Merge pull request #4303 from AnHardt/delta-g28
DELTA: Move out of the clip-zone after G28
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59ae1811c2
@ -301,6 +301,7 @@ float code_value_temp_diff();
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extern float delta_diagonal_rod_trim_tower_3;
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void calculate_delta(float cartesian[3]);
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void recalc_delta_settings(float radius, float diagonal_rod);
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float delta_safe_distance_from_top();
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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extern int delta_grid_spacing[2];
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void adjust_delta(float cartesian[3]);
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@ -322,6 +322,9 @@ float home_offset[3] = { 0 };
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// Software Endstops. Default to configured limits.
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float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
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float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
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#if ENABLED(DELTA)
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float delta_clip_start_height = Z_MAX_POS;
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#endif
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#if FAN_COUNT > 0
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int fanSpeeds[FAN_COUNT] = { 0 };
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@ -1441,6 +1444,7 @@ static void update_software_endstops(AxisEnum axis) {
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sw_endstop_min[axis] = base_min_pos(axis) + offs;
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sw_endstop_max[axis] = base_max_pos(axis) + offs;
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}
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("For ", axis_codes[axis]);
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@ -1451,6 +1455,13 @@ static void update_software_endstops(AxisEnum axis) {
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SERIAL_EOL;
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}
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#endif
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#if ENABLED(DELTA)
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if (axis == Z_AXIS) {
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delta_clip_start_height = sw_endstop_max[axis] - delta_safe_distance_from_top();
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}
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#endif
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}
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/**
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@ -3101,6 +3112,11 @@ inline void gcode_G28() {
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}
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#endif
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#if ENABLED(DELTA)
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// move to a height where we can use the full xy-area
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do_blocking_move_to_z(delta_clip_start_height);
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#endif
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clean_up_after_endstop_or_probe_move();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -7541,6 +7557,15 @@ void clamp_to_software_endstops(float target[3]) {
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*/
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}
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float delta_safe_distance_from_top() {
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float cartesian[3] = { 0 };
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calculate_delta(cartesian);
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float distance = delta[TOWER_3];
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cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
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calculate_delta(cartesian);
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return abs(distance - delta[TOWER_3]);
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}
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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// Adjust print surface height by linear interpolation over the bed_level array.
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