From 141392879653945dca206e724bb2949c1888dd82 Mon Sep 17 00:00:00 2001 From: Jim Morris Date: Sat, 12 Dec 2015 02:32:22 -0800 Subject: [PATCH] print out current machine coordinates with M114.1 --- src/modules/robot/Robot.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp index c528b90d..4687adad 100644 --- a/src/modules/robot/Robot.cpp +++ b/src/modules/robot/Robot.cpp @@ -373,9 +373,9 @@ void Robot::on_gcode_received(void *argument) }else if(gcode->subcode == 1) { // M114.1 print Machine coordinate system // TODO figure this out n = snprintf(buf, sizeof(buf), "X:%1.3f Y:%1.3f Z:%1.3f", - from_millimeters(this->last_milestone[0]), - from_millimeters(this->last_milestone[1]), - from_millimeters(this->last_milestone[2])); + from_millimeters(this->last_milestone[0]) - (std::get<0>(wcs_offsets[current_wcs]) + std::get<0>(g92_offset)), + from_millimeters(this->last_milestone[1]) - (std::get<1>(wcs_offsets[current_wcs]) + std::get<1>(g92_offset)), + from_millimeters(this->last_milestone[2]) - (std::get<2>(wcs_offsets[current_wcs]) + std::get<2>(g92_offset)) ); }else if(gcode->subcode == 2) { // M114.2 print realtime actuator position n = snprintf(buf, sizeof(buf), "A:%1.3f B:%1.3f C:%1.3f", -- 2.20.1