bissen21/Marlin_Firmware
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added delta tower babystepping. Its untested, but hopefully florian horsch will be able to try.

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also, removed some trouble for compilation with corexy.
I think that babystepping is only possible in z for a delta tower.
not sure if it would be usefull to step individual motors on a delta, i don't own one
This commit is contained in:
bkubicek
2013-10-07 09:14:04 +02:00
parent c38b0855c8
commit b832f5b9f6
3 changed files with 54 additions and 8 deletions
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43
Marlin/stepper.cpp
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@ -1069,15 +1069,17 @@ void babystep(const uint8_t axis,const bool direction)
#endif
}
break;
break;
#ifndef DELTA
case Z_AXIS:
{
enable_z();
uint8_t old_z_dir_pin= READ(Z_DIR_PIN); //if dualzstepper, both point to same direction.
//setup new step
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction);
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction);
WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#endif
//perform step
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
@ -1101,6 +1103,41 @@ void babystep(const uint8_t axis,const bool direction)
}
break;
#else //DELTA
case Z_AXIS:
{
enable_x();
enable_y();
enable_z();
uint8_t old_x_dir_pin= READ(X_DIR_PIN);
uint8_t old_y_dir_pin= READ(Y_DIR_PIN);
uint8_t old_z_dir_pin= READ(Z_DIR_PIN);
//setup new step
WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z);
WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z);
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
//perform step
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
//wait a tiny bit
{
float x=1./float(axis+1); //absolutely useless
}
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
//get old pin state back.
WRITE(X_DIR_PIN,old_x_dir_pin);
WRITE(Y_DIR_PIN,old_y_dir_pin);
WRITE(Z_DIR_PIN,old_z_dir_pin);
}
break;
#endif
default: break;
}