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✨ MarkForged YX kinematics (#23163)

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This commit is contained in:
John Robertson
2021-11-23 21:24:24 +00:00
committed by Scott Lahteine
parent 018c7b1cf4
commit 0e60c8b7e0
13 changed files with 93 additions and 77 deletions
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12
Marlin/src/module/motion.cpp
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@ -1367,7 +1367,7 @@ void prepare_line_to_destination() {
#if AXIS_HAS_STALLGUARD(X2)
stealth_states.x2 = tmc_enable_stallguard(stepperX2);
#endif
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SENSORLESS
stealth_states.y = tmc_enable_stallguard(stepperY);
#elif CORE_IS_XZ && Z_SENSORLESS
stealth_states.z = tmc_enable_stallguard(stepperZ);
@ -1380,7 +1380,7 @@ void prepare_line_to_destination() {
#if AXIS_HAS_STALLGUARD(Y2)
stealth_states.y2 = tmc_enable_stallguard(stepperY2);
#endif
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS
stealth_states.x = tmc_enable_stallguard(stepperX);
#elif CORE_IS_YZ && Z_SENSORLESS
stealth_states.z = tmc_enable_stallguard(stepperZ);
@ -1444,7 +1444,7 @@ void prepare_line_to_destination() {
#if AXIS_HAS_STALLGUARD(X2)
tmc_disable_stallguard(stepperX2, enable_stealth.x2);
#endif
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SENSORLESS
tmc_disable_stallguard(stepperY, enable_stealth.y);
#elif CORE_IS_XZ && Z_SENSORLESS
tmc_disable_stallguard(stepperZ, enable_stealth.z);
@ -1457,7 +1457,7 @@ void prepare_line_to_destination() {
#if AXIS_HAS_STALLGUARD(Y2)
tmc_disable_stallguard(stepperY2, enable_stealth.y2);
#endif
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS
tmc_disable_stallguard(stepperX, enable_stealth.x);
#elif CORE_IS_YZ && Z_SENSORLESS
tmc_disable_stallguard(stepperZ, enable_stealth.z);
@ -2011,7 +2011,7 @@ void prepare_line_to_destination() {
do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis));
}
#else // CARTESIAN / CORE / MARKFORGED_XY
#else // CARTESIAN / CORE / MARKFORGED_XY / MARKFORGED_YX
set_axis_is_at_home(axis);
sync_plan_position();
@ -2041,7 +2041,7 @@ void prepare_line_to_destination() {
#if ENABLED(SENSORLESS_HOMING)
planner.synchronize();
if (false
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
|| axis != NORMAL_AXIS
#endif
) safe_delay(200); // Short delay to allow belts to spring back