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Improve planner kinematics, fix delta ABL

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This commit is contained in:
Josef Pavlik
2016-10-06 10:56:05 +02:00
committed by Scott Lahteine
parent 48761f2021
commit f8c2473a71
6 changed files with 102 additions and 82 deletions
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14
Marlin/ultralcd.cpp
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@@ -561,12 +561,7 @@ void kill_screen(const char* lcd_msg) {
#if ENABLED(ULTIPANEL)
inline void line_to_current(AxisEnum axis) {
#if ENABLED(DELTA)
inverse_kinematics(current_position);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
#else // !DELTA
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
#endif // !DELTA
planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
}
#if ENABLED(SDSUPPORT)
@@ -1351,12 +1346,7 @@ void kill_screen(const char* lcd_msg) {
*/
inline void manage_manual_move() {
if (manual_move_axis != (int8_t)NO_AXIS && ELAPSED(millis(), manual_move_start_time) && !planner.is_full()) {
#if ENABLED(DELTA)
inverse_kinematics(current_position);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
#else
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
#endif
planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
manual_move_axis = (int8_t)NO_AXIS;
}
}