diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index dcfa84a226..90eb6e0357 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1372,8 +1372,8 @@ static void set_axis_is_at_home(AxisEnum axis) { // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]); /** - * Works out real Homeposition angles using inverse kinematics, - * and calculates homing offset using forward kinematics + * Get Home position SCARA arm angles using inverse kinematics, + * and calculate homing offset using forward kinematics */ inverse_kinematics(homeposition); forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]); @@ -2030,7 +2030,10 @@ static void clean_up_after_endstop_or_probe_move() { SERIAL_ECHOLNPGM(")"); } #endif + feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S; + + // Move the probe to the given XY do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); if (DEPLOY_PROBE()) return NAN; @@ -2167,7 +2170,7 @@ static void clean_up_after_endstop_or_probe_move() { #endif // AUTO_BED_LEVELING_NONLINEAR /** - * Home an individual axis + * Home an individual linear axis */ static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) { @@ -3328,8 +3331,8 @@ inline void gcode_G28() { return; } - bool dryrun = code_seen('D'); - bool stow_probe_after_each = code_seen('E'); + bool dryrun = code_seen('D'), + stow_probe_after_each = code_seen('E'); #if ENABLED(AUTO_BED_LEVELING_GRID) @@ -3418,7 +3421,6 @@ inline void gcode_G28() { #endif // !DELTA // Inform the planner about the new coordinates - // (This is probably not needed here) SYNC_PLAN_POSITION_KINEMATIC(); } @@ -3790,11 +3792,11 @@ inline void gcode_G28() { * G92: Set current position to given X Y Z E */ inline void gcode_G92() { - bool didE = code_seen('E'); + bool didXYZ = false, + didE = code_seen('E'); if (!didE) stepper.synchronize(); - bool didXYZ = false; LOOP_XYZE(i) { if (code_seen(axis_codes[i])) { float p = current_position[i], @@ -4179,7 +4181,7 @@ inline void gcode_M42() { if (verbose_level > 2) SERIAL_PROTOCOLLNPGM("Positioning the probe..."); - // we don't do bed level correction in M48 because we want the raw data when we probe + // Disable bed level correction in M48 because we want the raw data when we probe #if ENABLED(AUTO_BED_LEVELING_FEATURE) reset_bed_level(); #endif @@ -5776,9 +5778,8 @@ inline void gcode_M303() { } #if ENABLED(MORGAN_SCARA) + bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) { - //SoftEndsEnabled = false; // Ignore soft endstops during calibration - //SERIAL_ECHOLNPGM(" Soft endstops disabled"); if (IsRunning()) { //gcode_get_destination(); // For X Y Z E F forward_kinematics_SCARA(delta_a, delta_b); @@ -5786,7 +5787,6 @@ inline void gcode_M303() { destination[Y_AXIS] = cartes[Y_AXIS]; destination[Z_AXIS] = current_position[Z_AXIS]; prepare_move_to_destination(); - //ok_to_send(); return true; } return false; @@ -7977,7 +7977,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) { mesh_line_to_destination(fr_mm_s, x_splits, y_splits); } -#endif // MESH_BED_LEVELING +#endif // MESH_BED_LEVELING #if IS_KINEMATIC