#include "libs/Pin.h"
#include "libs/StepperMotor.h"
#include "wait_api.h" // mbed.h lib
+#include "Robot.h"
+#include "Stepper.h"
+#include "Config.h"
+#include "SlowTicker.h"
+#include "Planner.h"
+#include "checksumm.h"
+#include "utils.h"
+#include "ConfigValue.h"
#define ALPHA_AXIS 0
#define BETA_AXIS 1
if (this->trim[c - 'X'] < 0) inverted_dir = !inverted_dir;
this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
this->steppers[c - 'X']->set_speed(0);
- this->steppers[c - 'X']->move(inverted_dir, this->trim[c - 'X']);
+ this->steppers[c - 'X']->move(inverted_dir, abs(this->trim[c - 'X']));
}
}
const char *my = this->home_direction[1] ? "min" : "max";
const char *mz = this->home_direction[2] ? "min" : "max";
- gcode->stream->printf("X %s:%d Y %s:%d Z %s:%d\n", mx, this->pins[px].get(), my, this->pins[py].get(), mz, this->pins[pz].get());
+ gcode->stream->printf("X %s:%d Y %s:%d Z %s:%d", mx, this->pins[px].get(), my, this->pins[py].get(), mz, this->pins[pz].get());
+ gcode->add_nl= true;
gcode->mark_as_taken();
}
break;
break;
- case 666: { // M666 - set trim for each axis in mm
+ case 666: { // M666 - set trim for each axis in mm, NB negative mm and positive steps trim is down
float mm[3];
trim2mm(mm);