From faccb358508d49d0bef35dc0521043f04508bcc3 Mon Sep 17 00:00:00 2001 From: Ian Jackson Date: Thu, 9 Aug 2012 18:15:32 +0100 Subject: [PATCH] software_endstops: use *_MIN_POS and *_MAX_POS for arcs If [XYZ]_HOME_POS and [XYZ]_MIN_POS aren't 0, these corrections are wrong. Use the same logic as in Marlin.pde:prepare_move: ie, clamp to [XYZ]_{MIN,MAX}_POS. While we're here, put this cut-and-paste code in a function clamp_to_software_endstops. Signed-off-by: Ian Jackson --- Marlin/Marlin.h | 1 + Marlin/Marlin.pde | 20 +++++++++++++------- Marlin/motion_control.cpp | 12 +----------- 3 files changed, 15 insertions(+), 18 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 4123634442..75b57d0b91 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -169,6 +169,7 @@ bool IsStopped(); void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer. void prepare_arc_move(char isclockwise); +void clamp_to_software_endstops(float target[3]); #ifdef FAST_PWM_FAN void setPwmFrequency(uint8_t pin, int val); diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index f38920b44c..5268a3de35 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -1541,19 +1541,25 @@ void get_arc_coordinates() } } -void prepare_move() +void clamp_to_software_endstops(float target[3]) { if (min_software_endstops) { - if (destination[X_AXIS] < X_MIN_POS) destination[X_AXIS] = X_MIN_POS; - if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS; - if (destination[Z_AXIS] < Z_MIN_POS) destination[Z_AXIS] = Z_MIN_POS; + if (target[X_AXIS] < X_MIN_POS) target[X_AXIS] = X_MIN_POS; + if (target[Y_AXIS] < Y_MIN_POS) target[Y_AXIS] = Y_MIN_POS; + if (target[Z_AXIS] < Z_MIN_POS) target[Z_AXIS] = Z_MIN_POS; } if (max_software_endstops) { - if (destination[X_AXIS] > X_MAX_POS) destination[X_AXIS] = X_MAX_POS; - if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS; - if (destination[Z_AXIS] > Z_MAX_POS) destination[Z_AXIS] = Z_MAX_POS; + if (target[X_AXIS] > X_MAX_POS) target[X_AXIS] = X_MAX_POS; + if (target[Y_AXIS] > Y_MAX_POS) target[Y_AXIS] = Y_MAX_POS; + if (target[Z_AXIS] > Z_MAX_POS) target[Z_AXIS] = Z_MAX_POS; } +} + +void prepare_move() +{ + clamp_to_software_endstops(destination); + previous_millis_cmd = millis(); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); for(int8_t i=0; i < NUM_AXIS; i++) { diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp index f11d8c8b8e..76609054ff 100644 --- a/Marlin/motion_control.cpp +++ b/Marlin/motion_control.cpp @@ -125,17 +125,7 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8 arc_target[axis_linear] += linear_per_segment; arc_target[E_AXIS] += extruder_per_segment; - if (min_software_endstops) { - if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS; - if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS; - if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS; - } - - if (max_software_endstops) { - if (arc_target[X_AXIS] > X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH; - if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH; - if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH; - } + clamp_to_software_endstops(arc_target); plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder); }