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Shorthand for do_blocking_move_to

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Scott Lahteine
2015-07-23 14:21:42 -07:00
committed by Richard Wackerbarth
parent 819c5b9b50
commit e2957df05c
1 changed files with 12 additions and 11 deletions
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23
Marlin/Marlin_main.cpp
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@@ -1300,6 +1300,10 @@ static void setup_for_endstop_move() {
feedrate = oldFeedRate; feedrate = oldFeedRate;
} }
inline void do_blocking_move_to_xy(float x, float y) { do_blocking_move_to(x, y, current_position[Z_AXIS]); }
inline void do_blocking_move_to_x(float x) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); }
inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); }
static void clean_up_after_endstop_move() { static void clean_up_after_endstop_move() {
#ifdef ENDSTOPS_ONLY_FOR_HOMING #ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false); enable_endstops(false);
@@ -1408,7 +1412,7 @@ static void setup_for_endstop_move() {
#if Z_RAISE_AFTER_PROBING > 0 #if Z_RAISE_AFTER_PROBING > 0
if (doRaise) { if (doRaise) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position
st_synchronize(); st_synchronize();
} }
#endif #endif
@@ -1494,8 +1498,8 @@ static void setup_for_endstop_move() {
// Probe bed height at position (x,y), returns the measured z value // Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) { static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) {
// Move Z up to the z_before height, then move the probe to the given XY // Move Z up to the z_before height, then move the probe to the given XY
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); // this also updates current_position do_blocking_move_to_z(z_before); // this also updates current_position
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); // this also updates current_position do_blocking_move_to_xy(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER); // this also updates current_position
#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if (probe_action & ProbeDeploy) deploy_z_probe(); if (probe_action & ProbeDeploy) deploy_z_probe();
@@ -1604,20 +1608,18 @@ static void setup_for_endstop_move() {
return; return;
} }
float oldXpos = current_position[X_AXIS]; // save x position
if (dock) { if (dock) {
float oldXpos = current_position[X_AXIS]; // save x position do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // raise Z
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // rise Z do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); // Dock sled a bit closer to ensure proper capturing
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1, current_position[Y_AXIS], current_position[Z_AXIS]); // Dock sled a bit closer to ensure proper capturing
digitalWrite(SLED_PIN, LOW); // turn off magnet digitalWrite(SLED_PIN, LOW); // turn off magnet
do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking
} else { } else {
float oldXpos = current_position[X_AXIS]; // save x position
float z_loc = current_position[Z_AXIS]; float z_loc = current_position[Z_AXIS];
if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING; if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
digitalWrite(SLED_PIN, HIGH); // turn on magnet digitalWrite(SLED_PIN, HIGH); // turn on magnet
do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking
} }
do_blocking_move_to_x(oldXpos); // return to position before docking
} }
#endif // Z_PROBE_SLED #endif // Z_PROBE_SLED
@@ -4559,8 +4561,7 @@ inline void gcode_M400() { st_synchronize(); }
void raise_z_for_servo() { void raise_z_for_servo() {
float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING; float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING;
z_dest += axis_known_position[Z_AXIS] ? zprobe_zoffset : zpos; z_dest += axis_known_position[Z_AXIS] ? zprobe_zoffset : zpos;
if (zpos < z_dest) if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_dest); // also updates current_position
} }
#endif #endif