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SCARA support in do_blocking_move_to

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This commit is contained in:
Scott Lahteine 2016-09-15 13:21:59 -05:00
parent 8542ebcecd
commit ad9d6870ed
1 changed files with 25 additions and 1 deletions
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26
Marlin/Marlin_main.cpp
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@ -1471,7 +1471,7 @@ inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
#if ENABLED(DELTA)
#if IS_KINEMATIC
/**
* Calculate delta, start a line, and set current_position to destination
*/
@ -1555,6 +1555,30 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
#elif IS_SCARA
set_destination_to_current();
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < z) {
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
destination[Z_AXIS] = z;
prepare_uninterpolated_move_to_destination();
}
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
prepare_uninterpolated_move_to_destination();
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > z) {
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
destination[Z_AXIS] = z;
prepare_uninterpolated_move_to_destination();
}
#else
// If Z needs to raise, do it before moving XY