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Various code style tweaks

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This commit is contained in:
Scott Lahteine 2017-06-07 07:12:19 -05:00
parent dac29e0f75
commit a27b08e6af
4 changed files with 76 additions and 63 deletions
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16
Marlin/G26_Mesh_Validation_Tool.cpp
View File

@ -252,8 +252,8 @@
// Move nozzle to the specified height for the first layer // Move nozzle to the specified height for the first layer
set_destination_to_current(); set_destination_to_current();
destination[Z_AXIS] = g26_layer_height; destination[Z_AXIS] = g26_layer_height;
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0.0); move_to(destination, 0.0);
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], g26_ooze_amount); move_to(destination, g26_ooze_amount);
has_control_of_lcd_panel = true; has_control_of_lcd_panel = true;
//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern.")); //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
@ -368,14 +368,14 @@
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
//debug_current_and_destination(PSTR("ready to do Z-Raise.")); //debug_current_and_destination(PSTR("ready to do Z-Raise."));
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Raise the nozzle move_to(destination, 0); // Raise the nozzle
//debug_current_and_destination(PSTR("done doing Z-Raise.")); //debug_current_and_destination(PSTR("done doing Z-Raise."));
destination[X_AXIS] = g26_x_pos; // Move back to the starting position destination[X_AXIS] = g26_x_pos; // Move back to the starting position
destination[Y_AXIS] = g26_y_pos; destination[Y_AXIS] = g26_y_pos;
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is //destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Move back to the starting position move_to(destination, 0); // Move back to the starting position
//debug_current_and_destination(PSTR("done doing X/Y move.")); //debug_current_and_destination(PSTR("done doing X/Y move."));
has_control_of_lcd_panel = false; // Give back control of the LCD Panel! has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
@ -554,16 +554,16 @@
} }
void unified_bed_leveling::retract_filament(float where[XYZE]) { void unified_bed_leveling::retract_filament(const float where[XYZE]) {
if (!g26_retracted) { // Only retract if we are not already retracted! if (!g26_retracted) { // Only retract if we are not already retracted!
g26_retracted = true; g26_retracted = true;
move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], -1.0 * g26_retraction_multiplier); move_to(where, -1.0 * g26_retraction_multiplier);
} }
} }
void unified_bed_leveling::recover_filament(float where[XYZE]) { void unified_bed_leveling::recover_filament(const float where[XYZE]) {
if (g26_retracted) { // Only un-retract if we are retracted. if (g26_retracted) { // Only un-retract if we are retracted.
move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], 1.2 * g26_retraction_multiplier); move_to(where, 1.2 * g26_retraction_multiplier);
g26_retracted = false; g26_retracted = false;
} }
} }

100
Marlin/Marlin_main.cpp
View File

@ -1561,16 +1561,16 @@ inline void set_destination_to_current() { COPY(destination, current_position);
* Plan a move to (X, Y, Z) and set the current_position * Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested * The final current_position may not be the one that was requested
*/ */
void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) { void do_blocking_move_to(const float &lx, const float &ly, const float &lz, const float &fr_mm_s/*=0.0*/) {
const float old_feedrate_mm_s = feedrate_mm_s; const float old_feedrate_mm_s = feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z); if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, lx, ly, lz);
#endif #endif
#if ENABLED(DELTA) #if ENABLED(DELTA)
if (!position_is_reachable_xy(x, y)) return; if (!position_is_reachable_xy(lx, ly)) return;
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
@ -1582,10 +1582,10 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
// when in the danger zone // when in the danger zone
if (current_position[Z_AXIS] > delta_clip_start_height) { if (current_position[Z_AXIS] > delta_clip_start_height) {
if (z > delta_clip_start_height) { // staying in the danger zone if (lz > delta_clip_start_height) { // staying in the danger zone
destination[X_AXIS] = x; // move directly (uninterpolated) destination[X_AXIS] = lx; // move directly (uninterpolated)
destination[Y_AXIS] = y; destination[Y_AXIS] = ly;
destination[Z_AXIS] = z; destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
@ -1601,23 +1601,23 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
} }
} }
if (z > current_position[Z_AXIS]) { // raising? if (lz > current_position[Z_AXIS]) { // raising?
destination[Z_AXIS] = z; destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
#endif #endif
} }
destination[X_AXIS] = x; destination[X_AXIS] = lx;
destination[Y_AXIS] = y; destination[Y_AXIS] = ly;
prepare_move_to_destination(); // set_current_to_destination prepare_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
#endif #endif
if (z < current_position[Z_AXIS]) { // lowering? if (lz < current_position[Z_AXIS]) { // lowering?
destination[Z_AXIS] = z; destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
@ -1626,44 +1626,44 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
#elif IS_SCARA #elif IS_SCARA
if (!position_is_reachable_xy(x, y)) return; if (!position_is_reachable_xy(lx, ly)) return;
set_destination_to_current(); set_destination_to_current();
// If Z needs to raise, do it before moving XY // If Z needs to raise, do it before moving XY
if (destination[Z_AXIS] < z) { if (destination[Z_AXIS] < lz) {
destination[Z_AXIS] = z; destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS)); prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
} }
destination[X_AXIS] = x; destination[X_AXIS] = lx;
destination[Y_AXIS] = y; destination[Y_AXIS] = ly;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S); prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
// If Z needs to lower, do it after moving XY // If Z needs to lower, do it after moving XY
if (destination[Z_AXIS] > z) { if (destination[Z_AXIS] > lz) {
destination[Z_AXIS] = z; destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS)); prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
} }
#else #else
// If Z needs to raise, do it before moving XY // If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < z) { if (current_position[Z_AXIS] < lz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = z; current_position[Z_AXIS] = lz;
line_to_current_position(); line_to_current_position();
} }
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
current_position[X_AXIS] = x; current_position[X_AXIS] = lx;
current_position[Y_AXIS] = y; current_position[Y_AXIS] = ly;
line_to_current_position(); line_to_current_position();
// If Z needs to lower, do it after moving XY // If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > z) { if (current_position[Z_AXIS] > lz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = z; current_position[Z_AXIS] = lz;
line_to_current_position(); line_to_current_position();
} }
@ -1677,14 +1677,14 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif #endif
} }
void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) { void do_blocking_move_to_x(const float &lx, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s); do_blocking_move_to(lx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
} }
void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) { void do_blocking_move_to_z(const float &lz, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s); do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], lz, fr_mm_s);
} }
void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) { void do_blocking_move_to_xy(const float &lx, const float &ly, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s); do_blocking_move_to(lx, ly, current_position[Z_AXIS], fr_mm_s);
} }
// //
@ -1719,7 +1719,7 @@ static void clean_up_after_endstop_or_probe_move() {
/** /**
* Raise Z to a minimum height to make room for a probe to move * Raise Z to a minimum height to make room for a probe to move
*/ */
inline void do_probe_raise(float z_raise) { inline void do_probe_raise(const float z_raise) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("do_probe_raise(", z_raise); SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
@ -1801,6 +1801,10 @@ static void clean_up_after_endstop_or_probe_move() {
#elif ENABLED(Z_PROBE_ALLEN_KEY) #elif ENABLED(Z_PROBE_ALLEN_KEY)
FORCE_INLINE void do_blocking_move_to(const float logical[XYZ], const float &fr_mm_s) {
do_blocking_move_to(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], fr_mm_s);
}
void run_deploy_moves_script() { void run_deploy_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z) #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
@ -1815,7 +1819,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)); const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
#endif #endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z) #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
@ -1830,7 +1835,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)); const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
#endif #endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z) #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
@ -1845,7 +1851,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE)); const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
#endif #endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z) #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
@ -1860,7 +1867,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE)); const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
#endif #endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z) #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
@ -1875,7 +1883,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE)); const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
#endif #endif
} }
@ -1893,7 +1902,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)); const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
#endif #endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z) #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
@ -1908,7 +1918,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)); const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
#endif #endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z) #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
@ -1923,7 +1934,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE)); const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
#endif #endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z) #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
@ -1938,7 +1950,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE)); const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
#endif #endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z) #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
@ -1953,7 +1966,8 @@ static void clean_up_after_endstop_or_probe_move() {
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0 #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
#endif #endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE)); const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
#endif #endif
} }

5
Marlin/ubl.h
View File

@ -138,10 +138,11 @@
static bool look_for_lines_to_connect(); static bool look_for_lines_to_connect();
static bool turn_on_heaters(); static bool turn_on_heaters();
static bool prime_nozzle(); static bool prime_nozzle();
static void retract_filament(float where[XYZE]); static void retract_filament(const float where[XYZE]);
static void recover_filament(float where[XYZE]); static void recover_filament(const float where[XYZE]);
static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&); static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
static void move_to(const float&, const float&, const float&, const float&); static void move_to(const float&, const float&, const float&, const float&);
inline static void move_to(const float where[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }
#endif #endif
public: public:

12
Marlin/ubl_motion.cpp
View File

@ -67,19 +67,17 @@
const float de = destination[E_AXIS] - current_position[E_AXIS]; const float de = destination[E_AXIS] - current_position[E_AXIS];
if (de == 0.0) return; if (de == 0.0) return; // Printing moves only
const float dx = current_position[X_AXIS] - destination[X_AXIS], const float dx = destination[X_AXIS] - current_position[X_AXIS],
dy = current_position[Y_AXIS] - destination[Y_AXIS], dy = destination[Y_AXIS] - current_position[Y_AXIS],
xy_dist = HYPOT(dx, dy); xy_dist = HYPOT(dx, dy);
if (xy_dist == 0.0) if (xy_dist == 0.0) return;
return;
else {
SERIAL_ECHOPGM(" fpmm="); SERIAL_ECHOPGM(" fpmm=");
const float fpmm = de / xy_dist; const float fpmm = de / xy_dist;
SERIAL_ECHO_F(fpmm, 6); SERIAL_ECHO_F(fpmm, 6);
}
SERIAL_ECHOPGM(" current=( "); SERIAL_ECHOPGM(" current=( ");
SERIAL_ECHO_F(current_position[X_AXIS], 6); SERIAL_ECHO_F(current_position[X_AXIS], 6);