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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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23
Marlin/src/module/motion.cpp
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@ -193,21 +193,21 @@ void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]
void get_cartesian_from_steppers() {
#if ENABLED(DELTA)
forward_kinematics_DELTA(
stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS)
planner.get_axis_position_mm(A_AXIS),
planner.get_axis_position_mm(B_AXIS),
planner.get_axis_position_mm(C_AXIS)
);
#else
#if IS_SCARA
forward_kinematics_SCARA(
stepper.get_axis_position_degrees(A_AXIS),
stepper.get_axis_position_degrees(B_AXIS)
planner.get_axis_position_degrees(A_AXIS),
planner.get_axis_position_degrees(B_AXIS)
);
#else
cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
cartes[X_AXIS] = planner.get_axis_position_mm(X_AXIS);
cartes[Y_AXIS] = planner.get_axis_position_mm(Y_AXIS);
#endif
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
cartes[Z_AXIS] = planner.get_axis_position_mm(Z_AXIS);
#endif
}
@ -870,12 +870,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
}
#endif
// move duplicate extruder into correct duplication position.
planner.set_position_mm(
inactive_extruder_x_pos,
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
);
planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
planner.buffer_line(
current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],