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MarkForged kinematics (#19235)

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This commit is contained in:
Victor Sokolov
2020-09-04 05:12:53 +04:00
committed by GitHub
parent 55dcff746b
commit e97e6865c3
9 changed files with 100 additions and 34 deletions
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17
Marlin/src/module/motion.cpp
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@ -1152,7 +1152,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
#if AXIS_HAS_STALLGUARD(X2)
stealth_states.x2 = tmc_enable_stallguard(stepperX2);
#endif
#if CORE_IS_XY && Y_SENSORLESS
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
stealth_states.y = tmc_enable_stallguard(stepperY);
#elif CORE_IS_XZ && Z_SENSORLESS
stealth_states.z = tmc_enable_stallguard(stepperZ);
@ -1165,7 +1165,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
#if AXIS_HAS_STALLGUARD(Y2)
stealth_states.y2 = tmc_enable_stallguard(stepperY2);
#endif
#if CORE_IS_XY && X_SENSORLESS
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
stealth_states.x = tmc_enable_stallguard(stepperX);
#elif CORE_IS_YZ && Z_SENSORLESS
stealth_states.z = tmc_enable_stallguard(stepperZ);
@ -1216,7 +1216,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
#if AXIS_HAS_STALLGUARD(X2)
tmc_disable_stallguard(stepperX2, enable_stealth.x2);
#endif
#if CORE_IS_XY && Y_SENSORLESS
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
tmc_disable_stallguard(stepperY, enable_stealth.y);
#elif CORE_IS_XZ && Z_SENSORLESS
tmc_disable_stallguard(stepperZ, enable_stealth.z);
@ -1229,7 +1229,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
#if AXIS_HAS_STALLGUARD(Y2)
tmc_disable_stallguard(stepperY2, enable_stealth.y2);
#endif
#if CORE_IS_XY && X_SENSORLESS
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
tmc_disable_stallguard(stepperX, enable_stealth.x);
#elif CORE_IS_YZ && Z_SENSORLESS
tmc_disable_stallguard(stepperZ, enable_stealth.z);
@ -1789,7 +1789,7 @@ void homeaxis(const AxisEnum axis) {
do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis));
}
#else // CARTESIAN / CORE
#else // CARTESIAN / CORE / MARKFORGED_XY
set_axis_is_at_home(axis);
sync_plan_position();
@ -1818,8 +1818,11 @@ void homeaxis(const AxisEnum axis) {
#if ENABLED(SENSORLESS_HOMING)
planner.synchronize();
if (TERN0(IS_CORE, axis != NORMAL_AXIS))
safe_delay(200); // Short delay to allow belts to spring back
if (false
#if EITHER(IS_CORE, MARKFORGED_XY)
|| axis != NORMAL_AXIS
#endif
) safe_delay(200); // Short delay to allow belts to spring back
#endif
}
#endif