From 1fd9a7d476c945fc2088a978ddd37fd3cd2f5b30 Mon Sep 17 00:00:00 2001
From: Robert Quattlebaum <darco@deepdarc.com>
Date: Wed, 9 Jul 2014 09:24:26 -0700
Subject: [PATCH] Fix for FWRETRACT on DELTA printers.

Fixes #817
---
 Marlin/Marlin_main.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0367eb46c..df935c5b8 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1132,7 +1132,12 @@ void refresh_cmd_timeout(void)
       retracted=true;
       prepare_move();
       current_position[Z_AXIS]-=retract_zlift;
+#ifdef DELTA
+      calculate_delta(current_position); // change cartesian kinematic to  delta kinematic;
+      plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+#else
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+#endif
       prepare_move();
       feedrate = oldFeedrate;
     } else if(!retracting && retracted) {
@@ -1141,7 +1146,12 @@ void refresh_cmd_timeout(void)
       destination[Z_AXIS]=current_position[Z_AXIS];
       destination[E_AXIS]=current_position[E_AXIS];
       current_position[Z_AXIS]+=retract_zlift;
+#ifdef DELTA
+      calculate_delta(current_position); // change cartesian kinematic  to  delta kinematic;
+      plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+#else
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+#endif
       //prepare_move();
       current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder]; 
       plan_set_e_position(current_position[E_AXIS]);