From b832f5b9f638060bf642a56fe38aca881ebc679b Mon Sep 17 00:00:00 2001
From: bkubicek <bkubicek@x201.(none)>
Date: Mon, 7 Oct 2013 09:14:04 +0200
Subject: [PATCH] added delta tower babystepping. Its untested, but hopefully
 florian horsch will be able to try. also, removed some trouble for
 compilation with corexy. I think that babystepping is only possible in z for
 a delta tower. not sure if it would be usefull to step individual motors on a
 delta, i don't own one

---
 Marlin/Configuration_adv.h | 17 +++++++++++----
 Marlin/stepper.cpp         | 43 +++++++++++++++++++++++++++++++++++---
 Marlin/ultralcd.cpp        |  2 +-
 3 files changed, 54 insertions(+), 8 deletions(-)

diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 614b2552c5..0392acaac7 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -273,12 +273,21 @@
 // Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process
 // it can e.g. be used to change z-positions in the print startup phase in realtime
 // does not respect endstops!
-
 //#define BABYSTEPPING
-//#define BABYSTEP_XY  //not only z, but also XY
-
-#ifdef COREXY
+#ifdef BABYSTEPPING
+  #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
+  #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
+  #define BABYSTEP_Z_MULTIPLICATOR 2 //faster z movements
+  
+  #ifdef COREXY
     #error BABYSTEPPING not implemented for COREXY yet.
+  #endif
+
+  #ifdef DELTA
+    #ifdef BABYSTEP_XY
+      #error BABYSTEPPING only implemented for Z axis on deltabots.
+    #endif
+  #endif
 #endif
 
 // extruder advance constant (s2/mm3)
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 1dc3902b3e..4f11ae9e37 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -1069,15 +1069,17 @@ void babystep(const uint8_t axis,const bool direction)
     #endif
 
   }
-  break; 
+  break;
+ 
+#ifndef DELTA
   case Z_AXIS:
   {
     enable_z();
     uint8_t old_z_dir_pin= READ(Z_DIR_PIN);  //if dualzstepper, both point to same direction.
     //setup new step
-    WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction);
+    WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
     #ifdef Z_DUAL_STEPPER_DRIVERS
-      WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction);
+      WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
     #endif
     //perform step 
     WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); 
@@ -1101,6 +1103,41 @@ void babystep(const uint8_t axis,const bool direction)
 
   }
   break;
+#else //DELTA
+  case Z_AXIS:
+  {
+    enable_x();
+    enable_y();
+    enable_z();
+    uint8_t old_x_dir_pin= READ(X_DIR_PIN);  
+    uint8_t old_y_dir_pin= READ(Y_DIR_PIN);  
+    uint8_t old_z_dir_pin= READ(Z_DIR_PIN);  
+    //setup new step
+    WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z);
+    WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z);
+    WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
+    
+    //perform step 
+    WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); 
+    WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); 
+    WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); 
+    
+    //wait a tiny bit
+    {
+    float x=1./float(axis+1); //absolutely useless
+    }
+    WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); 
+    WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); 
+    WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
+
+    //get old pin state back.
+    WRITE(X_DIR_PIN,old_x_dir_pin);
+    WRITE(Y_DIR_PIN,old_y_dir_pin);
+    WRITE(Z_DIR_PIN,old_z_dir_pin);
+
+  }
+  break;
+#endif
  
   default:    break;
   }
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 0a0df8f9e0..0e8c8697d4 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -367,7 +367,7 @@ static void lcd_babystep_z()
 {
     if (encoderPosition != 0)
     {
-        babystepsTodo[Z_AXIS]+=(int)encoderPosition;
+        babystepsTodo[Z_AXIS]+=BABYSTEP_Z_MULTIPLICATOR*(int)encoderPosition;
         encoderPosition=0;
         lcdDrawUpdate = 1;
     }