Some cleanup of st_get_pos functions
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@ -1090,6 +1090,12 @@ float junction_deviation = 0.1;
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} // plan_buffer_line()
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} // plan_buffer_line()
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(DELTA)
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(DELTA)
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/**
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* Get the XYZ position of the steppers as a vector_3.
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*
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* On CORE machines XYZ is derived from ABC.
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*/
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vector_3 plan_get_position() {
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vector_3 plan_get_position() {
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vector_3 position = vector_3(st_get_axis_position_mm(X_AXIS), st_get_axis_position_mm(Y_AXIS), st_get_axis_position_mm(Z_AXIS));
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vector_3 position = vector_3(st_get_axis_position_mm(X_AXIS), st_get_axis_position_mm(Y_AXIS), st_get_axis_position_mm(Z_AXIS));
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@ -1102,8 +1108,14 @@ float junction_deviation = 0.1;
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return position;
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return position;
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}
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}
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#endif // AUTO_BED_LEVELING_FEATURE && !DELTA
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#endif // AUTO_BED_LEVELING_FEATURE && !DELTA
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/**
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* Directly set the planner XYZ position (hence the stepper positions).
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*
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* On CORE machines stepper ABC will be translated from the given XYZ.
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*/
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
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void plan_set_position(float x, float y, float z, const float& e)
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void plan_set_position(float x, float y, float z, const float& e)
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#else
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#else
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@ -1099,15 +1099,22 @@ void st_set_e_position(const long& e) {
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CRITICAL_SECTION_END;
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CRITICAL_SECTION_END;
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}
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}
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long st_get_position(uint8_t axis) {
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/**
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* Get a stepper's position in steps.
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*/
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long st_get_position(AxisEnum axis) {
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CRITICAL_SECTION_START;
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CRITICAL_SECTION_START;
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long count_pos = count_position[axis];
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long count_pos = count_position[axis];
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CRITICAL_SECTION_END;
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CRITICAL_SECTION_END;
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return count_pos;
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return count_pos;
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}
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}
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/**
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* Get an axis position according to stepper position(s)
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* For CORE machines apply translation from ABC to XYZ.
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*/
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float st_get_axis_position_mm(AxisEnum axis) {
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float st_get_axis_position_mm(AxisEnum axis) {
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float axis_pos;
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float axis_steps;
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#if ENABLED(COREXY) | ENABLED(COREXZ)
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#if ENABLED(COREXY) | ENABLED(COREXZ)
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if (axis == X_AXIS || axis == CORE_AXIS_2) {
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if (axis == X_AXIS || axis == CORE_AXIS_2) {
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CRITICAL_SECTION_START;
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CRITICAL_SECTION_START;
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@ -1116,14 +1123,14 @@ float st_get_axis_position_mm(AxisEnum axis) {
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CRITICAL_SECTION_END;
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CRITICAL_SECTION_END;
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// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
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// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
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// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
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// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
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axis_pos = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
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axis_steps = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
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}
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}
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else
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else
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axis_pos = st_get_position(axis);
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axis_steps = st_get_position(axis);
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#else
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#else
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axis_pos = st_get_position(axis);
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axis_steps = st_get_position(axis);
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#endif
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#endif
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return axis_pos / axis_steps_per_unit[axis];
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return axis_steps / axis_steps_per_unit[axis];
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}
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}
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void finishAndDisableSteppers() {
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void finishAndDisableSteppers() {
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@ -61,7 +61,7 @@ void st_set_position(const long& x, const long& y, const long& z, const long& e)
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void st_set_e_position(const long& e);
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void st_set_e_position(const long& e);
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// Get current position in steps
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// Get current position in steps
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long st_get_position(uint8_t axis);
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long st_get_position(AxisEnum axis);
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// Get current axis position in mm
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// Get current axis position in mm
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float st_get_axis_position_mm(AxisEnum axis);
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float st_get_axis_position_mm(AxisEnum axis);
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