revert last commit as duh homing does not use robot to move so turning off compensati...

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index d6e9116..7c5bf50 100644 (file)
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -720,11 +720,12 @@ void Robot::distance_in_gcode_is_known(Gcode * gcode)
 }
 
 // reset the machine position for all axis. Used for homing.
-// During homing compensation is turned off, so the final position is uncompensated machine coordinates
-// if not we don't really know where everything is, and you can't compensate until you know where the head is.
-// once homed compensation is turned back on and the first move will be compensated.
+// During homing compensation is turned off (actually not used as it drives steppers directly)
+// once homed and reset_axis called compensation is used for the move to origin and back off home if enabled,
+// so in those cases the final position is compensated.
 void Robot::reset_axis_position(float x, float y, float z)
 {
+    // these are set to the same as compensation was not used to get to the current position
     last_machine_position[X_AXIS]= last_milestone[X_AXIS] = x;
     last_machine_position[Y_AXIS]= last_milestone[Y_AXIS] = y;
     last_machine_position[Z_AXIS]= last_milestone[Z_AXIS] = z;

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index d092c30..e96e164 100644 (file)
--- a/src/modules/tools/endstops/Endstops.cpp
+++ b/src/modules/tools/endstops/Endstops.cpp
@@ -594,10 +594,6 @@ void Endstops::home(char axes_to_move)
         STEPPER[c]->set_moved_last_block(false);
     }
 
-    // disable bed compensation so we move in uncompensated machine coordinates
-    auto saveit= THEKERNEL->robot->compensationTransform;
-    THEKERNEL->robot->compensationTransform= nullptr;
-
     if (is_corexy){
         // corexy/HBot homing
         do_homing_corexy(axes_to_move);
@@ -611,7 +607,6 @@ void Endstops::home(char axes_to_move)
         STEPPER[c]->move(0, 0);
     }
     this->status = NOT_HOMING;
-    THEKERNEL->robot->compensationTransform= saveit;
 }
 
 // Start homing sequences by response to GCode commands