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♻️ Refactor axis counts and loops

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This commit is contained in:
Scott Lahteine
2021-05-18 22:51:19 -05:00
committed by Scott Lahteine
parent f7d28ce1d6
commit 26a244325b
45 changed files with 178 additions and 165 deletions
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2
Marlin/src/gcode/calibrate/G28.cpp
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@ -220,7 +220,7 @@ void GcodeSuite::G28() {
#if ENABLED(MARLIN_DEV_MODE)
if (parser.seen_test('S')) {
LOOP_XYZ(a) set_axis_is_at_home((AxisEnum)a);
LOOP_LINEAR_AXES(a) set_axis_is_at_home((AxisEnum)a);
sync_plan_position();
SERIAL_ECHOLNPGM("Simulated Homing");
report_current_position();

10
Marlin/src/gcode/calibrate/G33.cpp
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@ -347,7 +347,7 @@ static float auto_tune_a() {
abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f };
delta_t.reset();
LOOP_XYZ(axis) {
LOOP_LINEAR_AXES(axis) {
delta_t[axis] = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
delta_t[axis] = 0;
@ -525,7 +525,7 @@ void GcodeSuite::G33() {
case 1:
test_precision = 0.0f; // forced end
LOOP_XYZ(axis) e_delta[axis] = +Z4(CEN);
LOOP_LINEAR_AXES(axis) e_delta[axis] = +Z4(CEN);
break;
case 2:
@ -573,14 +573,14 @@ void GcodeSuite::G33() {
// Normalize angles to least-squares
if (_angle_results) {
float a_sum = 0.0f;
LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0f;
LOOP_LINEAR_AXES(axis) a_sum += delta_tower_angle_trim[axis];
LOOP_LINEAR_AXES(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0f;
}
// adjust delta_height and endstops by the max amount
const float z_temp = _MAX(delta_endstop_adj.a, delta_endstop_adj.b, delta_endstop_adj.c);
delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
LOOP_LINEAR_AXES(axis) delta_endstop_adj[axis] -= z_temp;
}
recalc_delta_settings();
NOMORE(zero_std_dev_min, zero_std_dev);

12
Marlin/src/gcode/calibrate/M425.cpp
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@ -55,8 +55,8 @@ void GcodeSuite::M425() {
}
};
LOOP_XYZ(a) {
if (axis_can_calibrate(a) && parser.seen(XYZ_CHAR(a))) {
LOOP_LINEAR_AXES(a) {
if (axis_can_calibrate(a) && parser.seen(AXIS_CHAR(a))) {
planner.synchronize();
backlash.distance_mm[a] = parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a));
noArgs = false;
@ -83,8 +83,8 @@ void GcodeSuite::M425() {
SERIAL_ECHOLNPGM("active:");
SERIAL_ECHOLNPAIR(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)");
SERIAL_ECHOPGM(" Backlash Distance (mm): ");
LOOP_XYZ(a) if (axis_can_calibrate(a)) {
SERIAL_CHAR(' ', XYZ_CHAR(a));
LOOP_LINEAR_AXES(a) if (axis_can_calibrate(a)) {
SERIAL_CHAR(' ', AXIS_CHAR(a));
SERIAL_ECHO(backlash.distance_mm[a]);
SERIAL_EOL();
}
@ -96,8 +96,8 @@ void GcodeSuite::M425() {
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
SERIAL_ECHOPGM(" Average measured backlash (mm):");
if (backlash.has_any_measurement()) {
LOOP_XYZ(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) {
SERIAL_CHAR(' ', XYZ_CHAR(a));
LOOP_LINEAR_AXES(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) {
SERIAL_CHAR(' ', AXIS_CHAR(a));
SERIAL_ECHO(backlash.get_measurement(AxisEnum(a)));
}
}

6
Marlin/src/gcode/calibrate/M666.cpp
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@ -39,11 +39,11 @@
*/
void GcodeSuite::M666() {
DEBUG_SECTION(log_M666, "M666", DEBUGGING(LEVELING));
LOOP_XYZ(i) {
if (parser.seen(XYZ_CHAR(i))) {
LOOP_LINEAR_AXES(i) {
if (parser.seen(AXIS_CHAR(i))) {
const float v = parser.value_linear_units();
if (v * Z_HOME_DIR <= 0) delta_endstop_adj[i] = v;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("delta_endstop_adj[", AS_CHAR(XYZ_CHAR(i)), "] = ", delta_endstop_adj[i]);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("delta_endstop_adj[", AS_CHAR(AXIS_CHAR(i)), "] = ", delta_endstop_adj[i]);
}
}
}

2
Marlin/src/gcode/calibrate/M852.cpp
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@ -86,7 +86,7 @@ void GcodeSuite::M852() {
// When skew is changed the current position changes
if (setval) {
set_current_from_steppers_for_axis(ALL_AXES);
set_current_from_steppers_for_axis(ALL_AXES_MASK);
sync_plan_position();
report_current_position();
}

4
Marlin/src/gcode/config/M200-M205.cpp
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@ -86,7 +86,7 @@ void GcodeSuite::M201() {
if (parser.seenval('G')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100;
#endif
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);
planner.set_max_acceleration(a, parser.value_axis_units((AxisEnum)a));
@ -104,7 +104,7 @@ void GcodeSuite::M203() {
const int8_t target_extruder = get_target_extruder_from_command();
if (target_extruder < 0) return;
LOOP_XYZE(i)
LOOP_LOGICAL_AXES(i)
if (parser.seenval(axis_codes[i])) {
const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);
planner.set_max_feedrate(a, parser.value_axis_units((AxisEnum)a));

2
Marlin/src/gcode/config/M92.cpp
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@ -67,7 +67,7 @@ void GcodeSuite::M92() {
if (!parser.seen("XYZE" TERN_(MAGIC_NUMBERS_GCODE, "HL")))
return report_M92(true, target_extruder);
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
if (i == E_AXIS) {
const float value = parser.value_per_axis_units((AxisEnum)(E_AXIS_N(target_extruder)));

8
Marlin/src/gcode/control/M350_M351.cpp
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@ -34,7 +34,7 @@
*/
void GcodeSuite::M350() {
if (parser.seen('S')) LOOP_LE_N(i, 4) stepper.microstep_mode(i, parser.value_byte());
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte());
LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte());
if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte());
stepper.microstep_readings();
}
@ -46,15 +46,15 @@ void GcodeSuite::M350() {
void GcodeSuite::M351() {
if (parser.seenval('S')) switch (parser.value_byte()) {
case 1:
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1, -1);
LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1, -1);
if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1, -1);
break;
case 2:
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte(), -1);
LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte(), -1);
if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte(), -1);
break;
case 3:
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, -1, parser.value_byte());
LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, -1, parser.value_byte());
if (parser.seenval('B')) stepper.microstep_ms(4, -1, -1, parser.value_byte());
break;
}

2
Marlin/src/gcode/control/M605.cpp
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@ -141,7 +141,7 @@
HOTEND_LOOP() {
DEBUG_ECHOPAIR_P(SP_T_STR, e);
LOOP_XYZ(a) DEBUG_ECHOPAIR(" hotend_offset[", e, "].", AS_CHAR(XYZ_CHAR(a) | 0x20), "=", hotend_offset[e][a]);
LOOP_LINEAR_AXES(a) DEBUG_ECHOPAIR(" hotend_offset[", e, "].", AS_CHAR(AXIS_CHAR(a) | 0x20), "=", hotend_offset[e][a]);
DEBUG_EOL();
}
DEBUG_EOL();

2
Marlin/src/gcode/feature/L6470/M906.cpp
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@ -234,7 +234,7 @@ void GcodeSuite::M906() {
const uint8_t index = parser.byteval('I');
#endif
LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) {
LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) {
report_current = false;

6
Marlin/src/gcode/feature/digipot/M907-M910.cpp
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@ -44,7 +44,7 @@
void GcodeSuite::M907() {
#if HAS_MOTOR_CURRENT_SPI
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.set_digipot_current(i, parser.value_int());
LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper.set_digipot_current(i, parser.value_int());
if (parser.seenval('B')) stepper.set_digipot_current(4, parser.value_int());
if (parser.seenval('S')) LOOP_LE_N(i, 4) stepper.set_digipot_current(i, parser.value_int());
@ -64,7 +64,7 @@ void GcodeSuite::M907() {
#if HAS_MOTOR_CURRENT_I2C
// this one uses actual amps in floating point
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) digipot_i2c.set_current(i, parser.value_float());
LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) digipot_i2c.set_current(i, parser.value_float());
// Additional extruders use B,C,D for channels 4,5,6.
// TODO: Change these parameters because 'E' is used. B<index>?
for (uint8_t i = E_AXIS + 1; i < DIGIPOT_I2C_NUM_CHANNELS; i++)
@ -76,7 +76,7 @@ void GcodeSuite::M907() {
const float dac_percent = parser.value_float();
LOOP_LE_N(i, 4) stepper_dac.set_current_percent(i, dac_percent);
}
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper_dac.set_current_percent(i, parser.value_float());
LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper_dac.set_current_percent(i, parser.value_float());
#endif
}

6
Marlin/src/gcode/feature/pause/G61.cpp
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@ -71,11 +71,11 @@ void GcodeSuite::G61(void) {
else {
if (parser.seen("XYZ")) {
DEBUG_ECHOPAIR(STR_RESTORING_POS " S", slot);
LOOP_XYZ(i) {
destination[i] = parser.seen(XYZ_CHAR(i))
LOOP_LINEAR_AXES(i) {
destination[i] = parser.seen(AXIS_CHAR(i))
? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
: current_position[i];
DEBUG_CHAR(' ', XYZ_CHAR(i));
DEBUG_CHAR(' ', AXIS_CHAR(i));
DEBUG_ECHO_F(destination[i]);
}
DEBUG_EOL();

6
Marlin/src/gcode/feature/trinamic/M122.cpp
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@ -32,12 +32,12 @@
* M122: Debug TMC drivers
*/
void GcodeSuite::M122() {
xyze_bool_t print_axis = ARRAY_N_1(XYZE, false);
xyze_bool_t print_axis = ARRAY_N_1(LOGICAL_AXES, false);
bool print_all = true;
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) { print_axis[i] = true; print_all = false; }
LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) { print_axis[i] = true; print_all = false; }
if (print_all) LOOP_XYZE(i) print_axis[i] = true;
if (print_all) LOOP_LOGICAL_AXES(i) print_axis[i] = true;
if (parser.boolval('I')) restore_stepper_drivers();

2
Marlin/src/gcode/feature/trinamic/M569.cpp
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@ -50,7 +50,7 @@ static void set_stealth_status(const bool enable, const int8_t target_extruder)
const uint8_t index = parser.byteval('I');
#endif
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) {
LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) {
switch (i) {
case X_AXIS:
#if AXIS_HAS_STEALTHCHOP(X)

2
Marlin/src/gcode/feature/trinamic/M906.cpp
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@ -52,7 +52,7 @@ void GcodeSuite::M906() {
const uint8_t index = parser.byteval('I');
#endif
LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) {
LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) {
report = false;
switch (i) {
case X_AXIS:

4
Marlin/src/gcode/feature/trinamic/M911-M914.cpp
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@ -209,7 +209,7 @@
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
const uint8_t index = parser.byteval('I');
#endif
LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) {
LOOP_LOGICAL_AXES(i) if (int32_t value = parser.longval(axis_codes[i])) {
report = false;
switch (i) {
case X_AXIS:
@ -338,7 +338,7 @@
bool report = true;
const uint8_t index = parser.byteval('I');
LOOP_XYZ(i) if (parser.seen(XYZ_CHAR(i))) {
LOOP_LINEAR_AXES(i) if (parser.seen(AXIS_CHAR(i))) {
const int16_t value = parser.value_int();
report = false;
switch (i) {

4
Marlin/src/gcode/gcode.cpp
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@ -149,8 +149,8 @@ void GcodeSuite::get_destination_from_command() {
#endif
// Get new XYZ position, whether absolute or relative
LOOP_XYZ(i) {
if ( (seen[i] = parser.seenval(XYZ_CHAR(i))) ) {
LOOP_LINEAR_AXES(i) {
if ( (seen[i] = parser.seenval(AXIS_CHAR(i))) ) {
const float v = parser.value_axis_units((AxisEnum)i);
if (skip_move)
destination[i] = current_position[i];

2
Marlin/src/gcode/geometry/G53-G59.cpp
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@ -39,7 +39,7 @@ bool GcodeSuite::select_coordinate_system(const int8_t _new) {
xyz_float_t new_offset{0};
if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
new_offset = coordinate_system[_new];
LOOP_XYZ(i) {
LOOP_LINEAR_AXES(i) {
if (position_shift[i] != new_offset[i]) {
position_shift[i] = new_offset[i];
update_workspace_offset((AxisEnum)i);

6
Marlin/src/gcode/geometry/G92.cpp
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@ -61,7 +61,7 @@ void GcodeSuite::G92() {
#if ENABLED(CNC_COORDINATE_SYSTEMS) && !IS_SCARA
case 1: // G92.1 - Zero the Workspace Offset
LOOP_XYZ(i) if (position_shift[i]) {
LOOP_LINEAR_AXES(i) if (position_shift[i]) {
position_shift[i] = 0;
update_workspace_offset((AxisEnum)i);
}
@ -70,7 +70,7 @@ void GcodeSuite::G92() {
#if ENABLED(POWER_LOSS_RECOVERY)
case 9: // G92.9 - Set Current Position directly (like Marlin 1.0)
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
if (i == E_AXIS) sync_E = true; else sync_XYZE = true;
current_position[i] = parser.value_axis_units((AxisEnum)i);
@ -80,7 +80,7 @@ void GcodeSuite::G92() {
#endif
case 0:
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
const float l = parser.value_axis_units((AxisEnum)i), // Given axis coordinate value, converted to millimeters
v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i), // Axis position in NATIVE space (applying the existing offset)

8
Marlin/src/gcode/geometry/M206_M428.cpp
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@ -42,8 +42,8 @@ void M206_report() {
* *** In the 2.0 release, it will simply be disabled by default.
*/
void GcodeSuite::M206() {
LOOP_XYZ(i)
if (parser.seen(XYZ_CHAR(i)))
LOOP_LINEAR_AXES(i)
if (parser.seen(AXIS_CHAR(i)))
set_home_offset((AxisEnum)i, parser.value_linear_units());
#if ENABLED(MORGAN_SCARA)
@ -72,7 +72,7 @@ void GcodeSuite::M428() {
if (homing_needed_error()) return;
xyz_float_t diff;
LOOP_XYZ(i) {
LOOP_LINEAR_AXES(i) {
diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)
diff[i] = -current_position[i];
@ -84,7 +84,7 @@ void GcodeSuite::M428() {
}
}
LOOP_XYZ(i) set_home_offset((AxisEnum)i, diff[i]);
LOOP_LINEAR_AXES(i) set_home_offset((AxisEnum)i, diff[i]);
report_current_position();
LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
BUZZ(100, 659);

6
Marlin/src/gcode/host/M114.cpp
View File

@ -47,8 +47,8 @@
void report_linear_axis_pos(const xyz_pos_t &pos, const uint8_t precision=3) {
char str[12];
LOOP_XYZ(a) {
SERIAL_CHAR(' ', XYZ_CHAR(a), ':');
LOOP_LINEAR_AXES(a) {
SERIAL_CHAR(' ', AXIS_CHAR(a), ':');
SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
}
SERIAL_EOL();
@ -153,7 +153,7 @@
#endif // HAS_L64XX
SERIAL_ECHOPGM("Stepper:");
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
SERIAL_CHAR(' ', axis_codes[i], ':');
SERIAL_ECHO(stepper.position((AxisEnum)i));
}

4
Marlin/src/gcode/motion/M290.cpp
View File

@ -69,8 +69,8 @@
*/
void GcodeSuite::M290() {
#if ENABLED(BABYSTEP_XY)
LOOP_XYZ(a)
if (parser.seenval(XYZ_CHAR(a)) || (a == Z_AXIS && parser.seenval('S'))) {
LOOP_LINEAR_AXES(a)
if (parser.seenval(AXIS_CHAR(a)) || (a == Z_AXIS && parser.seenval('S'))) {
const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2);
babystep.add_mm((AxisEnum)a, offs);
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)

6
Marlin/src/gcode/probe/G38.cpp
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@ -38,7 +38,7 @@ inline void G38_single_probe(const uint8_t move_value) {
planner.synchronize();
G38_move = 0;
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(ALL_AXES);
set_current_from_steppers_for_axis(ALL_AXES_MASK);
sync_plan_position();
}
@ -49,7 +49,7 @@ inline bool G38_run_probe() {
#if MULTIPLE_PROBING > 1
// Get direction of move and retract
xyz_float_t retract_mm;
LOOP_XYZ(i) {
LOOP_LINEAR_AXES(i) {
const float dist = destination[i] - current_position[i];
retract_mm[i] = ABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
}
@ -119,7 +119,7 @@ void GcodeSuite::G38(const int8_t subcode) {
;
// If any axis has enough movement, do the move
LOOP_XYZ(i)
LOOP_LINEAR_AXES(i)
if (ABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
// If G38.2 fails throw an error