Implement endstops using new motion control

[clinton/Smoothieware.git] / src / modules / tools / extruder / Extruder.cpp

diff --git a/src/modules/tools/extruder/Extruder.cpp b/src/modules/tools/extruder/Extruder.cpp
index 95e5ebf..63beebb 100644 (file)
--- a/src/modules/tools/extruder/Extruder.cpp
+++ b/src/modules/tools/extruder/Extruder.cpp
@@ -429,10 +429,10 @@ void Extruder::on_gcode_received(void *argument)
                 int n = snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", -retract_zlift_length, retract_zlift_feedrate);
                 string cmd(buf, n);
                 Gcode gc(cmd, &(StreamOutput::NullStream));
-                THEKERNEL->robot->push_state(); // save state includes feed rates etc
-                THEKERNEL->robot->absolute_mode = false; // needs to be relative mode
-                THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
-                THEKERNEL->robot->pop_state(); // restore state includes feed rates etc
+                THEROBOT->push_state(); // save state includes feed rates etc
+                THEROBOT->absolute_mode = false; // needs to be relative mode
+                THEROBOT->on_gcode_received(&gc); // send to robot directly
+                THEROBOT->pop_state(); // restore state includes feed rates etc
             }
 
             // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
@@ -444,10 +444,10 @@ void Extruder::on_gcode_received(void *argument)
                 int n = snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", retract_zlift_length, retract_zlift_feedrate);
                 string cmd(buf, n);
                 Gcode gc(cmd, &(StreamOutput::NullStream));
-                THEKERNEL->robot->push_state(); // save state includes feed rates etc
-                THEKERNEL->robot->absolute_mode = false; // needs to be relative mode
-                THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
-                THEKERNEL->robot->pop_state(); // restore state includes feed rates etc
+                THEROBOT->push_state(); // save state includes feed rates etc
+                THEROBOT->absolute_mode = false; // needs to be relative mode
+                THEROBOT->on_gcode_received(&gc); // send to robot directly
+                THEROBOT->pop_state(); // restore state includes feed rates etc
             }
 
         } else if( this->enabled && this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) {
@@ -573,7 +573,7 @@ void Extruder::on_gcode_execute(void *argument)
 
             // NOTE this is only used in SOLO mode, but any F on a G0/G1 will set the speed for future retracts that are not firmware retracts
             if (gcode->has_letter('F')) {
-                feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute();
+                feed_rate = gcode->get_value('F') / THEROBOT->get_seconds_per_minute();
                 if (stepper_motor->get_max_rate() > 0 && feed_rate > stepper_motor->get_max_rate())
                     feed_rate = stepper_motor->get_max_rate();
             }