Merge pull request #2064 from thinkyhead/wait_before_g28
Split up prepare_move by type
This commit is contained in:
Scott Lahteine
commit
6e5572228d
@ -205,7 +205,7 @@ void enable_all_steppers();
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void disable_all_steppers();
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void FlushSerialRequestResend();
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void ClearToSend();
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void ok_to_send();
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void get_coordinates();
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#ifdef DELTA
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@ -363,6 +363,7 @@ bool target_direction;
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#endif
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#ifdef SCARA
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float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
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static float delta[3] = { 0 };
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float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
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#endif
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@ -1712,7 +1713,7 @@ static void homeaxis(AxisEnum axis) {
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#ifdef FWRETRACT
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void retract(bool retracting, bool swapretract = false) {
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void retract(bool retracting, bool swapping=false) {
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if (retracting == retracted[active_extruder]) return;
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@ -1723,7 +1724,7 @@ static void homeaxis(AxisEnum axis) {
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if (retracting) {
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feedrate = retract_feedrate * 60;
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current_position[E_AXIS] += (swapretract ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
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current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
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plan_set_e_position(current_position[E_AXIS]);
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prepare_move();
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@ -1750,7 +1751,7 @@ static void homeaxis(AxisEnum axis) {
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}
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feedrate = retract_recover_feedrate * 60;
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float move_e = swapretract ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
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float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
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current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
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plan_set_e_position(current_position[E_AXIS]);
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prepare_move();
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@ -1792,7 +1793,7 @@ inline void gcode_G0_G1() {
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#endif //FWRETRACT
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prepare_move();
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//ClearToSend();
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//ok_to_send();
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}
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}
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@ -1814,7 +1815,7 @@ inline void gcode_G4() {
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millis_t codenum = 0;
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if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
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if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait
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if (code_seen('S')) codenum = code_value() * 1000; // seconds to wait
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st_synchronize();
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refresh_cmd_timeout();
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@ -2681,7 +2682,7 @@ inline void gcode_G92() {
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hasP = codenum > 0;
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}
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if (code_seen('S')) {
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codenum = code_value_short() * 1000UL; // seconds to wait
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codenum = code_value() * 1000; // seconds to wait
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hasS = codenum > 0;
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}
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char* starpos = strchr(src, '*');
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@ -4314,7 +4315,7 @@ inline void gcode_M303() {
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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//ok_to_send();
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return true;
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}
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return false;
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@ -5537,7 +5538,7 @@ void process_commands() {
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SERIAL_ECHOLNPGM("\"");
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}
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ClearToSend();
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ok_to_send();
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}
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void FlushSerialRequestResend() {
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@ -5545,10 +5546,10 @@ void FlushSerialRequestResend() {
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MYSERIAL.flush();
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SERIAL_PROTOCOLPGM(MSG_RESEND);
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SERIAL_PROTOCOLLN(gcode_LastN + 1);
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ClearToSend();
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ok_to_send();
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}
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void ClearToSend() {
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void ok_to_send() {
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refresh_cmd_timeout();
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#ifdef SDSUPPORT
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if (fromsd[cmd_queue_index_r]) return;
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@ -5777,34 +5778,35 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
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#endif // PREVENT_DANGEROUS_EXTRUDE
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void prepare_move() {
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clamp_to_software_endstops(destination);
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refresh_cmd_timeout();
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#ifdef PREVENT_DANGEROUS_EXTRUDE
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(void)prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
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#endif
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#ifdef SCARA //for now same as delta-code
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#if defined(DELTA) || defined(SCARA)
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inline bool prepare_move_delta() {
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float difference[NUM_AXIS];
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for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
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for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
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float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
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if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
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if (cartesian_mm < 0.000001) { return; }
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if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
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if (cartesian_mm < 0.000001) return false;
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float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
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int steps = max(1, int(scara_segments_per_second * seconds));
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int steps = max(1, int(delta_segments_per_second * seconds));
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//SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
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//SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
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//SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
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// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
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// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
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// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
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for (int s = 1; s <= steps; s++) {
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float fraction = float(s) / float(steps);
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for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
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for (int8_t i = 0; i < NUM_AXIS; i++)
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destination[i] = current_position[i] + difference[i] * fraction;
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calculate_delta(destination);
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#ifdef ENABLE_AUTO_BED_LEVELING
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adjust_delta(destination);
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#endif
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//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
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//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
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//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
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@ -5814,37 +5816,18 @@ void prepare_move() {
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plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder);
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}
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#endif // SCARA
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#ifdef DELTA
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float difference[NUM_AXIS];
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for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
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float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
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if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
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if (cartesian_mm < 0.000001) return;
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float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
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int steps = max(1, int(delta_segments_per_second * seconds));
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// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
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// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
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// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
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for (int s = 1; s <= steps; s++) {
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float fraction = float(s) / float(steps);
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for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
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calculate_delta(destination);
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#ifdef ENABLE_AUTO_BED_LEVELING
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adjust_delta(destination);
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#endif
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plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder);
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return true;
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}
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#endif // DELTA
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#endif // DELTA || SCARA
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#ifdef DUAL_X_CARRIAGE
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#ifdef SCARA
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inline bool prepare_move_scara() { return prepare_move_delta(); }
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#endif
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#ifdef DUAL_X_CARRIAGE
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inline bool prepare_move_dual_x_carriage() {
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if (active_extruder_parked) {
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if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
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// move duplicate extruder into correct duplication position.
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@ -5865,7 +5848,7 @@ void prepare_move() {
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set_current_to_destination();
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NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
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delayed_move_time = millis();
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return;
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return false;
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}
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}
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delayed_move_time = 0;
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@ -5876,9 +5859,14 @@ void prepare_move() {
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active_extruder_parked = false;
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}
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}
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#endif // DUAL_X_CARRIAGE
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return true;
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}
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#if !defined(DELTA) && !defined(SCARA)
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#endif // DUAL_X_CARRIAGE
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#if !defined(DELTA) && !defined(SCARA)
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inline bool prepare_move_cartesian() {
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// Do not use feedrate_multiplier for E or Z only moves
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if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
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line_to_destination();
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@ -5886,12 +5874,40 @@ void prepare_move() {
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else {
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#ifdef MESH_BED_LEVELING
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mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder);
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return;
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return false;
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#else
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line_to_destination(feedrate * feedrate_multiplier / 100.0);
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#endif // MESH_BED_LEVELING
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#endif
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}
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#endif // !(DELTA || SCARA)
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return true;
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}
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#endif // !DELTA && !SCARA
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/**
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* Prepare a single move and get ready for the next one
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*/
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void prepare_move() {
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clamp_to_software_endstops(destination);
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refresh_cmd_timeout();
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#ifdef PREVENT_DANGEROUS_EXTRUDE
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prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
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#endif
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#ifdef SCARA
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if (!prepare_move_scara()) return;
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#elif defined(DELTA)
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if (!prepare_move_delta()) return;
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#endif
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#ifdef DUAL_X_CARRIAGE
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if (!prepare_move_dual_x_carriage()) return;
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#endif
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#if !defined(DELTA) && !defined(SCARA)
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if (!prepare_move_cartesian()) return;
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#endif
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set_current_to_destination();
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}
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@ -5911,10 +5927,9 @@ void prepare_arc_move(char isclockwise) {
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#if HAS_CONTROLLERFAN
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millis_t lastMotor = 0; // Last time a motor was turned on
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millis_t lastMotorCheck = 0; // Last time the state was checked
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void controllerFan() {
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void controllerFan() {
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static millis_t lastMotor = 0; // Last time a motor was turned on
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static millis_t lastMotorCheck = 0; // Last time the state was checked
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millis_t ms = millis();
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if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms
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lastMotorCheck = ms;
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@ -5940,8 +5955,9 @@ void controllerFan() {
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digitalWrite(CONTROLLERFAN_PIN, speed);
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analogWrite(CONTROLLERFAN_PIN, speed);
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}
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}
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#endif
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}
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#endif // HAS_CONTROLLERFAN
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#ifdef SCARA
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void calculate_SCARA_forward_Transform(float f_scara[3])
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@ -30,7 +30,7 @@ Here are some standard links for getting your machine calibrated:
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// You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
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// Uncomment to use Morgan scara mode
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#define SCARA
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#define scara_segments_per_second 200 //careful, two much will decrease performance...
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#define SCARA_SEGMENTS_PER_SECOND 200 // If movement is choppy try lowering this value
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// Length of inner support arm
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#define Linkage_1 150 //mm Preprocessor cannot handle decimal point...
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// Length of outer support arm Measure arm lengths precisely and enter
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