Adjust spacing in Marlin_main.cpp and stepper.*
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@ -6093,8 +6093,8 @@ void prepare_move() {
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#endif // HAS_CONTROLLERFAN
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#endif // HAS_CONTROLLERFAN
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#ifdef SCARA
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#ifdef SCARA
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void calculate_SCARA_forward_Transform(float f_scara[3])
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{
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void calculate_SCARA_forward_Transform(float f_scara[3]) {
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// Perform forward kinematics, and place results in delta[3]
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// Perform forward kinematics, and place results in delta[3]
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// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
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// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
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@ -6108,19 +6108,19 @@ void calculate_SCARA_forward_Transform(float f_scara[3])
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y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
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y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
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y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
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y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
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// SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
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//SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
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// SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
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//SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
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// SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
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//SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
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// SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
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//SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
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delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
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delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
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delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
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delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
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//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
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//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
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//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
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//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
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}
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}
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void calculate_delta(float cartesian[3]){
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void calculate_delta(float cartesian[3]){
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//reverse kinematics.
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//reverse kinematics.
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// Perform reversed kinematics, and place results in delta[3]
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// Perform reversed kinematics, and place results in delta[3]
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// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
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// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
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@ -6165,10 +6165,11 @@ void calculate_delta(float cartesian[3]){
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SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
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SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
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SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
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SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
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SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
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SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
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SERIAL_ECHOLN(" ");*/
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SERIAL_EOL;
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}
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*/
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}
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#endif
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#endif // SCARA
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#ifdef TEMP_STAT_LEDS
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#ifdef TEMP_STAT_LEDS
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@ -6399,39 +6400,28 @@ void kill()
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st_synchronize();
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st_synchronize();
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}
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}
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}
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}
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#endif
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void Stop() {
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#endif // FILAMENT_RUNOUT_SENSOR
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disable_all_heaters();
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if (IsRunning()) {
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Running = false;
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Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
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LCD_MESSAGEPGM(MSG_STOPPED);
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}
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}
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#ifdef FAST_PWM_FAN
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#ifdef FAST_PWM_FAN
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void setPwmFrequency(uint8_t pin, int val)
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{
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void setPwmFrequency(uint8_t pin, int val) {
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val &= 0x07;
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val &= 0x07;
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switch(digitalPinToTimer(pin))
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switch (digitalPinToTimer(pin)) {
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{
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#if defined(TCCR0A)
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#if defined(TCCR0A)
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case TIMER0A:
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case TIMER0A:
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case TIMER0B:
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case TIMER0B:
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// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
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// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
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// TCCR0B |= val;
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// TCCR0B |= val;
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break;
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break;
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#endif
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#endif
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#if defined(TCCR1A)
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#if defined(TCCR1A)
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case TIMER1A:
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case TIMER1A:
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case TIMER1B:
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case TIMER1B:
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// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
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// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
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// TCCR1B |= val;
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// TCCR1B |= val;
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break;
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break;
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#endif
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#endif
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@ -6479,8 +6469,20 @@ void setPwmFrequency(uint8_t pin, int val)
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#endif
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#endif
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}
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}
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}
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#endif // FAST_PWM_FAN
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void Stop() {
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disable_all_heaters();
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if (IsRunning()) {
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Running = false;
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Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
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LCD_MESSAGEPGM(MSG_STOPPED);
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}
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}
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}
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#endif //FAST_PWM_FAN
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bool setTargetedHotend(int code){
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bool setTargetedHotend(int code){
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target_extruder = active_extruder;
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target_extruder = active_extruder;
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@ -1110,9 +1110,8 @@ long st_get_position(uint8_t axis) {
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#ifdef ENABLE_AUTO_BED_LEVELING
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#ifdef ENABLE_AUTO_BED_LEVELING
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float st_get_position_mm(uint8_t axis) {
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float st_get_position_mm(AxisEnum axis) {
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float steper_position_in_steps = st_get_position(axis);
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return st_get_position(axis) / axis_steps_per_unit[axis];
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return steper_position_in_steps / axis_steps_per_unit[axis];
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}
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}
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#endif // ENABLE_AUTO_BED_LEVELING
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#endif // ENABLE_AUTO_BED_LEVELING
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@ -67,9 +67,9 @@ void st_set_e_position(const long &e);
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long st_get_position(uint8_t axis);
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long st_get_position(uint8_t axis);
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#ifdef ENABLE_AUTO_BED_LEVELING
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#ifdef ENABLE_AUTO_BED_LEVELING
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// Get current position in mm
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// Get current position in mm
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float st_get_position_mm(uint8_t axis);
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float st_get_position_mm(AxisEnum axis);
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#endif //ENABLE_AUTO_BED_LEVELING
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#endif
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// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
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// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
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// to notify the subsystem that it is time to go to work.
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// to notify the subsystem that it is time to go to work.
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