Firmware2/Marlin/src/gcode/motion/G0_G1.cpp

89 lines
2.8 KiB
C++
Raw Normal View History

/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../gcode.h"
#include "../../module/motion.h"
#include "../../Marlin.h"
2017-09-08 05:40:32 +02:00
#if ENABLED(FWRETRACT)
#include "../../feature/fwretract.h"
#endif
#include "../../sd/cardreader.h"
2017-11-24 21:04:14 +01:00
#if ENABLED(NANODLP_Z_SYNC)
#include "../../module/stepper.h"
#endif
extern float destination[XYZE];
#if ENABLED(NO_MOTION_BEFORE_HOMING)
#define G0_G1_CONDITION !axis_unhomed_error(parser.seen('X'), parser.seen('Y'), parser.seen('Z'))
#else
#define G0_G1_CONDITION true
#endif
/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
void GcodeSuite::G0_G1(
#if IS_SCARA
bool fast_move/*=false*/
#endif
) {
if (IsRunning() && G0_G1_CONDITION) {
get_destination_from_command(); // For X Y Z E F
#if ENABLED(FWRETRACT)
2017-09-08 05:40:32 +02:00
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
2017-09-08 05:40:32 +02:00
if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
const float echange = destination[E_AXIS] - current_position[E_AXIS];
// Is this a retract or recover move?
2017-09-08 05:40:32 +02:00
if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
sync_plan_position_e(); // AND from the planner
2017-09-08 05:40:32 +02:00
return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
}
}
}
2017-09-08 05:40:32 +02:00
#endif // FWRETRACT
#if IS_SCARA
fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
#else
prepare_move_to_destination();
#endif
2017-11-24 07:28:06 +01:00
#if ENABLED(NANODLP_Z_SYNC)
// If G0/G1 command include Z-axis, wait for move and output sync text.
if (parser.seenval('Z')) {
stepper.synchronize();
SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
}
#endif
}
}