Add M290 Babystepping

Marlin/src/gcode/motion/M290.cpp

@@ -0,0 +1,61 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(BABYSTEPPING)
+
+#include "../gcode.h"
+#include "../../module/probe.h"
+#include "../../module/temperature.h"
+#include "../../module/planner.h"
+
+/**
+ * M290: Babystepping
+ */
+void GcodeSuite::M290() {
+  #if ENABLED(BABYSTEP_XY)
+    for (uint8_t a = X_AXIS; a <= Z_AXIS; a++)
+      if (parser.seenval(axis_codes[a]) || (a == Z_AXIS && parser.seenval('S'))) {
+        float offs = constrain(parser.value_axis_units(a), -2, 2);
+        #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+          if (a == Z_AXIS) {
+            zprobe_zoffset += offs;
+            refresh_zprobe_zoffset(true); // 'true' to not babystep
+          }
+        #endif
+        thermalManager.babystep_axis(a, offs * planner.axis_steps_per_mm[a]);
+      }
+  #else
+    if (parser.seenval('Z') || parser.seenval('S')) {
+      float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2);
+      #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+        zprobe_zoffset += offs;
+        refresh_zprobe_zoffset(); // This will babystep the axis
+      #else
+        thermalManager.babystep_axis(Z_AXIS, offs * planner.axis_steps_per_mm[Z_AXIS]);
+      #endif
+    }
+  #endif
+}
+
+#endif // BABYSTEPPING