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Move get_axis_position_mm to Planner (#10718)

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This commit is contained in:
Scott Lahteine
2018-05-12 09:59:11 -05:00
committed by GitHub
parent a1062eec5b
commit 8f8c6a9bc4
12 changed files with 75 additions and 80 deletions
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24
Marlin/src/feature/I2CPositionEncoder.cpp
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@ -99,15 +99,15 @@ void I2CPositionEncoder::update() {
//the encoder likely lost its place when the error occured, so we'll reset and use the printer's
//idea of where it the axis is to re-initialise
float position = stepper.get_axis_position_mm(encoderAxis);
int32_t positionInTicks = position * get_ticks_unit();
const float pos = planner.get_axis_position_mm(encoderAxis);
int32_t positionInTicks = pos * get_ticks_unit();
//shift position from previous to current position
zeroOffset -= (positionInTicks - get_position());
#ifdef I2CPE_DEBUG
SERIAL_ECHOPGM("Current position is ");
SERIAL_ECHOLN(position);
SERIAL_ECHOLN(pos);
SERIAL_ECHOPGM("Position in encoder ticks is ");
SERIAL_ECHOLN(positionInTicks);
@ -254,7 +254,7 @@ bool I2CPositionEncoder::passes_test(const bool report) {
float I2CPositionEncoder::get_axis_error_mm(const bool report) {
float target, actual, error;
target = stepper.get_axis_position_mm(encoderAxis);
target = planner.get_axis_position_mm(encoderAxis);
actual = mm_from_count(position);
error = actual - target;
@ -349,8 +349,8 @@ bool I2CPositionEncoder::test_axis() {
ec = false;
LOOP_NA(i) {
startCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
endCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
}
startCoord[encoderAxis] = startPosition;
@ -359,7 +359,7 @@ bool I2CPositionEncoder::test_axis() {
planner.synchronize();
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.synchronize();
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
@ -371,7 +371,7 @@ bool I2CPositionEncoder::test_axis() {
if (trusted) { // if trusted, commence test
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.synchronize();
}
@ -408,8 +408,8 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
travelDistance = endDistance - startDistance;
LOOP_NA(i) {
startCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
endCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
}
startCoord[encoderAxis] = startDistance;
@ -419,7 +419,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
LOOP_L_N(i, iter) {
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.synchronize();
delay(250);
@ -428,7 +428,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
//do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.synchronize();
//Read encoder distance

4
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View File

@ -448,8 +448,8 @@
#if IS_SCARA // scale the feed rate from mm/s to degrees/s
scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
scara_oldA = stepper.get_axis_position_degrees(A_AXIS);
scara_oldB = stepper.get_axis_position_degrees(B_AXIS);
scara_oldA = planner.get_axis_position_degrees(A_AXIS);
scara_oldB = planner.get_axis_position_degrees(B_AXIS);
#endif
const float diff[XYZE] = {