72 lines
2.1 KiB
C++
72 lines
2.1 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../../inc/MarlinConfig.h"
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#if SAVED_POSITIONS
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#include "../../../core/language.h"
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#include "../../../module/planner.h"
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#include "../../gcode.h"
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#include "../../../module/motion.h"
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/**
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* G61: Return to saved position
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*
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* F<rate> - Feedrate (optional) for the move back.
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* S<slot> - Slot # (0-based) to restore from (default 0).
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* X Y Z - Axes to restore. At least one is required.
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*/
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void GcodeSuite::G61(void) {
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const uint8_t slot = parser.byteval('S');
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#if SAVED_POSITIONS < 256
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if (slot >= SAVED_POSITIONS) {
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SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
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return;
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}
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#endif
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// No saved position? No axes being restored?
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if (!TEST(saved_slots[slot >> 3], slot & 0x07) || !parser.seen("XYZ")) return;
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// Apply any given feedrate over 0.0
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const float fr = parser.linearval('F');
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if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
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SERIAL_ECHOPAIR(STR_RESTORING_POS " S", int(slot));
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LOOP_XYZ(i) {
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destination[i] = parser.seen(axis_codes[i])
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? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
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: current_position[i];
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SERIAL_CHAR(' ', axis_codes[i]);
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SERIAL_ECHO_F(destination[i]);
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}
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SERIAL_EOL();
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// Move to the saved position
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prepare_move_to_destination();
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}
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#endif // SAVED_POSITIONS
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