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Have M206 alter current_position, M428 use new function

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This commit is contained in:
Scott Lahteine 2016-04-09 19:07:24 -07:00
parent 562e281c73
commit f3562dd895
1 changed files with 17 additions and 16 deletions
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33
Marlin/Marlin_main.cpp
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@ -4975,19 +4975,26 @@ inline void gcode_M205() {
if (code_seen('E')) max_e_jerk = code_value();
}
static void set_home_offset(AxisEnum axis, float v) {
min_pos[axis] = base_min_pos(axis) + v;
max_pos[axis] = base_max_pos(axis) + v;
current_position[axis] += v - home_offset[axis];
home_offset[axis] = v;
}
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/
inline void gcode_M206() {
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
home_offset[i] = code_value();
}
}
for (int8_t i = X_AXIS; i <= Z_AXIS; i++)
if (code_seen(axis_codes[i]))
set_home_offset((AxisEnum)i, code_value());
#if ENABLED(SCARA)
if (code_seen('T')) home_offset[X_AXIS] = code_value(); // Theta
if (code_seen('P')) home_offset[Y_AXIS] = code_value(); // Psi
if (code_seen('T')) set_home_offset(X_AXIS, code_value()); // Theta
if (code_seen('P')) set_home_offset(Y_AXIS, code_value()); // Psi
#endif
sync_plan_position();
}
#if ENABLED(DELTA)
@ -5674,16 +5681,12 @@ inline void gcode_M410() { quickStop(); }
*/
inline void gcode_M428() {
bool err = false;
float new_offs[3], new_pos[3];
memcpy(new_pos, current_position, sizeof(new_pos));
memcpy(new_offs, home_offset, sizeof(new_offs));
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (axis_homed[i]) {
float base = (new_pos[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0,
diff = new_pos[i] - base;
float base = (current_position[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0,
diff = current_position[i] - base;
if (diff > -20 && diff < 20) {
new_offs[i] -= diff;
new_pos[i] = base;
set_home_offset((AxisEnum)i, home_offset[i] - diff);
}
else {
SERIAL_ERROR_START;
@ -5699,8 +5702,6 @@ inline void gcode_M428() {
}
if (!err) {
memcpy(current_position, new_pos, sizeof(new_pos));
memcpy(home_offset, new_offs, sizeof(new_offs));
sync_plan_position();
LCD_ALERTMESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
#if HAS_BUZZER