case 1: motion_mode = LINEAR; break;
case 2: motion_mode = CW_ARC; break;
case 3: motion_mode = CCW_ARC; break;
- case 4: { // G4 pause
+ case 4: { // G4 Dwell
uint32_t delay_ms = 0;
if (gcode->has_letter('P')) {
- delay_ms = gcode->get_int('P');
+ if(THEKERNEL->is_grbl_mode()) {
+ // in grbl mode (and linuxcnc) P is decimal seconds
+ float f= gcode->get_value('P');
+ delay_ms= f * 1000.0F;
+
+ }else{
+ // in reprap P is milliseconds, they always have to be different!
+ delay_ms = gcode->get_int('P');
+ }
}
if (gcode->has_letter('S')) {
delay_ms += gcode->get_int('S') * 1000;