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Position adjustment for bed leveling

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This commit is contained in:
Scott Lahteine 2016-06-11 12:59:44 -07:00
parent 574c938ab9
commit 9c800d1f8c
1 changed files with 40 additions and 0 deletions
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Marlin/Marlin_main.cpp
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@ -6684,6 +6684,35 @@ inline void gcode_T(uint8_t tmp_extruder) {
}
// No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
#else // !DUAL_X_CARRIAGE
//
// Set current_position to the position of the new nozzle.
// Offsets are based on linear distance, so we need to get
// the resulting position in coordinate space.
//
// - With grid or 3-point leveling, offset XYZ by a tilted vector
// - With mesh leveling, update Z for the new position
// - Otherwise, just use the raw linear distance
//
// Software endstops are altered here too. Consider a case where:
// E0 at X=0 ... E1 at X=10
// When we switch to E1 now X=10, but E1 can't move left.
// To express this we apply the change in XY to the software endstops.
// E1 can move farther right than E0, so the right limit is extended.
//
// Note that we don't adjust the Z software endstops. Why not?
// Consider a case where Z=0 (here) and switching to E1 makes Z=1
// because the bed is 1mm lower at the new position. As long as
// the first nozzle is out of the way, the carriage should be
// allowed to move 1mm lower. This technically "breaks" the
// Z software endstop. But this is technically correct (and
// there is no viable alternative).
//
float xydiff[2] = {
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
};
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
@ -6731,6 +6760,17 @@ inline void gcode_T(uint8_t tmp_extruder) {
#endif // !AUTO_BED_LEVELING_FEATURE
// The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xydiff[X_AXIS];
current_position[Y_AXIS] += xydiff[Y_AXIS];
#endif // no bed leveling
for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
position_shift[i] += xydiff[i];
update_software_endstops((AxisEnum)i);
}
// Set the new active extruder
active_extruder = tmp_extruder;