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Initialize stepper counts for Delta/SCARA

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This commit is contained in:
Scott Lahteine 2016-04-11 18:25:39 -07:00
parent 56acaf3594
commit f840c7de4d
1 changed files with 15 additions and 9 deletions
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24
Marlin/Marlin_main.cpp
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@ -485,6 +485,16 @@ void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P);
void gcode_M114();
#if ENABLED(DELTA) || ENABLED(SCARA)
inline void sync_plan_position_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
#endif
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
#endif
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
float extrude_min_temp = EXTRUDE_MINTEMP;
#endif
@ -705,6 +715,11 @@ void servo_init() {
*/
void setup() {
#if ENABLED(DELTA) || ENABLED(SCARA)
// Vital to init kinematic equivalent for X0 Y0 Z0
sync_plan_position_delta();
#endif
#ifdef DISABLE_JTAG
// Disable JTAG on AT90USB chips to free up pins for IO
MCUCR = 0x80;
@ -1306,15 +1321,6 @@ inline void sync_plan_position() {
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#if ENABLED(DELTA) || ENABLED(SCARA)
inline void sync_plan_position_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
#endif
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
#endif
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)); }