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Tweaks to do_blocking_move

Scott Lahteine 7 years ago
parent
commit
25674da90c
1 changed files with 13 additions and 13 deletions
  1. 13
    13
      Marlin/src/module/motion.cpp

+ 13
- 13
Marlin/src/module/motion.cpp View File

@@ -287,6 +287,8 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
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     if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, rx, ry, rz);
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   #endif
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+  const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
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+
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   #if ENABLED(DELTA)
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     if (!position_is_reachable(rx, ry)) return;
@@ -311,18 +313,16 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
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         #endif
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         return;
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       }
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-      else {
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-        destination[Z_AXIS] = delta_clip_start_height;
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-        prepare_uninterpolated_move_to_destination(); // set_current_from_destination()
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-        #if ENABLED(DEBUG_LEVELING_FEATURE)
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-          if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
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-        #endif
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-      }
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+      destination[Z_AXIS] = delta_clip_start_height;
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+      prepare_uninterpolated_move_to_destination(); // set_current_from_destination()
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+      #if ENABLED(DEBUG_LEVELING_FEATURE)
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+        if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
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+      #endif
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     }
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     if (rz > current_position[Z_AXIS]) {    // raising?
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       destination[Z_AXIS] = rz;
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-      prepare_uninterpolated_move_to_destination();   // set_current_from_destination()
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+      prepare_uninterpolated_move_to_destination(z_feedrate);   // set_current_from_destination()
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       #if ENABLED(DEBUG_LEVELING_FEATURE)
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         if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
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       #endif
@@ -337,7 +337,7 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
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     if (rz < current_position[Z_AXIS]) {    // lowering?
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       destination[Z_AXIS] = rz;
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-      prepare_uninterpolated_move_to_destination();   // set_current_from_destination()
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+      prepare_uninterpolated_move_to_destination(z_feedrate);   // set_current_from_destination()
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       #if ENABLED(DEBUG_LEVELING_FEATURE)
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         if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
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       #endif
@@ -352,7 +352,7 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
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     // If Z needs to raise, do it before moving XY
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     if (destination[Z_AXIS] < rz) {
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       destination[Z_AXIS] = rz;
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-      prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
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+      prepare_uninterpolated_move_to_destination(z_feedrate);
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     }
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     destination[X_AXIS] = rx;
@@ -362,14 +362,14 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
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     // If Z needs to lower, do it after moving XY
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     if (destination[Z_AXIS] > rz) {
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       destination[Z_AXIS] = rz;
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-      prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
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+      prepare_uninterpolated_move_to_destination(z_feedrate);
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     }
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   #else
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     // If Z needs to raise, do it before moving XY
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     if (current_position[Z_AXIS] < rz) {
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-      feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
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+      feedrate_mm_s = z_feedrate;
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       current_position[Z_AXIS] = rz;
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       line_to_current_position();
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     }
@@ -381,7 +381,7 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
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     // If Z needs to lower, do it after moving XY
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     if (current_position[Z_AXIS] > rz) {
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-      feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
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+      feedrate_mm_s = z_feedrate;
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       current_position[Z_AXIS] = rz;
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       line_to_current_position();
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     }

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