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Stepper and Endstops as singleton objects

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Scott Lahteine
2016-04-27 07:15:20 -07:00
parent 98f30283fa
commit 5e4e535ce8
10 changed files with 950 additions and 762 deletions
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8
Marlin/planner.cpp
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@@ -1085,7 +1085,7 @@ float junction_deviation = 0.1;
planner_recalculate();
st_wake_up();
stepper.wake_up();
} // plan_buffer_line()
@@ -1097,7 +1097,7 @@ float junction_deviation = 0.1;
* On CORE machines XYZ is derived from ABC.
*/
vector_3 plan_get_position() {
vector_3 position = vector_3(st_get_axis_position_mm(X_AXIS), st_get_axis_position_mm(Y_AXIS), st_get_axis_position_mm(Z_AXIS));
vector_3 position = vector_3(stepper.get_axis_position_mm(X_AXIS), stepper.get_axis_position_mm(Y_AXIS), stepper.get_axis_position_mm(Z_AXIS));
//position.debug("in plan_get position");
//plan_bed_level_matrix.debug("in plan_get_position");
@@ -1132,7 +1132,7 @@ float junction_deviation = 0.1;
ny = position[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]),
nz = position[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]),
ne = position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
st_set_position(nx, ny, nz, ne);
stepper.set_position(nx, ny, nz, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
@@ -1140,7 +1140,7 @@ float junction_deviation = 0.1;
void plan_set_e_position(const float& e) {
position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
st_set_e_position(position[E_AXIS]);
stepper.set_e_position(position[E_AXIS]);
}
// Calculate the steps/s^2 acceleration rates, based on the mm/s^s