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@ -79,7 +79,7 @@
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// G4 - Dwell S<seconds> or P<milliseconds>
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// G10 - retract filament according to settings of M207
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// G11 - retract recover filament according to settings of M208
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// G28 - Home all Axis
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// G28 - Home one or more axes
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// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
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// G30 - Single Z Probe, probes bed at current XY location.
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// G31 - Dock sled (Z_PROBE_SLED only)
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@ -210,7 +210,6 @@ int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
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bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
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int feedmultiply = 100; //100->1 200->2
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int saved_feedmultiply;
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int extrudemultiply = 100; //100->1 200->2
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int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100);
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bool volumetric_enabled = false;
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float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA);
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@ -477,8 +476,6 @@ bool enquecommand(const char *cmd)
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return true;
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}
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void setup_killpin()
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{
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#if defined(KILL_PIN) && KILL_PIN > -1
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@ -966,10 +963,10 @@ static void axis_is_at_home(int axis) {
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return;
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}
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else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
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current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
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min_pos[X_AXIS] = base_min_pos(X_AXIS) + home_offset[X_AXIS];
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max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
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max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
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float xoff = home_offset[X_AXIS];
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current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
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min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
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max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
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return;
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}
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}
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@ -1023,16 +1020,27 @@ static void axis_is_at_home(int axis) {
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}
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/**
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* Shorthand to tell the planner our current position (in mm).
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* Some planner shorthand inline functions
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*/
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inline void line_to_current_position() {
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
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}
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inline void line_to_z(float zPosition) {
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
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}
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inline void line_to_destination() {
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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}
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inline void sync_plan_position() {
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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}
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#ifdef ENABLE_AUTO_BED_LEVELING
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#ifdef AUTO_BED_LEVELING_GRID
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#ifndef DELTA
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#ifdef AUTO_BED_LEVELING_GRID
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#ifndef DELTA
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static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
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vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
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planeNormal.debug("planeNormal");
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@ -1051,11 +1059,12 @@ inline void sync_plan_position() {
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sync_plan_position();
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}
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#endif
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#else // not AUTO_BED_LEVELING_GRID
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#endif // !DELTA
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static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
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#else // !AUTO_BED_LEVELING_GRID
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static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
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plan_bed_level_matrix.set_to_identity();
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@ -1078,11 +1087,12 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
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current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
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sync_plan_position();
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}
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}
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#endif // AUTO_BED_LEVELING_GRID
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#endif // !AUTO_BED_LEVELING_GRID
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static void run_z_probe() {
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static void run_z_probe() {
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#ifdef DELTA
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float start_z = current_position[Z_AXIS];
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@ -1102,14 +1112,14 @@ static void run_z_probe() {
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calculate_delta(current_position);
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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#else
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#else // !DELTA
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plan_bed_level_matrix.set_to_identity();
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feedrate = homing_feedrate[Z_AXIS];
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// move down until you find the bed
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float zPosition = -10;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_z(zPosition);
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st_synchronize();
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// we have to let the planner know where we are right now as it is not where we said to go.
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@ -1118,21 +1128,20 @@ static void run_z_probe() {
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// move up the retract distance
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zPosition += home_retract_mm(Z_AXIS);
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_z(zPosition);
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st_synchronize();
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endstops_hit_on_purpose();
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// move back down slowly to find bed
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if (homing_bump_divisor[Z_AXIS] >= 1) {
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feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS];
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}
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if (homing_bump_divisor[Z_AXIS] >= 1)
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feedrate = homing_feedrate[Z_AXIS] / homing_bump_divisor[Z_AXIS];
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else {
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feedrate = homing_feedrate[Z_AXIS]/10;
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SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
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feedrate = homing_feedrate[Z_AXIS] / 10;
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SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
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}
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zPosition -= home_retract_mm(Z_AXIS) * 2;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_z(zPosition);
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st_synchronize();
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endstops_hit_on_purpose();
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@ -1140,13 +1149,13 @@ static void run_z_probe() {
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// make sure the planner knows where we are as it may be a bit different than we last said to move to
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sync_plan_position();
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#endif
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}
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#endif // !DELTA
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}
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static void do_blocking_move_to(float x, float y, float z) {
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static void do_blocking_move_to(float x, float y, float z) {
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float oldFeedRate = feedrate;
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#ifdef DELTA
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#ifdef DELTA
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feedrate = XY_TRAVEL_SPEED;
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@ -1156,45 +1165,44 @@ static void do_blocking_move_to(float x, float y, float z) {
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prepare_move_raw();
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st_synchronize();
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#else
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#else
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feedrate = homing_feedrate[Z_AXIS];
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current_position[Z_AXIS] = z;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_current_position();
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st_synchronize();
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feedrate = xy_travel_speed;
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current_position[X_AXIS] = x;
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current_position[Y_AXIS] = y;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_current_position();
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st_synchronize();
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#endif
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#endif
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feedrate = oldFeedRate;
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}
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}
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static void setup_for_endstop_move() {
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static void setup_for_endstop_move() {
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saved_feedrate = feedrate;
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saved_feedmultiply = feedmultiply;
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feedmultiply = 100;
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previous_millis_cmd = millis();
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enable_endstops(true);
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}
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}
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static void clean_up_after_endstop_move() {
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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static void clean_up_after_endstop_move() {
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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enable_endstops(false);
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#endif
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#endif
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feedrate = saved_feedrate;
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feedmultiply = saved_feedmultiply;
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previous_millis_cmd = millis();
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}
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}
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<<<<<<< HEAD
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static void engage_z_probe() {
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// Engage Z Servo endstop if enabled
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#ifdef SERVO_ENDSTOPS
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@ -1242,13 +1250,59 @@ static void engage_z_probe() {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
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LCD_ALERTMESSAGEPGM("Err: ZPROBE");
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=======
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static void engage_z_probe() {
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#ifdef SERVO_ENDSTOPS
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// Engage Z Servo endstop if enabled
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if (servo_endstops[Z_AXIS] >= 0) {
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#if SERVO_LEVELING
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servos[servo_endstops[Z_AXIS]].attach(0);
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#endif
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servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
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#if SERVO_LEVELING
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delay(PROBE_SERVO_DEACTIVATION_DELAY);
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servos[servo_endstops[Z_AXIS]].detach();
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#endif
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}
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#elif defined(Z_PROBE_ALLEN_KEY)
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feedrate = homing_feedrate[X_AXIS];
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// Move to the start position to initiate deployment
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
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prepare_move_raw();
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// Home X to touch the belt
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feedrate = homing_feedrate[X_AXIS]/10;
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destination[X_AXIS] = 0;
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prepare_move_raw();
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// Home Y for safety
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feedrate = homing_feedrate[X_AXIS]/2;
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destination[Y_AXIS] = 0;
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prepare_move_raw();
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st_synchronize();
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bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
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if (z_min_endstop) {
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if (!Stopped) {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
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LCD_ALERTMESSAGEPGM("Err: ZPROBE");
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>>>>>>> MarlinFirmware/Development
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}
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Stop();
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}
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#endif
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}
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#endif // Z_PROBE_ALLEN_KEY
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<<<<<<< HEAD
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static void retract_z_probe() {
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// Retract Z Servo endstop if enabled
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#ifdef SERVO_ENDSTOPS
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@ -1311,22 +1365,88 @@ static void retract_z_probe() {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
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LCD_ALERTMESSAGEPGM("Err: ZPROBE");
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=======
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}
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static void retract_z_probe(const float z_after=Z_RAISE_AFTER_PROBING) {
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#ifdef SERVO_ENDSTOPS
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// Retract Z Servo endstop if enabled
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if (servo_endstops[Z_AXIS] >= 0) {
|
|
|
|
|
|
|
|
|
|
if (z_after > 0) {
|
|
|
|
|
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_after);
|
|
|
|
|
st_synchronize();
|
|
|
|
|
>>>>>>> MarlinFirmware/Development
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#if SERVO_LEVELING
|
|
|
|
|
servos[servo_endstops[Z_AXIS]].attach(0);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
|
|
|
|
|
|
|
|
|
|
#if SERVO_LEVELING
|
|
|
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
|
|
|
servos[servo_endstops[Z_AXIS]].detach();
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#elif defined(Z_PROBE_ALLEN_KEY)
|
|
|
|
|
|
|
|
|
|
// Move up for safety
|
|
|
|
|
feedrate = homing_feedrate[X_AXIS];
|
|
|
|
|
destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
|
|
|
|
|
prepare_move_raw();
|
|
|
|
|
|
|
|
|
|
// Move to the start position to initiate retraction
|
|
|
|
|
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
|
|
|
|
|
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
|
|
|
|
|
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z;
|
|
|
|
|
prepare_move_raw();
|
|
|
|
|
|
|
|
|
|
// Move the nozzle down to push the probe into retracted position
|
|
|
|
|
feedrate = homing_feedrate[Z_AXIS]/10;
|
|
|
|
|
destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH;
|
|
|
|
|
prepare_move_raw();
|
|
|
|
|
|
|
|
|
|
// Move up for safety
|
|
|
|
|
feedrate = homing_feedrate[Z_AXIS]/2;
|
|
|
|
|
destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
|
|
|
|
|
prepare_move_raw();
|
|
|
|
|
|
|
|
|
|
// Home XY for safety
|
|
|
|
|
feedrate = homing_feedrate[X_AXIS]/2;
|
|
|
|
|
destination[X_AXIS] = 0;
|
|
|
|
|
destination[Y_AXIS] = 0;
|
|
|
|
|
prepare_move_raw();
|
|
|
|
|
|
|
|
|
|
st_synchronize();
|
|
|
|
|
|
|
|
|
|
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
|
|
|
|
|
if (!z_min_endstop) {
|
|
|
|
|
if (!Stopped) {
|
|
|
|
|
SERIAL_ERROR_START;
|
|
|
|
|
SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
|
|
|
|
|
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
|
|
|
|
|
}
|
|
|
|
|
Stop();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
enum ProbeAction {
|
|
|
|
|
enum ProbeAction {
|
|
|
|
|
ProbeStay = 0,
|
|
|
|
|
ProbeEngage = BIT(0),
|
|
|
|
|
ProbeRetract = BIT(1),
|
|
|
|
|
ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
|
|
|
|
|
};
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
/// Probe bed height at position (x,y), returns the measured z value
|
|
|
|
|
static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
|
|
|
|
|
// Probe bed height at position (x,y), returns the measured z value
|
|
|
|
|
static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
|
|
|
|
|
// move to right place
|
|
|
|
|
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
|
|
|
|
|
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
|
|
|
|
@ -1339,7 +1459,7 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
|
|
|
|
|
float measured_z = current_position[Z_AXIS];
|
|
|
|
|
|
|
|
|
|
#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
|
|
|
|
|
if (retract_action & ProbeRetract) retract_z_probe();
|
|
|
|
|
if (retract_action & ProbeRetract) retract_z_probe(z_before);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
if (verbose_level > 2) {
|
|
|
|
@ -1353,10 +1473,15 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
|
|
|
|
|
SERIAL_EOL;
|
|
|
|
|
}
|
|
|
|
|
return measured_z;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#ifdef DELTA
|
|
|
|
|
static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
|
|
|
|
|
#ifdef DELTA
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
|
|
|
|
|
if (bed_level[x][y] != 0.0) {
|
|
|
|
|
return; // Don't overwrite good values.
|
|
|
|
|
}
|
|
|
|
@ -1372,11 +1497,11 @@ static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
|
|
|
|
|
if (a < c) median = a;
|
|
|
|
|
}
|
|
|
|
|
bed_level[x][y] = median;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Fill in the unprobed points (corners of circular print surface)
|
|
|
|
|
// using linear extrapolation, away from the center.
|
|
|
|
|
static void extrapolate_unprobed_bed_level() {
|
|
|
|
|
// Fill in the unprobed points (corners of circular print surface)
|
|
|
|
|
// using linear extrapolation, away from the center.
|
|
|
|
|
static void extrapolate_unprobed_bed_level() {
|
|
|
|
|
int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
|
|
|
|
|
for (int y = 0; y <= half; y++) {
|
|
|
|
|
for (int x = 0; x <= half; x++) {
|
|
|
|
@ -1387,10 +1512,10 @@ static void extrapolate_unprobed_bed_level() {
|
|
|
|
|
extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Print calibration results for plotting or manual frame adjustment.
|
|
|
|
|
static void print_bed_level() {
|
|
|
|
|
// Print calibration results for plotting or manual frame adjustment.
|
|
|
|
|
static void print_bed_level() {
|
|
|
|
|
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
|
|
|
|
|
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
|
|
|
|
|
SERIAL_PROTOCOL_F(bed_level[x][y], 2);
|
|
|
|
@ -1398,39 +1523,58 @@ static void print_bed_level() {
|
|
|
|
|
}
|
|
|
|
|
SERIAL_ECHOLN("");
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Reset calibration results to zero.
|
|
|
|
|
void reset_bed_level() {
|
|
|
|
|
// Reset calibration results to zero.
|
|
|
|
|
void reset_bed_level() {
|
|
|
|
|
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
|
|
|
|
|
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
|
|
|
|
|
bed_level[x][y] = 0.0;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif // DELTA
|
|
|
|
|
#endif // DELTA
|
|
|
|
|
|
|
|
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
|
|
|
|
|
|
|
|
static void homeaxis(int axis) {
|
|
|
|
|
#define HOMEAXIS_DO(LETTER) \
|
|
|
|
|
#define HOMEAXIS_DO(LETTER) \
|
|
|
|
|
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
|
|
|
|
|
|
|
|
|
|
if (axis==X_AXIS ? HOMEAXIS_DO(X) :
|
|
|
|
|
axis==Y_AXIS ? HOMEAXIS_DO(Y) :
|
|
|
|
|
axis==Z_AXIS ? HOMEAXIS_DO(Z) :
|
|
|
|
|
0) {
|
|
|
|
|
int axis_home_dir = home_dir(axis);
|
|
|
|
|
#ifdef DUAL_X_CARRIAGE
|
|
|
|
|
if (axis == X_AXIS)
|
|
|
|
|
axis_home_dir = x_home_dir(active_extruder);
|
|
|
|
|
#endif
|
|
|
|
|
if (axis == X_AXIS ? HOMEAXIS_DO(X) :
|
|
|
|
|
axis == Y_AXIS ? HOMEAXIS_DO(Y) :
|
|
|
|
|
axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
|
|
|
|
|
|
|
|
|
|
int axis_home_dir;
|
|
|
|
|
|
|
|
|
|
#ifdef DUAL_X_CARRIAGE
|
|
|
|
|
if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder);
|
|
|
|
|
#else
|
|
|
|
|
axis_home_dir = home_dir(axis);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
current_position[axis] = 0;
|
|
|
|
|
sync_plan_position();
|
|
|
|
|
|
|
|
|
|
#ifndef Z_PROBE_SLED
|
|
|
|
|
// Engage Servo endstop if enabled
|
|
|
|
|
#ifdef SERVO_ENDSTOPS
|
|
|
|
|
#if SERVO_LEVELING
|
|
|
|
|
if (axis == Z_AXIS) {
|
|
|
|
|
engage_z_probe();
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
#endif // SERVO_LEVELING
|
|
|
|
|
|
|
|
|
|
if (servo_endstops[axis] > -1)
|
|
|
|
|
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
|
|
|
|
|
|
|
|
|
|
#endif // SERVO_ENDSTOPS
|
|
|
|
|
|
|
|
|
|
#endif // Z_PROBE_SLED
|
|
|
|
|
|
|
|
|
|
<<<<<<< HEAD
|
|
|
|
|
#ifndef Z_PROBE_SLED
|
|
|
|
|
// Engage Servo endstop if enabled and we are not using Z_PROBE_AND_ENDSTOP unless we are using Z_SAFE_HOMING
|
|
|
|
|
#ifdef SERVO_ENDSTOPS && (defined (Z_SAFE_HOMING) || ! defined (Z_PROBE_AND_ENDSTOP))
|
|
|
|
@ -1445,33 +1589,33 @@ static void homeaxis(int axis) {
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
#endif // Z_PROBE_SLED
|
|
|
|
|
=======
|
|
|
|
|
>>>>>>> MarlinFirmware/Development
|
|
|
|
|
#ifdef Z_DUAL_ENDSTOPS
|
|
|
|
|
if (axis==Z_AXIS) In_Homing_Process(true);
|
|
|
|
|
if (axis == Z_AXIS) In_Homing_Process(true);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
|
|
|
|
|
feedrate = homing_feedrate[axis];
|
|
|
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
|
line_to_destination();
|
|
|
|
|
st_synchronize();
|
|
|
|
|
|
|
|
|
|
current_position[axis] = 0;
|
|
|
|
|
sync_plan_position();
|
|
|
|
|
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
|
|
|
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
|
line_to_destination();
|
|
|
|
|
st_synchronize();
|
|
|
|
|
|
|
|
|
|
destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
|
|
|
|
|
destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
|
|
|
|
|
|
|
|
|
|
if (homing_bump_divisor[axis] >= 1)
|
|
|
|
|
{
|
|
|
|
|
feedrate = homing_feedrate[axis]/homing_bump_divisor[axis];
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
feedrate = homing_feedrate[axis]/10;
|
|
|
|
|
SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
|
|
|
|
|
feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
|
|
|
|
|
else {
|
|
|
|
|
feedrate = homing_feedrate[axis] / 10;
|
|
|
|
|
SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
|
line_to_destination();
|
|
|
|
|
st_synchronize();
|
|
|
|
|
#ifdef Z_DUAL_ENDSTOPS
|
|
|
|
|
if (axis==Z_AXIS)
|
|
|
|
@ -1486,7 +1630,7 @@ static void homeaxis(int axis) {
|
|
|
|
|
destination[axis] = fabs(z_endstop_adj);
|
|
|
|
|
if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);
|
|
|
|
|
}
|
|
|
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
|
line_to_destination();
|
|
|
|
|
st_synchronize();
|
|
|
|
|
Lock_z_motor(false);
|
|
|
|
|
Lock_z2_motor(false);
|
|
|
|
@ -1499,7 +1643,7 @@ static void homeaxis(int axis) {
|
|
|
|
|
if (endstop_adj[axis] * axis_home_dir < 0) {
|
|
|
|
|
sync_plan_position();
|
|
|
|
|
destination[axis] = endstop_adj[axis];
|
|
|
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
|
line_to_destination();
|
|
|
|
|
st_synchronize();
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
@ -1544,7 +1688,7 @@ void refresh_cmd_timeout(void)
|
|
|
|
|
}
|
|
|
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
|
|
|
float oldFeedrate = feedrate;
|
|
|
|
|
feedrate=retract_feedrate*60;
|
|
|
|
|
feedrate = retract_feedrate * 60;
|
|
|
|
|
retracted[active_extruder]=true;
|
|
|
|
|
prepare_move();
|
|
|
|
|
if(retract_zlift > 0.01) {
|
|
|
|
@ -1580,8 +1724,8 @@ void refresh_cmd_timeout(void)
|
|
|
|
|
}
|
|
|
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
|
|
|
float oldFeedrate = feedrate;
|
|
|
|
|
feedrate=retract_recover_feedrate*60;
|
|
|
|
|
retracted[active_extruder]=false;
|
|
|
|
|
feedrate = retract_recover_feedrate * 60;
|
|
|
|
|
retracted[active_extruder] = false;
|
|
|
|
|
prepare_move();
|
|
|
|
|
feedrate = oldFeedrate;
|
|
|
|
|
}
|
|
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@ -1735,17 +1879,16 @@ inline void gcode_G4() {
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*/
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inline void gcode_G28() {
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#ifdef ENABLE_AUTO_BED_LEVELING
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plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
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#ifdef DELTA
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reset_bed_level();
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#else
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plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
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#endif
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#endif
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#if defined(MESH_BED_LEVELING)
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uint8_t mbl_was_active = mbl.active;
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mbl.active = 0;
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#endif // MESH_BED_LEVELING
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#endif
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saved_feedrate = feedrate;
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saved_feedmultiply = feedmultiply;
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@ -1768,7 +1911,7 @@ inline void gcode_G28() {
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for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
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feedrate = 1.732 * homing_feedrate[X_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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line_to_destination();
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st_synchronize();
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endstops_hit_on_purpose();
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@ -1816,7 +1959,7 @@ inline void gcode_G28() {
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} else {
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feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
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}
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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line_to_destination();
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st_synchronize();
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axis_is_at_home(X_AXIS);
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@ -1824,7 +1967,7 @@ inline void gcode_G28() {
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sync_plan_position();
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destination[X_AXIS] = current_position[X_AXIS];
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destination[Y_AXIS] = current_position[Y_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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line_to_destination();
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feedrate = 0.0;
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st_synchronize();
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endstops_hit_on_purpose();
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@ -1892,7 +2035,7 @@ inline void gcode_G28() {
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#ifndef Z_PROBE_AND_ENDSTOP
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
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feedrate = max_feedrate[Z_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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line_to_destination();
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st_synchronize();
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#endif
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#endif
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@ -1905,11 +2048,11 @@ inline void gcode_G28() {
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destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
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destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
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feedrate = XY_TRAVEL_SPEED / 60;
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feedrate = XY_TRAVEL_SPEED;
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current_position[Z_AXIS] = 0;
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sync_plan_position();
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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line_to_destination();
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st_synchronize();
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current_position[X_AXIS] = destination[X_AXIS];
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current_position[Y_AXIS] = destination[Y_AXIS];
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@ -1931,7 +2074,7 @@ inline void gcode_G28() {
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plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
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feedrate = max_feedrate[Z_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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line_to_destination();
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st_synchronize();
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HOMEAXIS(Z);
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}
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@ -1984,7 +2127,7 @@ inline void gcode_G28() {
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destination[Z_AXIS] = current_position[Z_AXIS];
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destination[E_AXIS] = current_position[E_AXIS];
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feedrate = homing_feedrate[X_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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line_to_destination();
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st_synchronize();
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current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
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sync_plan_position();
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@ -1998,6 +2141,19 @@ inline void gcode_G28() {
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endstops_hit_on_purpose();
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}
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#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)
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// Check for known positions in X and Y
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inline bool can_run_bed_leveling() {
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if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) return true;
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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
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return false;
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}
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#endif // MESH_BED_LEVELING || ENABLE_AUTO_BED_LEVELING
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#ifdef MESH_BED_LEVELING
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/**
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@ -2012,6 +2168,10 @@ inline void gcode_G28() {
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*
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*/
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inline void gcode_G29() {
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// Prevent leveling without first homing in X and Y
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if (!can_run_bed_leveling()) return;
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static int probe_point = -1;
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int state = 0;
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if (code_seen('S') || code_seen('s')) {
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@ -2128,13 +2288,8 @@ inline void gcode_G28() {
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*/
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inline void gcode_G29() {
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// Prevent user from running a G29 without first homing in X and Y
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if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
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return;
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}
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// Prevent leveling without first homing in X and Y
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if (!can_run_bed_leveling()) return;
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int verbose_level = 1;
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@ -2216,16 +2371,15 @@ inline void gcode_G28() {
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st_synchronize();
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if (!dryrun)
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{
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if (!dryrun) {
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// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
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plan_bed_level_matrix.set_to_identity();
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#ifdef DELTA
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reset_bed_level();
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#else //!DELTA
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// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
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//vector_3 corrected_position = plan_get_position_mm();
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//corrected_position.debug("position before G29");
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plan_bed_level_matrix.set_to_identity();
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vector_3 uncorrected_position = plan_get_position();
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//uncorrected_position.debug("position during G29");
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current_position[X_AXIS] = uncorrected_position.x;
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@ -2233,7 +2387,7 @@ inline void gcode_G28() {
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current_position[Z_AXIS] = uncorrected_position.z;
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sync_plan_position();
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#endif
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#endif // !DELTA
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}
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setup_for_endstop_move();
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@ -2294,13 +2448,12 @@ inline void gcode_G28() {
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// raise extruder
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float measured_z,
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z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
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z_before = Z_RAISE_BETWEEN_PROBINGS + (probePointCounter ? current_position[Z_AXIS] : 0);
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#ifdef DELTA
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// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
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float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
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if (distance_from_center > DELTA_PROBABLE_RADIUS)
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continue;
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if (distance_from_center > DELTA_PROBABLE_RADIUS) continue;
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#endif //DELTA
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// Enhanced G29 - Do not retract servo between probes
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@ -2328,6 +2481,11 @@ inline void gcode_G28() {
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#endif
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probePointCounter++;
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manage_heater();
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manage_inactivity();
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lcd_update();
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} //xProbe
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} //yProbe
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@ -2414,16 +2572,14 @@ inline void gcode_G28() {
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if (verbose_level > 0)
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plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
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if (!dryrun) {
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// Correct the Z height difference from z-probe position and hotend tip position.
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// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
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// When the bed is uneven, this height must be corrected.
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if (!dryrun)
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{
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float x_tmp, y_tmp, z_tmp, real_z;
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real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
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x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
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y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
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z_tmp = current_position[Z_AXIS];
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float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
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y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
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z_tmp = current_position[Z_AXIS],
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real_z = (float)st_get_position(Z_AXIS) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
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apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
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current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
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@ -3791,7 +3947,7 @@ inline void gcode_M221() {
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extruder_multiply[tmp_extruder] = sval;
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}
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else {
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extrudemultiply = sval;
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extruder_multiply[active_extruder] = sval;
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}
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}
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}
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@ -4228,7 +4384,7 @@ inline void gcode_M400() { st_synchronize(); }
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//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
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//SERIAL_PROTOCOL(filament_width_meas);
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//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
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//SERIAL_PROTOCOL(extrudemultiply);
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//SERIAL_PROTOCOL(extruder_multiply[active_extruder]);
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}
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/**
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@ -4701,18 +4857,14 @@ void process_commands() {
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gcode_G28();
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break;
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#if defined(MESH_BED_LEVELING)
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case 29: // G29 Handle mesh based leveling
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#if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
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case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
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gcode_G29();
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break;
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#endif
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#ifdef ENABLE_AUTO_BED_LEVELING
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case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
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gcode_G29();
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break;
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#ifndef Z_PROBE_SLED
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case 30: // G30 Single Z Probe
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@ -5407,28 +5559,27 @@ void prepare_move()
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#ifdef SCARA //for now same as delta-code
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float difference[NUM_AXIS];
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for (int8_t i=0; i < NUM_AXIS; i++) {
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difference[i] = destination[i] - current_position[i];
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}
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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]) +
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float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
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sq(difference[Y_AXIS]) +
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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 / feedmultiply;
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int steps = max(1, int(scara_segments_per_second * seconds));
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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 / feedmultiply;
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int steps = max(1, int(scara_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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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++) {
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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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}
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calculate_delta(destination);
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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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@ -5440,36 +5591,40 @@ for (int s = 1; s <= steps; s++) {
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plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
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destination[E_AXIS], feedrate*feedmultiply/60/100.0,
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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++) {
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difference[i] = destination[i] - current_position[i];
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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]) +
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sq(difference[Y_AXIS]) +
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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;
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float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
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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++) {
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destination[i] = current_position[i] + difference[i] * fraction;
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}
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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],
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destination[E_AXIS], feedrate*feedmultiply/60/100.0,
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active_extruder);
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}
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#endif // DELTA
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#endif // DELTA
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#ifdef DUAL_X_CARRIAGE
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if (active_extruder_parked)
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@ -5515,13 +5670,13 @@ for (int s = 1; s <= steps; s++) {
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#if ! (defined DELTA || defined SCARA)
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// Do not use feedmultiply 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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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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line_to_destination();
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} else {
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#if defined(MESH_BED_LEVELING)
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mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
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mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
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return;
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#else
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
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#endif // MESH_BED_LEVELING
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}
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#endif // !(DELTA || SCARA)
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