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Move delta homing to its own function

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This commit is contained in:
Scott Lahteine 2016-09-11 20:25:44 -05:00
parent f9a192c7e3
commit c84b14c77a
1 changed files with 43 additions and 35 deletions
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78
Marlin/Marlin_main.cpp
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@ -2707,6 +2707,48 @@ inline void gcode_G4() {
#endif // DEBUG_LEVELING_FEATURE #endif // DEBUG_LEVELING_FEATURE
#if ENABLED(DELTA)
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
inline void home_delta() {
// Init the current position of all carriages to 0,0,0
memset(current_position, 0, sizeof(current_position));
sync_plan_position();
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
line_to_current_position();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
// Probably not needed. Double-check this line:
memset(current_position, 0, sizeof(current_position));
// At least one carriage has reached the top.
// Now back off and re-home each carriage separately.
HOMEAXIS(A);
HOMEAXIS(B);
HOMEAXIS(C);
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
#endif
}
#endif // DELTA
/** /**
* G28: Home all axes according to settings * G28: Home all axes according to settings
* *
@ -2784,42 +2826,8 @@ inline void gcode_G28() {
#if ENABLED(DELTA) #if ENABLED(DELTA)
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
// Init the current position of all carriages to 0,0,0 home_delta();
memset(current_position, 0, sizeof(current_position));
sync_plan_position();
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
line_to_current_position();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
// Probably not needed. Double-check this line:
memset(current_position, 0, sizeof(current_position));
// At least one carriage has reached the top.
// Now back off and re-home each carriage separately.
HOMEAXIS(A);
HOMEAXIS(B);
HOMEAXIS(C);
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
#endif
#else // NOT DELTA #else // NOT DELTA