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Allow Zero Endstops (e.g., for CNC) (#21120)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
deirdreobyrne
2021-02-25 10:49:34 +00:00
committed by GitHub
parent d167af4c38
commit 468e437390
11 changed files with 778 additions and 739 deletions
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8
Marlin/src/module/planner.h
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@ -564,10 +564,10 @@ class Planner {
#if ENABLED(SKEW_CORRECTION)
FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
if (COORDINATE_OKAY(cx, X_MIN_POS + 1, X_MAX_POS) && COORDINATE_OKAY(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
const float sx = cx - cy * skew_factor.xy - cz * (skew_factor.xz - (skew_factor.xy * skew_factor.yz)),
sy = cy - cz * skew_factor.yz;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
if (COORDINATE_OKAY(sx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy;
}
}
@ -575,10 +575,10 @@ class Planner {
FORCE_INLINE static void skew(xyz_pos_t &raw) { skew(raw.x, raw.y, raw.z); }
FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
if (COORDINATE_OKAY(cx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(cy, Y_MIN_POS, Y_MAX_POS)) {
const float sx = cx + cy * skew_factor.xy + cz * skew_factor.xz,
sy = cy + cz * skew_factor.yz;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
if (COORDINATE_OKAY(sx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy;
}
}