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COREYZ stepper, planner, endstop, babysteps

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This commit is contained in:
Scott Lahteine
2016-05-20 13:27:49 -07:00
parent 6c7f4909b1
commit 5172d4ba40
5 changed files with 76 additions and 48 deletions
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22
Marlin/endstops.cpp
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@ -239,8 +239,8 @@ void Endstops::update() {
#if ENABLED(COREXY) || ENABLED(COREXZ)
// Head direction in -X axis for CoreXY and CoreXZ bots.
// If Delta1 == -Delta2, the movement is only in Y or Z axis
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(A_AXIS) == stepper.motor_direction(CORE_AXIS_2))) {
// If DeltaA == -DeltaB, the movement is only in Y or Z axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) == stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(X_HEAD))
#else
if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
@ -271,10 +271,10 @@ void Endstops::update() {
}
#endif
#if ENABLED(COREXY)
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[B_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(B_AXIS))) {
#if ENABLED(COREXY) || ENABLED(COREYZ)
// Head direction in -Y axis for CoreXY / CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(Y_HEAD))
#else
if (stepper.motor_direction(Y_AXIS)) // -direction
@ -289,14 +289,14 @@ void Endstops::update() {
UPDATE_ENDSTOP(Y, MAX);
#endif
}
#if ENABLED(COREXY)
#if ENABLED(COREXY) || ENABLED(COREYZ)
}
#endif
#if ENABLED(COREXZ)
// Head direction in -Z axis for CoreXZ bots.
// If DeltaX == DeltaZ, the movement is only in X axis
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[C_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(C_AXIS))) {
#if ENABLED(COREXZ) || ENABLED(COREYZ)
// Head direction in -Z axis for CoreXZ or CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(Z_HEAD))
#else
if (stepper.motor_direction(Z_AXIS))