Adjust usage of stepper.synchronize
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@ -358,7 +358,7 @@ bool I2CPositionEncoder::test_axis() {
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stepper.synchronize();
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stepper.synchronize();
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planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
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planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
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stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
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stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
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stepper.synchronize();
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stepper.synchronize();
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@ -415,10 +415,10 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
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startCoord[encoderAxis] = startDistance;
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startCoord[encoderAxis] = startDistance;
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endCoord[encoderAxis] = endDistance;
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endCoord[encoderAxis] = endDistance;
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LOOP_L_N(i, iter) {
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stepper.synchronize();
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stepper.synchronize();
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planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
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LOOP_L_N(i, iter) {
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planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
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stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
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stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
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stepper.synchronize();
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stepper.synchronize();
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@ -427,7 +427,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
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//do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
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//do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
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planner.buffer_line(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS],
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planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
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stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
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stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
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stepper.synchronize();
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stepper.synchronize();
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@ -121,8 +121,8 @@ static void do_pause_e_move(const float &length, const float &fr) {
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set_destination_from_current();
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set_destination_from_current();
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destination[E_AXIS] += length / planner.e_factor[active_extruder];
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destination[E_AXIS] += length / planner.e_factor[active_extruder];
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planner.buffer_line_kinematic(destination, fr, active_extruder);
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planner.buffer_line_kinematic(destination, fr, active_extruder);
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stepper.synchronize();
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set_current_from_destination();
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set_current_from_destination();
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stepper.synchronize();
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}
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}
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/**
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/**
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@ -366,12 +366,12 @@ bool pause_print(const float &retract, const point_t &park_point, const float &u
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#endif
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#endif
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print_job_timer.pause();
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print_job_timer.pause();
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// Wait for synchronize steppers
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stepper.synchronize();
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// Save current position
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// Save current position
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COPY(resume_position, current_position);
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COPY(resume_position, current_position);
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// Wait for buffered blocks to complete
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stepper.synchronize();
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// Initial retract before move to filament change position
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// Initial retract before move to filament change position
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if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
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if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
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do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
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do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
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@ -240,8 +240,6 @@ void move_to(const float &rx, const float &ry, const float &z, const float &e_de
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destination[E_AXIS] = current_position[E_AXIS];
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destination[E_AXIS] = current_position[E_AXIS];
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G26_line_to_destination(feed_value);
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G26_line_to_destination(feed_value);
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stepper.synchronize();
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set_destination_from_current();
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set_destination_from_current();
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}
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}
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@ -256,8 +254,6 @@ void move_to(const float &rx, const float &ry, const float &z, const float &e_de
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destination[E_AXIS] += e_delta;
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destination[E_AXIS] += e_delta;
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G26_line_to_destination(feed_value);
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G26_line_to_destination(feed_value);
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stepper.synchronize();
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set_destination_from_current();
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set_destination_from_current();
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}
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}
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@ -499,13 +495,11 @@ inline bool prime_nozzle() {
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if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
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if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
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#endif
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#endif
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G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
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G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
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set_destination_from_current();
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stepper.synchronize(); // Without this synchronize, the purge is more consistent,
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stepper.synchronize(); // Without this synchronize, the purge is more consistent,
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// but because the planner has a buffer, we won't be able
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// but because the planner has a buffer, we won't be able
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// to stop as quickly. So we put up with the less smooth
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// to stop as quickly. So we put up with the less smooth
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// action to give the user a more responsive 'Stop'.
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// action to give the user a more responsive 'Stop'.
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set_destination_from_current();
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idle();
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}
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}
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wait_for_release();
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wait_for_release();
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@ -526,7 +520,6 @@ inline bool prime_nozzle() {
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set_destination_from_current();
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set_destination_from_current();
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destination[E_AXIS] += g26_prime_length;
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destination[E_AXIS] += g26_prime_length;
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G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
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G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
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stepper.synchronize();
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set_destination_from_current();
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set_destination_from_current();
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retract_filament(destination);
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retract_filament(destination);
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}
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}
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@ -700,7 +693,6 @@ void GcodeSuite::G26() {
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if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
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if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
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do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
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do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
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stepper.synchronize();
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set_current_from_destination();
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set_current_from_destination();
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}
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}
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@ -949,8 +949,8 @@ void GcodeSuite::G29() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
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#endif
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#endif
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enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
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stepper.synchronize();
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stepper.synchronize();
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enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
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#endif
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#endif
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// Auto Bed Leveling is complete! Enable if possible.
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// Auto Bed Leveling is complete! Enable if possible.
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@ -108,7 +108,6 @@ void GcodeSuite::M81() {
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safe_delay(1000); // Wait 1 second before switching off
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safe_delay(1000); // Wait 1 second before switching off
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#if HAS_SUICIDE
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#if HAS_SUICIDE
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stepper.synchronize();
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suicide();
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suicide();
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#elif HAS_POWER_SWITCH
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#elif HAS_POWER_SWITCH
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PSU_OFF();
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PSU_OFF();
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@ -43,8 +43,6 @@
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void report_current_position_detail() {
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void report_current_position_detail() {
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stepper.synchronize();
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SERIAL_PROTOCOLPGM("\nLogical:");
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SERIAL_PROTOCOLPGM("\nLogical:");
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const float logical[XYZ] = {
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const float logical[XYZ] = {
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LOGICAL_X_POSITION(current_position[X_AXIS]),
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LOGICAL_X_POSITION(current_position[X_AXIS]),
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@ -79,6 +77,8 @@
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report_xyz(delta);
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report_xyz(delta);
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#endif
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#endif
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stepper.synchronize();
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SERIAL_PROTOCOLPGM("Stepper:");
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SERIAL_PROTOCOLPGM("Stepper:");
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LOOP_XYZE(i) {
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LOOP_XYZE(i) {
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SERIAL_CHAR(' ');
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SERIAL_CHAR(' ');
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@ -58,6 +58,8 @@ void GcodeSuite::M0_M1() {
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const bool has_message = !hasP && !hasS && args && *args;
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const bool has_message = !hasP && !hasS && args && *args;
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stepper.synchronize();
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#if ENABLED(ULTIPANEL)
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#if ENABLED(ULTIPANEL)
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if (has_message)
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if (has_message)
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@ -81,8 +83,6 @@ void GcodeSuite::M0_M1() {
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KEEPALIVE_STATE(PAUSED_FOR_USER);
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KEEPALIVE_STATE(PAUSED_FOR_USER);
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wait_for_user = true;
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wait_for_user = true;
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stepper.synchronize();
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if (ms > 0) {
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if (ms > 0) {
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ms += millis(); // wait until this time for a click
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ms += millis(); // wait until this time for a click
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while (PENDING(millis(), ms) && wait_for_user) idle();
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while (PENDING(millis(), ms) && wait_for_user) idle();
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@ -396,13 +396,13 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
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#endif
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#endif
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stepper.synchronize();
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feedrate_mm_s = old_feedrate_mm_s;
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feedrate_mm_s = old_feedrate_mm_s;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
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#endif
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#endif
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stepper.synchronize();
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}
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}
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void do_blocking_move_to_x(const float &rx, const float &fr_mm_s/*=0.0*/) {
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void do_blocking_move_to_x(const float &rx, const float &fr_mm_s/*=0.0*/) {
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do_blocking_move_to(rx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
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do_blocking_move_to(rx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
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@ -881,8 +881,8 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
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current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
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current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
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planner.max_feedrate_mm_s[X_AXIS], 1
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planner.max_feedrate_mm_s[X_AXIS], 1
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);
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);
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SYNC_PLAN_POSITION_KINEMATIC();
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stepper.synchronize();
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stepper.synchronize();
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SYNC_PLAN_POSITION_KINEMATIC();
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extruder_duplication_enabled = true;
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extruder_duplication_enabled = true;
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active_extruder_parked = false;
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active_extruder_parked = false;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -1106,7 +1106,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
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#else
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#else
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sync_plan_position();
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sync_plan_position();
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current_position[axis] = distance;
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current_position[axis] = distance; // Set delta/cartesian axes directly
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
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#endif
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#endif
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