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Merge pull request #8587 from AnHardt/2_Fix_WDTO_during_long_DELTA_moves

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[2.0.x] Fix WDTO during long delta moves
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Scott Lahteine 2017-11-28 17:29:18 -06:00 committed by GitHub
commit a8aa43ce2d
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1 changed files with 8 additions and 0 deletions
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8
Marlin/src/module/motion.cpp
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@ -594,6 +594,14 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
// Calculate and execute the segments
for (uint16_t s = segments + 1; --s;) {
static millis_t next_idle_ms = millis() + 200UL;
thermalManager.manage_heater(); // This returns immediately if not really needed.
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
#if ENABLED(DELTA)
DELTA_RAW_IK(); // Delta can inline its kinematics