bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Merge pull request #4982 from thinkyhead/rc_abl_bugfix

Browse Source 
Fix planner with kinematics, delta ABL
This commit is contained in:
Scott Lahteine
2016-10-10 13:24:22 -05:00
committed by GitHub
parent f4ec265363 e4e290d957
commit f8199b2cc1
15 changed files with 263 additions and 201 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
Marlin/stepper.cpp
View File

@@ -966,7 +966,7 @@ void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
* This allows get_axis_position_mm to correctly
* derive the current XYZ position later on.
*/
void Stepper::set_position(const long& x, const long& y, const long& z, const long& e) {
void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) {
synchronize(); // Bad to set stepper counts in the middle of a move
@@ -975,37 +975,37 @@ void Stepper::set_position(const long& x, const long& y, const long& z, const lo
#if ENABLED(COREXY)
// corexy positioning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
count_position[A_AXIS] = x + y;
count_position[B_AXIS] = x - y;
count_position[Z_AXIS] = z;
count_position[A_AXIS] = a + b;
count_position[B_AXIS] = a - b;
count_position[Z_AXIS] = c;
#elif ENABLED(COREXZ)
// corexz planning
count_position[A_AXIS] = x + z;
count_position[Y_AXIS] = y;
count_position[C_AXIS] = x - z;
count_position[A_AXIS] = a + c;
count_position[Y_AXIS] = b;
count_position[C_AXIS] = a - c;
#elif ENABLED(COREYZ)
// coreyz planning
count_position[X_AXIS] = x;
count_position[B_AXIS] = y + z;
count_position[C_AXIS] = y - z;
count_position[X_AXIS] = a;
count_position[B_AXIS] = y + c;
count_position[C_AXIS] = y - c;
#else
// default non-h-bot planning
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z;
count_position[X_AXIS] = a;
count_position[Y_AXIS] = b;
count_position[Z_AXIS] = c;
#endif
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
void Stepper::set_position(const AxisEnum &axis, const long& v) {
void Stepper::set_position(const AxisEnum &axis, const long &v) {
CRITICAL_SECTION_START;
count_position[axis] = v;
CRITICAL_SECTION_END;
}
void Stepper::set_e_position(const long& e) {
void Stepper::set_e_position(const long &e) {
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;