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Tweaks to do_blocking_move

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This commit is contained in:
Scott Lahteine 2017-11-25 23:31:16 -06:00
parent 22b897e77d
commit 25674da90c
1 changed files with 13 additions and 13 deletions
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26
Marlin/src/module/motion.cpp
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@ -287,6 +287,8 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, rx, ry, rz);
#endif
const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
#if ENABLED(DELTA)
if (!position_is_reachable(rx, ry)) return;
@ -311,18 +313,16 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
#endif
return;
}
else {
destination[Z_AXIS] = delta_clip_start_height;
prepare_uninterpolated_move_to_destination(); // set_current_from_destination()
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
#endif
}
destination[Z_AXIS] = delta_clip_start_height;
prepare_uninterpolated_move_to_destination(); // set_current_from_destination()
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
#endif
}
if (rz > current_position[Z_AXIS]) { // raising?
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(); // set_current_from_destination()
prepare_uninterpolated_move_to_destination(z_feedrate); // set_current_from_destination()
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
#endif
@ -337,7 +337,7 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
if (rz < current_position[Z_AXIS]) { // lowering?
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(); // set_current_from_destination()
prepare_uninterpolated_move_to_destination(z_feedrate); // set_current_from_destination()
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
#endif
@ -352,7 +352,7 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
// If Z needs to raise, do it before moving XY
if (destination[Z_AXIS] < rz) {
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
prepare_uninterpolated_move_to_destination(z_feedrate);
}
destination[X_AXIS] = rx;
@ -362,14 +362,14 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
// If Z needs to lower, do it after moving XY
if (destination[Z_AXIS] > rz) {
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
prepare_uninterpolated_move_to_destination(z_feedrate);
}
#else
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < rz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
feedrate_mm_s = z_feedrate;
current_position[Z_AXIS] = rz;
line_to_current_position();
}
@ -381,7 +381,7 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > rz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
feedrate_mm_s = z_feedrate;
current_position[Z_AXIS] = rz;
line_to_current_position();
}