THEKERNEL->step_ticker->register_acceleration_tick_handler([this]() {acceleration_tick(); });
// Settings
- this->on_config_reload(this);
+ this->load_config();
}
// Get config
-void Endstops::on_config_reload(void *argument)
+void Endstops::load_config()
{
this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
char gcode_buf[64];
append_parameters(gcode_buf, params, sizeof(gcode_buf));
Gcode gc(gcode_buf, &(StreamOutput::NullStream));
- bool oldmode = THEKERNEL->robot->absolute_mode;
+ THEKERNEL->robot->push_state();
THEKERNEL->robot->absolute_mode = false; // needs to be relative mode
THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
- THEKERNEL->robot->absolute_mode = oldmode; // restore mode
// Wait for above to finish
THEKERNEL->conveyor->wait_for_empty_queue();
+ THEKERNEL->robot->pop_state();
}
this->status = NOT_HOMING;
float rate = std::min(this->fast_rates[0], this->fast_rates[1]) * 60.0F;
char buf[32];
snprintf(buf, sizeof(buf), "G53 G0 X0 Y0 F%1.4f", rate); // must use machine coordinates in case G92 or WCS is in effect
+ THEKERNEL->robot->push_state();
struct SerialMessage message;
message.message = buf;
message.stream = &(StreamOutput::NullStream);
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); // as it is a multi G code command
// Wait for above to finish
THEKERNEL->conveyor->wait_for_empty_queue();
+ THEKERNEL->robot->pop_state();
this->status = NOT_HOMING;
}
this->status = NOT_HOMING;
}
-// Start homing sequences by response to GCode commands
-void Endstops::on_gcode_received(void *argument)
+void Endstops::process_home_command(Gcode* gcode)
{
- Gcode *gcode = static_cast<Gcode *>(argument);
- if ( gcode->has_g && gcode->g == 28) {
- if( (gcode->subcode == 0 && THEKERNEL->is_grbl_mode()) || (gcode->subcode == 2 && !THEKERNEL->is_grbl_mode()) ) {
- // G28 in grbl mode or G28.2 in normal mode will do a rapid to the predefined position
- // TODO spec says if XYZ specified move to them first then move to MCS of specifed axis
- char buf[32];
- snprintf(buf, sizeof(buf), "G53 G0 X%f Y%f", saved_position[X_AXIS], saved_position[Y_AXIS]); // must use machine coordinates in case G92 or WCS is in effect
- struct SerialMessage message;
- message.message = buf;
- message.stream = &(StreamOutput::NullStream);
- THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); // as it is a multi G code command
- return;
-
- } else if(THEKERNEL->is_grbl_mode() && gcode->subcode == 2) { // G28.2 in grbl mode forces homing (triggered by $H)
- // fall through so it does homing cycle
-
- } else if(gcode->subcode == 1) { // G28.1 set pre defined position
- // saves current position in absolute machine coordinates
- THEKERNEL->robot->get_axis_position(saved_position);
- return;
-
- } else if(gcode->subcode == 3) { // G28.3 is a smoothie special it sets manual homing
- if(gcode->get_num_args() == 0) {
- THEKERNEL->robot->reset_axis_position(0, 0, 0);
- } else {
- // do a manual homing based on given coordinates, no endstops required
- if(gcode->has_letter('X')) THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS);
- if(gcode->has_letter('Y')) THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS);
- if(gcode->has_letter('Z')) THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
- }
- return;
+ if( (gcode->subcode == 0 && THEKERNEL->is_grbl_mode()) || (gcode->subcode == 2 && !THEKERNEL->is_grbl_mode()) ) {
+ // G28 in grbl mode or G28.2 in normal mode will do a rapid to the predefined position
+ // TODO spec says if XYZ specified move to them first then move to MCS of specifed axis
+ char buf[32];
+ snprintf(buf, sizeof(buf), "G53 G0 X%f Y%f", saved_position[X_AXIS], saved_position[Y_AXIS]); // must use machine coordinates in case G92 or WCS is in effect
+ struct SerialMessage message;
+ message.message = buf;
+ message.stream = &(StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); // as it is a multi G code command
+ return;
+
+ } else if(THEKERNEL->is_grbl_mode() && gcode->subcode == 2) { // G28.2 in grbl mode forces homing (triggered by $H)
+ // fall through so it does homing cycle
+
+ } else if(gcode->subcode == 1) { // G28.1 set pre defined position
+ // saves current position in absolute machine coordinates
+ THEKERNEL->robot->get_axis_position(saved_position);
+ return;
- } else if(gcode->subcode == 4) { // G28.4 is a smoothie special it sets manual homing based on the actuator position (used for rotary delta)
+ } else if(gcode->subcode == 3) { // G28.3 is a smoothie special it sets manual homing
+ if(gcode->get_num_args() == 0) {
+ THEKERNEL->robot->reset_axis_position(0, 0, 0);
+ } else {
// do a manual homing based on given coordinates, no endstops required
- float a=NAN, b=NAN, c=NAN;
- if(gcode->has_letter('A')) a= gcode->get_value('A');
- if(gcode->has_letter('B')) b= gcode->get_value('B');
- if(gcode->has_letter('C')) c= gcode->get_value('C');
- THEKERNEL->robot->reset_actuator_position(a, b, c);
- return;
-
- } else if(THEKERNEL->is_grbl_mode()) {
- gcode->stream->printf("error:Unsupported command\n");
- return;
+ if(gcode->has_letter('X')) THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS);
+ if(gcode->has_letter('Y')) THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS);
+ if(gcode->has_letter('Z')) THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
}
+ return;
- // G28 is received, we have homing to do
+ } else if(gcode->subcode == 4) { // G28.4 is a smoothie special it sets manual homing based on the actuator position (used for rotary delta)
+ // do a manual homing based on given coordinates, no endstops required, NOTE does not support the multi actuator hack
+ ActuatorCoordinates ac;
+ if(gcode->has_letter('A')) ac[0] = gcode->get_value('A');
+ if(gcode->has_letter('B')) ac[1] = gcode->get_value('B');
+ if(gcode->has_letter('C')) ac[2] = gcode->get_value('C');
+ THEKERNEL->robot->reset_actuator_position(ac);
+ return;
- // First wait for the queue to be empty
- THEKERNEL->conveyor->wait_for_empty_queue();
+ } else if(THEKERNEL->is_grbl_mode()) {
+ gcode->stream->printf("error:Unsupported command\n");
+ return;
+ }
- // Do we move select axes or all of them
- char axes_to_move = 0;
- // only enable homing if the endstop is defined, deltas, scaras always home all axis
- bool home_all = this->is_delta || this->is_rdelta || this->is_scara || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
+ // G28 is received, we have homing to do
- for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
- if ( (home_all || gcode->has_letter(c + 'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) {
- axes_to_move += ( 1 << c );
- }
- }
+ // First wait for the queue to be empty
+ THEKERNEL->conveyor->wait_for_empty_queue();
- // Enable the motors
- THEKERNEL->stepper->turn_enable_pins_on();
-
- // do the actual homing
- if(homing_order != 0) {
- // if an order has been specified do it in the specified order
- // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third
- // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z
- for (uint8_t m = homing_order; m != 0; m >>= 2) {
- int a = (1 << (m & 0x03)); // axis to move
- if((a & axes_to_move) != 0) {
- home(a);
- }
- // check if on_halt (eg kill)
- if(THEKERNEL->is_halted()) break;
- }
+ // Do we move select axes or all of them
+ char axes_to_move = 0;
+ // only enable homing if the endstop is defined, deltas, scaras always home all axis
+ bool home_all = this->is_delta || this->is_rdelta || this->is_scara || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
- } else {
- // they all home at the same time
- home(axes_to_move);
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( (home_all || gcode->has_letter(c + 'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) {
+ axes_to_move += ( 1 << c );
}
+ }
- // check if on_halt (eg kill)
- if(THEKERNEL->is_halted()) {
- if(!THEKERNEL->is_grbl_mode()) {
- THEKERNEL->streams->printf("Homing cycle aborted by kill\n");
+ // save current actuator position so we can report how far we moved
+ ActuatorCoordinates start_pos{
+ THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Z_AXIS]->get_current_position()
+ };
+
+ // Enable the motors
+ THEKERNEL->stepper->turn_enable_pins_on();
+
+ // do the actual homing
+ if(homing_order != 0) {
+ // if an order has been specified do it in the specified order
+ // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third
+ // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z
+ for (uint8_t m = homing_order; m != 0; m >>= 2) {
+ int a = (1 << (m & 0x03)); // axis to move
+ if((a & axes_to_move) != 0) {
+ home(a);
}
- return;
+ // check if on_halt (eg kill)
+ if(THEKERNEL->is_halted()) break;
}
- // set the last probe position to the actuator units moved during this home
- THEKERNEL->robot->set_last_probe_position(std::make_tuple(STEPPER[0]->get_stepped()/STEPS_PER_MM(0), STEPPER[1]->get_stepped()/STEPS_PER_MM(1), STEPPER[2]->get_stepped()/STEPS_PER_MM(2), 0));
-
- if(home_all) {
- // Here's where we would have been if the endstops were perfectly trimmed
- // NOTE on a rotary delta home_offset is actuator position in degrees when homed and
- // home_offset is the theta offset for each actuator, so M206 is used to set theta offset for each actuator in degrees
- float ideal_position[3] = {
- this->homing_position[X_AXIS] + this->home_offset[X_AXIS],
- this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS],
- this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS]
- };
+ } else {
+ // they all home at the same time
+ home(axes_to_move);
+ }
- bool has_endstop_trim = this->is_delta || this->is_scara;
- if (has_endstop_trim) {
- ActuatorCoordinates ideal_actuator_position;
- THEKERNEL->robot->arm_solution->cartesian_to_actuator(ideal_position, ideal_actuator_position);
+ // check if on_halt (eg kill)
+ if(THEKERNEL->is_halted()) {
+ if(!THEKERNEL->is_grbl_mode()) {
+ THEKERNEL->streams->printf("Homing cycle aborted by kill\n");
+ }
+ return;
+ }
- // We are actually not at the ideal position, but a trim away
- ActuatorCoordinates real_actuator_position = {
- ideal_actuator_position[X_AXIS] - this->trim_mm[X_AXIS],
- ideal_actuator_position[Y_AXIS] - this->trim_mm[Y_AXIS],
- ideal_actuator_position[Z_AXIS] - this->trim_mm[Z_AXIS]
- };
+ // set the last probe position to the actuator units moved during this home
+ THEKERNEL->robot->set_last_probe_position(
+ std::make_tuple(
+ start_pos[0] - THEKERNEL->robot->actuators[0]->get_current_position(),
+ start_pos[1] - THEKERNEL->robot->actuators[1]->get_current_position(),
+ start_pos[2] - THEKERNEL->robot->actuators[2]->get_current_position(),
+ 0));
+
+ if(home_all) {
+ // Here's where we would have been if the endstops were perfectly trimmed
+ // NOTE on a rotary delta home_offset is actuator position in degrees when homed and
+ // home_offset is the theta offset for each actuator, so M206 is used to set theta offset for each actuator in degrees
+ float ideal_position[3] = {
+ this->homing_position[X_AXIS] + this->home_offset[X_AXIS],
+ this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS],
+ this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS]
+ };
+
+ bool has_endstop_trim = this->is_delta || this->is_scara;
+ if (has_endstop_trim) {
+ ActuatorCoordinates ideal_actuator_position;
+ THEKERNEL->robot->arm_solution->cartesian_to_actuator(ideal_position, ideal_actuator_position);
+
+ // We are actually not at the ideal position, but a trim away
+ ActuatorCoordinates real_actuator_position = {
+ ideal_actuator_position[X_AXIS] - this->trim_mm[X_AXIS],
+ ideal_actuator_position[Y_AXIS] - this->trim_mm[Y_AXIS],
+ ideal_actuator_position[Z_AXIS] - this->trim_mm[Z_AXIS]
+ };
- float real_position[3];
- THEKERNEL->robot->arm_solution->actuator_to_cartesian(real_actuator_position, real_position);
- // Reset the actuator positions to correspond our real position
- THEKERNEL->robot->reset_axis_position(real_position[0], real_position[1], real_position[2]);
+ float real_position[3];
+ THEKERNEL->robot->arm_solution->actuator_to_cartesian(real_actuator_position, real_position);
+ // Reset the actuator positions to correspond our real position
+ THEKERNEL->robot->reset_axis_position(real_position[0], real_position[1], real_position[2]);
+
+ } else {
+ // without endstop trim, real_position == ideal_position
+ if(is_rdelta) {
+ // with a rotary delta we set the actuators angle then use the FK to calculate the resulting cartesian coordinates
+ ActuatorCoordinates real_actuator_position = {ideal_position[0], ideal_position[1], ideal_position[2]};
+ THEKERNEL->robot->reset_actuator_position(real_actuator_position);
} else {
- // without endstop trim, real_position == ideal_position
- if(is_rdelta) {
- // with a rotary delta we set the actuators angle then use the FK to calculate the resulting cartesian coordinates
- THEKERNEL->robot->reset_actuator_position(ideal_position[0], ideal_position[1], ideal_position[2]);
-
- }else{
- // Reset the actuator positions to correspond our real position
- THEKERNEL->robot->reset_axis_position(ideal_position[0], ideal_position[1], ideal_position[2]);
- }
+ // Reset the actuator positions to correspond our real position
+ THEKERNEL->robot->reset_axis_position(ideal_position[0], ideal_position[1], ideal_position[2]);
}
+ }
- } else {
- // Zero the ax(i/e)s position, add in the home offset
- for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
- if ( (axes_to_move >> c) & 1 ) {
- THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
- }
+ } else {
+ // Zero the ax(i/e)s position, add in the home offset
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( (axes_to_move >> c) & 1 ) {
+ THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
}
}
+ }
- // on some systems where 0,0 is bed center it is nice to have home goto 0,0 after homing
- // default is off for cartesian on for deltas
- if(!is_delta) {
- // NOTE a rotary delta usually has optical or hall-effect endstops so it is safe to go past them a little bit
- if(this->move_to_origin_after_home) move_to_origin(axes_to_move);
- // if limit switches are enabled we must back off endstop after setting home
- back_off_home(axes_to_move);
-
- } else if(this->move_to_origin_after_home || this->limit_enable[X_AXIS]) {
- // deltas are not left at 0,0 because of the trim settings, so move to 0,0 if requested, but we need to back off endstops first
- // also need to back off endstops if limits are enabled
- back_off_home(axes_to_move);
- if(this->move_to_origin_after_home) move_to_origin(axes_to_move);
- }
+ // on some systems where 0,0 is bed center it is nice to have home goto 0,0 after homing
+ // default is off for cartesian on for deltas
+ if(!is_delta) {
+ // NOTE a rotary delta usually has optical or hall-effect endstops so it is safe to go past them a little bit
+ if(this->move_to_origin_after_home) move_to_origin(axes_to_move);
+ // if limit switches are enabled we must back off endstop after setting home
+ back_off_home(axes_to_move);
+
+ } else if(this->move_to_origin_after_home || this->limit_enable[X_AXIS]) {
+ // deltas are not left at 0,0 because of the trim settings, so move to 0,0 if requested, but we need to back off endstops first
+ // also need to back off endstops if limits are enabled
+ back_off_home(axes_to_move);
+ if(this->move_to_origin_after_home) move_to_origin(axes_to_move);
}
+}
+
+void Endstops::set_homing_offset(Gcode *gcode)
+{
+ // Similar to M206 and G92 but sets Homing offsets based on current position
+ float cartesian[3];
+ THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot
+ if (gcode->has_letter('X')) {
+ home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X'));
+ THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS);
+ }
+ if (gcode->has_letter('Y')) {
+ home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y'));
+ THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS);
+ }
+ if (gcode->has_letter('Z')) {
+ home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z'));
+ THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
+ }
+
+ gcode->stream->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
+}
+
+// Start homing sequences by response to GCode commands
+void Endstops::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+ if ( gcode->has_g && gcode->g == 28) {
+ process_home_command(gcode);
+
+ } else if (gcode->has_m) {
- if (gcode->has_m) {
switch (gcode->m) {
case 119: {
for (int i = 0; i < 6; ++i) {
break;
case 206: // M206 - set homing offset
- if(!is_rdelta) {
- if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X');
- if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y');
- if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z');
- gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
-
- }else{
- // set theta offset
- if (gcode->has_letter('A')) home_offset[0] = gcode->get_value('A');
- if (gcode->has_letter('B')) home_offset[1] = gcode->get_value('B');
- if (gcode->has_letter('C')) home_offset[2] = gcode->get_value('C');
- gcode->stream->printf("Theta offset A %8.5f B %8.5f C %8.5f\n", home_offset[0], home_offset[1], home_offset[2]);
- }
- break;
+ if(is_rdelta) return; // RotaryDeltaCalibration module will handle this
- case 306:
- if(!is_rdelta) { // Similar to M206 and G92 but sets Homing offsets based on current position
- float cartesian[3];
- THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot
- if (gcode->has_letter('X')) {
- home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X'));
- THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS);
- }
- if (gcode->has_letter('Y')) {
- home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y'));
- THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS);
- }
- if (gcode->has_letter('Z')) {
- home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z'));
- THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
- }
+ if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X');
+ if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y');
+ if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z');
+ gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
+ break;
- gcode->stream->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
-
- }else{
- // for a rotary delta M306 calibrates the homing angle
- // by doing M306 A-56.17 it will calculate the M206 A value (the theta offset for actuator A) based on the difference
- // between what it thinks is the current angle and what the current angle actually is specified by A (ditto for B and C)
-
- // get the current angle for each actuator
- ActuatorCoordinates current_angle{
- THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Z_AXIS]->get_current_position()
- };
-
- //figure out what home_offset needs to be to correct the homing_position
- if (gcode->has_letter('A')) {
- float a= gcode->get_value('A'); // what actual angle is
- home_offset[0]= (a - current_angle[0]);
- THEKERNEL->robot->reset_actuator_position(a, NAN, NAN);
- }
- if (gcode->has_letter('B')) {
- float b= gcode->get_value('B');
- home_offset[1]= (b - current_angle[1]);
- THEKERNEL->robot->reset_actuator_position(NAN, b, NAN);
- }
- if (gcode->has_letter('C')) {
- float c= gcode->get_value('C');
- home_offset[2]= (c - current_angle[2]);
- THEKERNEL->robot->reset_actuator_position(NAN, NAN, c);
- }
+ case 306: // set homing offset based on current position
+ if(is_rdelta) return; // RotaryDeltaCalibration module will handle this
- gcode->stream->printf("Theta Offset: A %8.5f B %8.5f C %8.5f\n", home_offset[0], home_offset[1], home_offset[2]);
- }
+ set_homing_offset(gcode);
break;
case 500: // save settings
case 1910: {
// M1910.0 - move specific number of raw steps
// M1910.1 - stop any moves
- // M1910.2 - move specific number of actuator coordinates (usually mm but is degrees for a rotary delta)
+ // M1910.2 - move specific number of actuator units (usually mm but is degrees for a rotary delta)
if(gcode->subcode == 0 || gcode->subcode == 2) {
// Enable the motors
THEKERNEL->stepper->turn_enable_pins_on();
if (gcode->has_letter('X')) {
float v = gcode->get_value('X');
- if(gcode->subcode == 2) x= lroundf(v * STEPS_PER_MM(X_AXIS));
- else x= roundf(v);
+ if(gcode->subcode == 2) x = lroundf(v * STEPS_PER_MM(X_AXIS));
+ else x = roundf(v);
STEPPER[X_AXIS]->move(x < 0, abs(x), f);
}
if (gcode->has_letter('Y')) {
float v = gcode->get_value('Y');
- if(gcode->subcode == 2) y= lroundf(v * STEPS_PER_MM(Y_AXIS));
- else y= roundf(v);
+ if(gcode->subcode == 2) y = lroundf(v * STEPS_PER_MM(Y_AXIS));
+ else y = roundf(v);
STEPPER[Y_AXIS]->move(y < 0, abs(y), f);
}
if (gcode->has_letter('Z')) {
float v = gcode->get_value('Z');
- if(gcode->subcode == 2) z= lroundf(v * STEPS_PER_MM(Z_AXIS));
- else z= roundf(v);
+ if(gcode->subcode == 2) z = lroundf(v * STEPS_PER_MM(Z_AXIS));
+ else z = roundf(v);
STEPPER[Z_AXIS]->move(z < 0, abs(z), f);
}
gcode->stream->printf("Moving X %ld Y %ld Z %ld steps at F %ld steps/sec\n", x, y, z, f);
pdr->set_taken();
} else if(pdr->second_element_is(get_homing_status_checksum)) {
- bool *homing= static_cast<bool *>(pdr->get_data_ptr());
- *homing= this->status != NOT_HOMING;
+ bool *homing = static_cast<bool *>(pdr->get_data_ptr());
+ *homing = this->status != NOT_HOMING;
pdr->set_taken();
}
}
HCoop / clinton / Smoothieware.git / blobdiff