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Patch do_homing_move for SCARA

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This commit is contained in:
Scott Lahteine 2016-09-21 18:35:40 -05:00
parent 6ad0da661c
commit 0bf1054bb2
1 changed files with 13 additions and 3 deletions
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10
Marlin/Marlin_main.cpp
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@ -2192,10 +2192,20 @@ static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.
if (deploy_bltouch) set_bltouch_deployed(true); if (deploy_bltouch) set_bltouch_deployed(true);
#endif #endif
// Tell the planner we're at Z=0
current_position[axis] = 0; current_position[axis] = 0;
#if IS_SCARA
SYNC_PLAN_POSITION_KINEMATIC();
current_position[axis] = distance;
inverse_kinematics(current_position);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
#else
sync_plan_position(); sync_plan_position();
current_position[axis] = distance; current_position[axis] = distance;
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder); planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
#endif
stepper.synchronize(); stepper.synchronize();
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)