Clean up some motion code

Marlin/src/feature/fwretract.cpp

@@ -142,7 +142,7 @@ void FWRetract::retract(const bool retracting
   set_destination_from_current();
 
   #if ENABLED(RETRACT_SYNC_MIXING)
-    uint8_t old_mixing_tool = mixer.get_current_vtool();
+    const uint8_t old_mixing_tool = mixer.get_current_vtool();
     mixer.T(MIXER_AUTORETRACT_TOOL);
   #endif
 

Marlin/src/gcode/calibrate/G28.cpp

@@ -263,9 +263,7 @@ void GcodeSuite::G28(const bool always_home_all) {
   #endif
 
   setup_for_endstop_or_probe_move();
-  #if ENABLED(DEBUG_LEVELING_FEATURE)
+
-    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
-  #endif
   endstops.enable(true); // Enable endstops for next homing move
 
   #if ENABLED(DELTA)

Marlin/src/module/motion.cpp

@@ -253,8 +253,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
  * Move the planner to the current position from wherever it last moved
  * (or from wherever it has been told it is located).
  */
-void line_to_current_position() {
+void line_to_current_position(const float &fr_mm_s/*=feedrate_mm_s*/) {
-  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
+  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s, active_extruder);
 }
 
 /**
@@ -270,7 +270,7 @@ void buffer_line_to_destination(const float fr_mm_s) {
   /**
    * Calculate delta, start a line, and set current_position to destination
    */
-  void prepare_uninterpolated_move_to_destination(const float fr_mm_s/*=0.0*/) {
+  void prepare_uninterpolated_move_to_destination(const float &fr_mm_s/*=0.0*/) {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
     #endif
@@ -297,19 +297,18 @@ void buffer_line_to_destination(const float fr_mm_s) {
  * Plan a move to (X, Y, Z) and set the current_position
  */
 void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s/*=0.0*/) {
-  const float old_feedrate_mm_s = feedrate_mm_s;
-
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, rx, ry, rz);
   #endif
 
-  const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
+  const float z_feedrate  = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS),
+              xy_feedrate = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
 
   #if ENABLED(DELTA)
 
     if (!position_is_reachable(rx, ry)) return;
 
-    feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
+    REMEMBER(fr, feedrate_mm_s, xy_feedrate);
 
     set_destination_from_current();          // sync destination at the start
 
@@ -373,7 +372,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
 
     destination[X_AXIS] = rx;
     destination[Y_AXIS] = ry;
-    prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
+    prepare_uninterpolated_move_to_destination(xy_feedrate);
 
     // If Z needs to lower, do it after moving XY
     if (destination[Z_AXIS] > rz) {
@@ -385,27 +384,22 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
 
     // If Z needs to raise, do it before moving XY
     if (current_position[Z_AXIS] < rz) {
-      feedrate_mm_s = z_feedrate;
       current_position[Z_AXIS] = rz;
-      line_to_current_position();
+      line_to_current_position(z_feedrate);
     }
 
-    feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
     current_position[X_AXIS] = rx;
     current_position[Y_AXIS] = ry;
-    line_to_current_position();
+    line_to_current_position(xy_feedrate);
 
     // If Z needs to lower, do it after moving XY
     if (current_position[Z_AXIS] > rz) {
-      feedrate_mm_s = z_feedrate;
       current_position[Z_AXIS] = rz;
-      line_to_current_position();
+      line_to_current_position(z_feedrate);
     }
 
   #endif
 
-  feedrate_mm_s = old_feedrate_mm_s;
-
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
   #endif
@@ -423,32 +417,21 @@ void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm
 }
 
 //
-// Prepare to do endstop or probe moves
+// Prepare to do endstop or probe moves with custom feedrates.
-// with custom feedrates.
+//  - Save / restore current feedrate and multiplier
 //
-//  - Save current feedrates
+static float saved_feedrate_mm_s;
-//  - Reset the rate multiplier
+static int16_t saved_feedrate_percentage;
-//
+void setup_for_endstop_or_probe_move() {
-void bracket_probe_move(const bool before) {
-  static float saved_feedrate_mm_s;
-  static int16_t saved_feedrate_percentage;
-  #if ENABLED(DEBUG_LEVELING_FEATURE)
-    if (DEBUGGING(LEVELING)) DEBUG_POS("bracket_probe_move", current_position);
-  #endif
-  if (before) {
   saved_feedrate_mm_s = feedrate_mm_s;
   saved_feedrate_percentage = feedrate_percentage;
   feedrate_percentage = 100;
-  }
+}
-  else {
+void clean_up_after_endstop_or_probe_move() {
   feedrate_mm_s = saved_feedrate_mm_s;
   feedrate_percentage = saved_feedrate_percentage;
-  }
 }
 
-void setup_for_endstop_or_probe_move() { bracket_probe_move(true); }
-void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
-
 #if HAS_SOFTWARE_ENDSTOPS
 
   bool soft_endstops_enabled = true;

Marlin/src/module/motion.h

@@ -149,7 +149,7 @@ void sync_plan_position_e();
  * Move the planner to the current position from wherever it last moved
  * (or from wherever it has been told it is located).
  */
-void line_to_current_position();
+void line_to_current_position(const float &fr_mm_s=feedrate_mm_s);
 
 /**
  * Move the planner to the position stored in the destination array, which is
@@ -158,7 +158,7 @@ void line_to_current_position();
 void buffer_line_to_destination(const float fr_mm_s);
 
 #if IS_KINEMATIC
-  void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0);
+  void prepare_uninterpolated_move_to_destination(const float &fr_mm_s=0);
 #endif
 
 void prepare_move_to_destination();
@@ -182,10 +182,6 @@ FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZE], const float &fr_
 void setup_for_endstop_or_probe_move();
 void clean_up_after_endstop_or_probe_move();
 
-void bracket_probe_move(const bool before);
-void setup_for_endstop_or_probe_move();
-void clean_up_after_endstop_or_probe_move();
-
 //
 // Homing
 //