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CORE support for st_set_position & plan_set_position

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This commit is contained in:
Scott Lahteine 2016-04-11 01:03:50 -07:00
parent e087a99a10
commit 3e5312f116
1 changed files with 28 additions and 3 deletions
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31
Marlin/stepper.cpp
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@ -1084,11 +1084,36 @@ void st_init() {
*/
void st_synchronize() { while (blocks_queued()) idle(); }
/**
* Set the stepper positions directly in steps
*
* The input is based on the typical per-axis XYZ steps.
* For CORE machines XYZ needs to be translated to ABC.
*
* This allows st_get_axis_position_mm to correctly
* derive the current XYZ position later on.
*/
void st_set_position(const long& x, const long& y, const long& z, const long& e) {
CRITICAL_SECTION_START;
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z;
#if ENABLED(COREXY)
// corexy positioning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
count_position[A_AXIS] = x + y;
count_position[B_AXIS] = x - y;
count_position[Z_AXIS] = z;
#elif ENABLED(COREXZ)
// corexz planning
count_position[A_AXIS] = x + z;
count_position[Y_AXIS] = y;
count_position[C_AXIS] = x - z;
#else
// default non-h-bot planning
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z;
#endif
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}