONTROLLER
 // The GADGETS3D G3D LCD/SD Controller (blue PCB)
 // http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
 //#define G3D_PANEL
 // The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
 //
 // ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
 //#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
 // The RepRapWorld REPRAPWORLD_KEYPAD v1.1
 // http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
 //#define REPRAPWORLD_KEYPAD
 //#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
 // The Elefu RA Board Control Panel
 // http://www.elefu.com/index.php?route=product/product&product_id=53
 // REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
 //#define RA_CONTROL_PANEL
 // Delta calibration menu
 // uncomment to add three points calibration menu option.
 // See http://minow.blogspot.com/index.html#4918805519571907051
 // If needed, adjust the X, Y, Z calibration coordinates
 // in ultralcd.cpp@lcd_delta_calibrate_menu()
 // #define DELTA_CALIBRATION_MENU
 //automatic expansion
 #if defined (MAKRPANEL)
 #define DOGLCD
 #define SDSUPPORT
 #define ULTIPANEL
 #define NEWPANEL
 #define DEFAULT_LCD_CONTRAST 17
 #endif
 #if defined(miniVIKI) || defined(VIKI2)
 #define ULTRA_LCD  //general LCD support, also 16x2
 #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
 #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
  #ifdef miniVIKI
   #define DEFAULT_LCD_CONTRAST 95
  #else
   #define DEFAULT_LCD_CONTRAST 40
  #endif
 #define ENCODER_PULSES_PER_STEP 4
 #define ENCODER_STEPS_PER_MENU_ITEM 1
 #endif
 #if defined (PANEL_ONE)
 #define SDSUPPORT
 #define ULTIMAKERCONTROLLER
 #endif
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
 #define DOGLCD
 #define U8GLIB_ST7920
 #define REPRAP_DISCOUNT_SMART_CONTROLLER
 #endif
 #if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
 #define ULTIPANEL
 #define NEWPANEL
 #endif
 #if defined(REPRAPWORLD_KEYPAD)
  #define NEWPANEL
  #define ULTIPANEL
 #endif
 #if defined(RA_CONTROL_PANEL)
 #define ULTIPANEL
 #define NEWPANEL
 #define LCD_I2C_TYPE_PCA8574
 #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
 #endif
 //I2C PANELS
 //#define LCD_I2C_SAINSMART_YWROBOT
 #ifdef LCD_I2C_SAINSMART_YWROBOT
  // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
  // Make sure it is placed in the Arduino libraries directory.
  #define LCD_I2C_TYPE_PCF8575
  #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
  #define NEWPANEL
  #define ULTIPANEL
 #endif
 // PANELOLU2 LCD with status LEDs, separate encoder and click inputs
 //#define LCD_I2C_PANELOLU2
 #ifdef LCD_I2C_PANELOLU2
  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
  // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
  // Note: The PANELOLU2 encoder click input can either be directly connected to a pin
  //       (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
  #define LCD_I2C_TYPE_MCP23017
  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
  #define NEWPANEL
  #define ULTIPANEL
  #ifndef ENCODER_PULSES_PER_STEP
 	#define ENCODER_PULSES_PER_STEP 4
  #endif
  #ifndef ENCODER_STEPS_PER_MENU_ITEM
 	#define ENCODER_STEPS_PER_MENU_ITEM 1
  #endif
  #ifdef LCD_USE_I2C_BUZZER
 	#define LCD_FEEDBACK_FREQUENCY_HZ 1000
 	#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100
  #endif
 #endif
 // Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
 //#define LCD_I2C_VIKI
 #ifdef LCD_I2C_VIKI
  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
  // Note: The pause/stop/resume LCD button pin should be connected to the Arduino
  //       BTN_ENC pin (or set BTN_ENC to -1 if not used)
  #define LCD_I2C_TYPE_MCP23017
  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
  #define NEWPANEL
  #define ULTIPANEL
 #endif
 // Shift register panels
 // ---------------------
 // 2 wire Non-latching LCD SR from:
 // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection 
 //#define SAV_3DLCD
 #ifdef SAV_3DLCD
   #define SR_LCD_2W_NL    // Non latching 2 wire shiftregister
   #define NEWPANEL
   #define ULTIPANEL
 #endif
 #ifdef ULTIPANEL
 //  #define NEWPANEL  //enable this if you have a click-encoder panel
  #define SDSUPPORT
  #define ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 20
    #define LCD_HEIGHT 4
  #endif
 #else //no panel but just LCD
  #ifdef ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 16
    #define LCD_HEIGHT 2
  #endif
  #endif
 #endif
 // default LCD contrast for dogm-like LCD displays
 #ifdef DOGLCD
 # ifndef DEFAULT_LCD_CONTRAST
 #  define DEFAULT_LCD_CONTRAST 32
 # endif
 #endif
 // Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
 //#define FAST_PWM_FAN
 // Temperature status LEDs that display the hotend and bet temperature.
 // If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
 // Otherwise the RED led is on. There is 1C hysteresis.
 //#define TEMP_STAT_LEDS
 // Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
 // which is not ass annoying as with the hardware PWM. On the other hand, if this frequency
 // is too low, you should also increment SOFT_PWM_SCALE.
 //#define FAN_SOFT_PWM
 // Incrementing this by 1 will double the software PWM frequency,
 // affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
 // However, control resolution will be halved for each increment;
 // at zero value, there are 128 effective control positions.
 #define SOFT_PWM_SCALE 0
 // M240  Triggers a camera by emulating a Canon RC-1 Remote
 // Data from: http://www.doc-diy.net/photo/rc-1_hacked/
 // #define PHOTOGRAPH_PIN     23
 // SF send wrong arc g-codes when using Arc Point as fillet procedure
 //#define SF_ARC_FIX
 // Support for the BariCUDA Paste Extruder.
 //#define BARICUDA
 //define BlinkM/CyzRgb Support
 //#define BLINKM
 /*********************************************************************\
 * R/C SERVO support
 * Sponsored by TrinityLabs, Reworked by codexmas
 **********************************************************************/
 // Number of servos
 //
 // If you select a configuration below, this will receive a default value and does not need to be set manually
 // set it manually if you have more servos than extruders and wish to manually control some
 // leaving it undefined or defining as 0 will disable the servo subsystem
 // If unsure, leave commented / disabled
 //
 //#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
 // Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
 /**********************************************************************\
 * Support for a filament diameter sensor
 * Also allows adjustment of diameter at print time (vs  at slicing)
 * Single extruder only at this point (extruder 0)
 * 
 * Motherboards
 * 34 - RAMPS1.4 - uses Analog input 5 on the AUX2 connector 
 * 81 - Printrboard - Uses Analog input 2 on the Exp1 connector (version B,C,D,E)
 * 301 - Rambo  - uses Analog input 3
 * Note may require analog pins to be defined for different motherboards
 **********************************************************************/
 // Uncomment below to enable
 //#define FILAMENT_SENSOR
 #define FILAMENT_SENSOR_EXTRUDER_NUM	0  //The number of the extruder that has the filament sensor (0,1,2)
 #define MEASUREMENT_DELAY_CM			14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel
 #define DEFAULT_NOMINAL_FILAMENT_DIA  3.0  //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software.  Used for sensor reading validation
 #define MEASURED_UPPER_LIMIT          3.30  //upper limit factor used for sensor reading validation in mm
 #define MEASURED_LOWER_LIMIT          1.90  //lower limit factor for sensor reading validation in mm
 #define MAX_MEASUREMENT_DELAY			20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)
 //defines used in the code
 #define DEFAULT_MEASURED_FILAMENT_DIA  DEFAULT_NOMINAL_FILAMENT_DIA  //set measured to nominal initially 
 //When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status.  Status will appear for 5 sec.
 //#define FILAMENT_LCD_DISPLAY
 #include "Configuration_adv.h"
 #include "thermistortables.h"
 #endif //__CONFIGURATION_H
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
@ -0,0 +1,547 @@
 #ifndef CONFIGURATION_ADV_H
 #define CONFIGURATION_ADV_H
 //===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================
 #ifdef BED_LIMIT_SWITCHING
  #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
 #endif
 #define BED_CHECK_INTERVAL 5000 //ms between checks in bang-bang control
 //// Heating sanity check:
 // This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
 // If the temperature has not increased at the end of that period, the target temperature is set to zero. 
 // It can be reset with another M104/M109. This check is also only triggered if the target temperature and the current temperature
 //  differ by at least 2x WATCH_TEMP_INCREASE
 //#define WATCH_TEMP_PERIOD 40000 //40 seconds
 //#define WATCH_TEMP_INCREASE 10  //Heat up at least 10 degree in 20 seconds
 #ifdef PIDTEMP
  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
  #define PID_ADD_EXTRUSION_RATE  
  #ifdef PID_ADD_EXTRUSION_RATE
    #define  DEFAULT_Kc (1) //heatingpower=Kc*(e_speed)
  #endif
 #endif
 //automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
 //The maximum buffered steps/sec of the extruder motor are called "se".
 //You enter the autotemp mode by a M109 S<mintemp> T<maxtemp> F<factor>
 // the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
 // you exit the value by any M109 without F*
 // Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
 // on an ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
 #define AUTOTEMP
 #ifdef AUTOTEMP
  #define AUTOTEMP_OLDWEIGHT 0.98
 #endif
 //Show Temperature ADC value
 //The M105 command return, besides traditional information, the ADC value read from temperature sensors.
 //#define SHOW_TEMP_ADC_VALUES
 //  extruder run-out prevention. 
 //if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
 //#define EXTRUDER_RUNOUT_PREVENT  
 #define EXTRUDER_RUNOUT_MINTEMP 190  
 #define EXTRUDER_RUNOUT_SECONDS 30.
 #define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
 #define EXTRUDER_RUNOUT_SPEED 1500.  //extrusion speed
 #define EXTRUDER_RUNOUT_EXTRUDE 100
 //These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
 //The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
 #define TEMP_SENSOR_AD595_OFFSET 0.0
 #define TEMP_SENSOR_AD595_GAIN   1.0
 //This is for controlling a fan to cool down the stepper drivers
 //it will turn on when any driver is enabled
 //and turn off after the set amount of seconds from last driver being disabled again
 #define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable)
 #define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run
 #define CONTROLLERFAN_SPEED 255  // == full speed
 // When first starting the main fan, run it at full speed for the
 // given number of milliseconds.  This gets the fan spinning reliably
 // before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
 //#define FAN_KICKSTART_TIME 100
 // Extruder cooling fans
 // Configure fan pin outputs to automatically turn on/off when the associated
 // extruder temperature is above/below EXTRUDER_AUTO_FAN_TEMPERATURE.
 // Multiple extruders can be assigned to the same pin in which case 
 // the fan will turn on when any selected extruder is above the threshold.
 #define EXTRUDER_0_AUTO_FAN_PIN   -1
 #define EXTRUDER_1_AUTO_FAN_PIN   -1
 #define EXTRUDER_2_AUTO_FAN_PIN   -1
 #define EXTRUDER_3_AUTO_FAN_PIN   -1
 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
 #define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
 //===========================================================================
 //=============================Mechanical Settings===========================
 //===========================================================================
 #define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
 //// AUTOSET LOCATIONS OF LIMIT SWITCHES
 //// Added by ZetaPhoenix 09-15-2012
 #ifdef MANUAL_HOME_POSITIONS  // Use manual limit switch locations
  #define X_HOME_POS MANUAL_X_HOME_POS
  #define Y_HOME_POS MANUAL_Y_HOME_POS
  #define Z_HOME_POS MANUAL_Z_HOME_POS
 #else //Set min/max homing switch positions based upon homing direction and min/max travel limits
  //X axis
  #if X_HOME_DIR == -1
    #ifdef BED_CENTER_AT_0_0
      #define X_HOME_POS X_MAX_LENGTH * -0.5
    #else
      #define X_HOME_POS X_MIN_POS
    #endif //BED_CENTER_AT_0_0
  #else    
    #ifdef BED_CENTER_AT_0_0
      #define X_HOME_POS X_MAX_LENGTH * 0.5
    #else
      #define X_HOME_POS X_MAX_POS
    #endif //BED_CENTER_AT_0_0
  #endif //X_HOME_DIR == -1
  //Y axis
  #if Y_HOME_DIR == -1
    #ifdef BED_CENTER_AT_0_0
      #define Y_HOME_POS Y_MAX_LENGTH * -0.5
    #else
      #define Y_HOME_POS Y_MIN_POS
    #endif //BED_CENTER_AT_0_0
  #else    
    #ifdef BED_CENTER_AT_0_0
      #define Y_HOME_POS Y_MAX_LENGTH * 0.5
    #else
      #define Y_HOME_POS Y_MAX_POS
    #endif //BED_CENTER_AT_0_0
  #endif //Y_HOME_DIR == -1
  // Z axis
  #if Z_HOME_DIR == -1 //BED_CENTER_AT_0_0 not used
    #define Z_HOME_POS Z_MIN_POS
  #else    
    #define Z_HOME_POS Z_MAX_POS
  #endif //Z_HOME_DIR == -1
 #endif //End auto min/max positions
 //END AUTOSET LOCATIONS OF LIMIT SWITCHES -ZP
 //#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
 // A single Z stepper driver is usually used to drive 2 stepper motors.
 // Uncomment this define to utilize a separate stepper driver for each Z axis motor.
 // Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used
 // to control the 2nd Z axis stepper motor). The pins are currently only defined for a RAMPS motherboards.
 // On a RAMPS (or other 5 driver) motherboard, using this feature will limit you to using 1 extruder.
 //#define Z_DUAL_STEPPER_DRIVERS
 #ifdef Z_DUAL_STEPPER_DRIVERS
  #undef EXTRUDERS
  #define EXTRUDERS 1
 #endif
 // Same again but for Y Axis.
 //#define Y_DUAL_STEPPER_DRIVERS
 // Define if the two Y drives need to rotate in opposite directions
 #define INVERT_Y2_VS_Y_DIR true
 #ifdef Y_DUAL_STEPPER_DRIVERS
  #undef EXTRUDERS
  #define EXTRUDERS 1
 #endif
 #if defined (Z_DUAL_STEPPER_DRIVERS) && defined (Y_DUAL_STEPPER_DRIVERS)
  #error "You cannot have dual drivers for both Y and Z"
 #endif
 // Enable this for dual x-carriage printers. 
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which
 // prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
 // allowing faster printing speeds.
 //#define DUAL_X_CARRIAGE
 #ifdef DUAL_X_CARRIAGE
 // Configuration for second X-carriage
 // Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
 // the second x-carriage always homes to the maximum endstop.
 #define X2_MIN_POS 80     // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
 #define X2_MAX_POS 353    // set maximum to the distance between toolheads when both heads are homed 
 #define X2_HOME_DIR 1     // the second X-carriage always homes to the maximum endstop position
 #define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position 
    // However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software 
    // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
    // without modifying the firmware (through the "M218 T1 X???" command).
    // Remember: you should set the second extruder x-offset to 0 in your slicer.
 // Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
 #define X2_ENABLE_PIN 29
 #define X2_STEP_PIN 25
 #define X2_DIR_PIN 23
 // There are a few selectable movement modes for dual x-carriages using M605 S<mode>
 //    Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
 //                           as long as it supports dual x-carriages. (M605 S0)
 //    Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
 //                           that additional slicer support is not required. (M605 S1)
 //    Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all  
 //                           actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
 //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 // This is the default power-up mode which can be later using M605. 
 #define DEFAULT_DUAL_X_CARRIAGE_MODE 0 
 // Default settings in "Auto-park Mode" 
 #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder
 #define TOOLCHANGE_UNPARK_ZLIFT 1        // the distance to raise Z axis when unparking an extruder
 // Default x offset in duplication mode (typically set to half print bed width)
 #define DEFAULT_DUPLICATION_X_OFFSET 100
 #endif //DUAL_X_CARRIAGE
 //homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
 #define X_HOME_RETRACT_MM 5 
 #define Y_HOME_RETRACT_MM 5 
 #define Z_HOME_RETRACT_MM 5 // deltas need the same for all three axis
 #define HOMING_BUMP_DIVISOR {10, 10, 20}  // Re-Bump Speed Divisor (Divides the Homing Feedrate)
 //#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
 #define AXIS_RELATIVE_MODES {false, false, false, false}
 #define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
 //By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
 #define INVERT_X_STEP_PIN false
 #define INVERT_Y_STEP_PIN false
 #define INVERT_Z_STEP_PIN false
 #define INVERT_E_STEP_PIN false
 //default stepper release if idle. Set to 0 to deactivate.
 #define DEFAULT_STEPPER_DEACTIVE_TIME 60
 #define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
 #define DEFAULT_MINTRAVELFEEDRATE     0.0
 // Feedrates for manual moves along X, Y, Z, E from panel
 #ifdef ULTIPANEL
 #define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60}  // set the speeds for manual moves (mm/min)
 #endif
 // minimum time in microseconds that a movement needs to take if the buffer is emptied.
 #define DEFAULT_MINSEGMENTTIME        20000
 // If defined the movements slow down when the look ahead buffer is only half full
 //#define SLOWDOWN
 // Frequency limit
 // See nophead's blog for more info
 // Not working O
 //#define XY_FREQUENCY_LIMIT  15
 // Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
 // of the buffer and all stops. This should not be much greater than zero and should only be changed
 // if unwanted behavior is observed on a user's machine when running at very slow speeds.
 #define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
 // MS1 MS2 Stepper Driver Microstepping mode table
 #define MICROSTEP1 LOW,LOW
 #define MICROSTEP2 HIGH,LOW
 #define MICROSTEP4 LOW,HIGH
 #define MICROSTEP8 HIGH,HIGH
 #define MICROSTEP16 HIGH,HIGH
 // Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
 #define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16]
 // Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
 #define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
 // uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
 //#define DIGIPOT_I2C
 // Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8
 #define DIGIPOT_I2C_NUM_CHANNELS 8
 // actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
 #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}
 //===========================================================================
 //=============================Additional Features===========================
 //===========================================================================
 #define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
 #define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
 #define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
 //#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
 //#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 #define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
 #define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
 #define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
 #define SDCARD_RATHERRECENTFIRST  //reverse file order of sd card menu display. Its sorted practically after the filesystem block order. 
 // if a file is deleted, it frees a block. hence, the order is not purely cronological. To still have auto0.g accessible, there is again the option to do that.
 // using:
 //#define MENU_ADDAUTOSTART
 // Show a progress bar on the LCD when printing from SD
 //#define LCD_PROGRESS_BAR
 #ifdef LCD_PROGRESS_BAR
  // Amount of time (ms) to show the bar
  #define PROGRESS_BAR_BAR_TIME 2000
  // Amount of time (ms) to show the status message
  #define PROGRESS_BAR_MSG_TIME 2000
  // Amount of time (ms) to retain the status message (0=forever)
  #define PROGRESS_MSG_EXPIRE   0
  // Enable this to show messages for MSG_TIME then hide them
  //#define PROGRESS_MSG_ONCE
 #endif
 // The hardware watchdog should reset the Microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation.
 //#define USE_WATCHDOG
 #ifdef USE_WATCHDOG
 // If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on.
 // The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset.
 //  However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
 //#define WATCHDOG_RESET_MANUAL
 #endif
 // Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
 //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 // Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process
 // it can e.g. be used to change z-positions in the print startup phase in realtime
 // does not respect endstops!
 //#define BABYSTEPPING
 #ifdef BABYSTEPPING
  #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
  #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
  #define BABYSTEP_Z_MULTIPLICATOR 2 //faster z movements
  #ifdef COREXY
    #error BABYSTEPPING not implemented for COREXY yet.
  #endif
  #ifdef DELTA
    #ifdef BABYSTEP_XY
      #error BABYSTEPPING only implemented for Z axis on deltabots.
    #endif
  #endif
 #endif
 // extruder advance constant (s2/mm3)
 //
 // advance (steps) = STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K * cubic mm per second ^ 2
 //
 // hooke's law says:		force = k * distance
 // Bernoulli's principle says:	v ^ 2 / 2 + g . h + pressure / density = constant
 // so: v ^ 2 is proportional to number of steps we advance the extruder
 //#define ADVANCE
 #ifdef ADVANCE
  #define EXTRUDER_ADVANCE_K .0
  #define D_FILAMENT 2.85
  #define STEPS_MM_E 836
  #define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
 #endif // ADVANCE
 // Arc interpretation settings:
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25
 const unsigned int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
 // If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
 // You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT 
 // in the pins.h file.  When using a push button pulling the pin to ground this will need inverted.  This setting should
 // be commented out otherwise
 #define SDCARDDETECTINVERTED 
 #ifdef ULTIPANEL
 #undef SDCARDDETECTINVERTED
 #endif
 // Power Signal Control Definitions
 // By default use ATX definition
 #ifndef POWER_SUPPLY
  #define POWER_SUPPLY 1
 #endif
 // 1 = ATX
 #if (POWER_SUPPLY == 1) 
  #define PS_ON_AWAKE  LOW
  #define PS_ON_ASLEEP HIGH
 #endif
 // 2 = X-Box 360 203W
 #if (POWER_SUPPLY == 2) 
  #define PS_ON_AWAKE  HIGH
  #define PS_ON_ASLEEP LOW
 #endif
 // Control heater 0 and heater 1 in parallel.
 //#define HEATERS_PARALLEL
 //===========================================================================
 //=============================Buffers           ============================
 //===========================================================================
 // The number of linear motions that can be in the plan at any give time.  
 // THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
 #if defined SDSUPPORT
  #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
 #else
  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
 #endif
 //The ASCII buffer for recieving from the serial:
 #define MAX_CMD_SIZE 96
 #define BUFSIZE 4
 // Firmware based and LCD controled retract
 // M207 and M208 can be used to define parameters for the retraction. 
 // The retraction can be called by the slicer using G10 and G11
 // until then, intended retractions can be detected by moves that only extrude and the direction. 
 // the moves are than replaced by the firmware controlled ones.
 // #define FWRETRACT  //ONLY PARTIALLY TESTED
 #ifdef FWRETRACT
  #define MIN_RETRACT 0.1                //minimum extruded mm to accept a automatic gcode retraction attempt
  #define RETRACT_LENGTH 3               //default retract length (positive mm)
  #define RETRACT_LENGTH_SWAP 13         //default swap retract length (positive mm), for extruder change
  #define RETRACT_FEEDRATE 45            //default feedrate for retracting (mm/s)
  #define RETRACT_ZLIFT 0                //default retract Z-lift
  #define RETRACT_RECOVER_LENGTH 0       //default additional recover length (mm, added to retract length when recovering)
  #define RETRACT_RECOVER_LENGTH_SWAP 0  //default additional swap recover length (mm, added to retract length when recovering from extruder change)
  #define RETRACT_RECOVER_FEEDRATE 8     //default feedrate for recovering from retraction (mm/s)
 #endif
 //adds support for experimental filament exchange support M600; requires display
 #ifdef ULTIPANEL
  #define FILAMENTCHANGEENABLE
  #ifdef FILAMENTCHANGEENABLE
    #define FILAMENTCHANGE_XPOS 3
    #define FILAMENTCHANGE_YPOS 3
    #define FILAMENTCHANGE_ZADD 10
    #define FILAMENTCHANGE_FIRSTRETRACT -2
    #define FILAMENTCHANGE_FINALRETRACT -100
  #endif
 #endif
 #ifdef FILAMENTCHANGEENABLE
  #ifdef EXTRUDER_RUNOUT_PREVENT
    #error EXTRUDER_RUNOUT_PREVENT currently incompatible with FILAMENTCHANGE
  #endif 
 #endif
 //===========================================================================
 //=============================  Define Defines  ============================
 //===========================================================================
 #if defined (ENABLE_AUTO_BED_LEVELING) && defined (DELTA)
  #if not defined(AUTO_BED_LEVELING_GRID)
    #error "Only Grid Bed Auto Leveling is supported on Deltas."
  #endif
  #if defined(Z_PROBE_SLED)
    #error "You cannot use Z_PROBE_SLED together with DELTA."
  #endif
  #if defined(Z_PROBE_REPEATABILITY_TEST)
    #error "Z-probe repeatability test is not supported on Deltas yet."
  #endif
 #endif  
 #if defined(Z_PROBE_ALLEN_KEY)
  #if !defined(AUTO_BED_LEVELING_GRID) || !defined(DELTA)
    #error "Invalid use of Z_PROBE_ALLEN_KEY."
  #endif
 #endif
 #if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
  #error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
 #endif
 #if EXTRUDERS > 1 && defined HEATERS_PARALLEL
  #error "You cannot use HEATERS_PARALLEL if EXTRUDERS > 1"
 #endif
 #if TEMP_SENSOR_0 > 0
  #define THERMISTORHEATER_0 TEMP_SENSOR_0
  #define HEATER_0_USES_THERMISTOR
 #endif
 #if TEMP_SENSOR_1 > 0
  #define THERMISTORHEATER_1 TEMP_SENSOR_1
  #define HEATER_1_USES_THERMISTOR
 #endif
 #if TEMP_SENSOR_2 > 0
  #define THERMISTORHEATER_2 TEMP_SENSOR_2
  #define HEATER_2_USES_THERMISTOR
 #endif
 #if TEMP_SENSOR_3 > 0
  #define THERMISTORHEATER_3 TEMP_SENSOR_3
  #define HEATER_3_USES_THERMISTOR
 #endif
 #if TEMP_SENSOR_BED > 0
  #define THERMISTORBED TEMP_SENSOR_BED
  #define BED_USES_THERMISTOR
 #endif
 #if TEMP_SENSOR_0 == -1
  #define HEATER_0_USES_AD595
 #endif
 #if TEMP_SENSOR_1 == -1
  #define HEATER_1_USES_AD595
 #endif
 #if TEMP_SENSOR_2 == -1
  #define HEATER_2_USES_AD595
 #endif
 #if TEMP_SENSOR_3 == -1
  #define HEATER_3_USES_AD595
 #endif
 #if TEMP_SENSOR_BED == -1
  #define BED_USES_AD595
 #endif
 #if TEMP_SENSOR_0 == -2
  #define HEATER_0_USES_MAX6675
 #endif
 #if TEMP_SENSOR_0 == 0
  #undef HEATER_0_MINTEMP
  #undef HEATER_0_MAXTEMP
 #endif
 #if TEMP_SENSOR_1 == 0
  #undef HEATER_1_MINTEMP
  #undef HEATER_1_MAXTEMP
 #endif
 #if TEMP_SENSOR_2 == 0
  #undef HEATER_2_MINTEMP
  #undef HEATER_2_MAXTEMP
 #endif
 #if TEMP_SENSOR_3 == 0
  #undef HEATER_3_MINTEMP
  #undef HEATER_3_MAXTEMP
 #endif
 #if TEMP_SENSOR_BED == 0
  #undef BED_MINTEMP
  #undef BED_MAXTEMP
 #endif
 #endif //__CONFIGURATION_ADV_H
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@ -450,6 +450,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@ -452,6 +452,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@ -1063,7 +1063,7 @@ Having the real displacement of the head, we can calculate the total movement le
  st_wake_up();
 }
-#ifdef ENABLE_AUTO_BED_LEVELING
+#if defined(ENABLE_AUTO_BED_LEVELING) && not defined(DELTA)
 vector_3 plan_get_position() {
 	vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@ -85,8 +85,10 @@ void plan_init();
 #ifdef ENABLE_AUTO_BED_LEVELING
 void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
-// Get the position applying the bed level matrix if enabled
+  #ifndef DELTA
-vector_3 plan_get_position();
+  // Get the position applying the bed level matrix if enabled
  vector_3 plan_get_position();
  #endif
 #else
 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
 #endif // ENABLE_AUTO_BED_LEVELING