Adjust comments, spacing
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@ -1372,8 +1372,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
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// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
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/**
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* Works out real Homeposition angles using inverse kinematics,
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* and calculates homing offset using forward kinematics
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* Get Home position SCARA arm angles using inverse kinematics,
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* and calculate homing offset using forward kinematics
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*/
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inverse_kinematics(homeposition);
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forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
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@ -2030,7 +2030,10 @@ static void clean_up_after_endstop_or_probe_move() {
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SERIAL_ECHOLNPGM(")");
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}
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#endif
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feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
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// Move the probe to the given XY
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do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
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if (DEPLOY_PROBE()) return NAN;
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@ -2167,7 +2170,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif // AUTO_BED_LEVELING_NONLINEAR
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/**
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* Home an individual axis
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* Home an individual linear axis
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*/
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static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
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@ -3328,8 +3331,8 @@ inline void gcode_G28() {
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return;
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}
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bool dryrun = code_seen('D');
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bool stow_probe_after_each = code_seen('E');
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bool dryrun = code_seen('D'),
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stow_probe_after_each = code_seen('E');
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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@ -3418,7 +3421,6 @@ inline void gcode_G28() {
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#endif // !DELTA
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// Inform the planner about the new coordinates
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// (This is probably not needed here)
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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@ -3790,11 +3792,11 @@ inline void gcode_G28() {
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* G92: Set current position to given X Y Z E
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*/
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inline void gcode_G92() {
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bool didE = code_seen('E');
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bool didXYZ = false,
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didE = code_seen('E');
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if (!didE) stepper.synchronize();
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bool didXYZ = false;
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LOOP_XYZE(i) {
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if (code_seen(axis_codes[i])) {
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float p = current_position[i],
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@ -4179,7 +4181,7 @@ inline void gcode_M42() {
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if (verbose_level > 2)
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SERIAL_PROTOCOLLNPGM("Positioning the probe...");
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// we don't do bed level correction in M48 because we want the raw data when we probe
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// Disable bed level correction in M48 because we want the raw data when we probe
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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reset_bed_level();
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#endif
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@ -5776,9 +5778,8 @@ inline void gcode_M303() {
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}
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#if ENABLED(MORGAN_SCARA)
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bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
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//SoftEndsEnabled = false; // Ignore soft endstops during calibration
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//SERIAL_ECHOLNPGM(" Soft endstops disabled");
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if (IsRunning()) {
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//gcode_get_destination(); // For X Y Z E F
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forward_kinematics_SCARA(delta_a, delta_b);
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@ -5786,7 +5787,6 @@ inline void gcode_M303() {
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destination[Y_AXIS] = cartes[Y_AXIS];
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destination[Z_AXIS] = current_position[Z_AXIS];
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prepare_move_to_destination();
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//ok_to_send();
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return true;
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}
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return false;
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