|
@@ -1084,11 +1084,36 @@ void st_init() {
|
1084
|
1084
|
*/
|
1085
|
1085
|
void st_synchronize() { while (blocks_queued()) idle(); }
|
1086
|
1086
|
|
|
1087
|
+/**
|
|
1088
|
+ * Set the stepper positions directly in steps
|
|
1089
|
+ *
|
|
1090
|
+ * The input is based on the typical per-axis XYZ steps.
|
|
1091
|
+ * For CORE machines XYZ needs to be translated to ABC.
|
|
1092
|
+ *
|
|
1093
|
+ * This allows st_get_axis_position_mm to correctly
|
|
1094
|
+ * derive the current XYZ position later on.
|
|
1095
|
+ */
|
1087
|
1096
|
void st_set_position(const long& x, const long& y, const long& z, const long& e) {
|
1088
|
1097
|
CRITICAL_SECTION_START;
|
1089
|
|
- count_position[X_AXIS] = x;
|
1090
|
|
- count_position[Y_AXIS] = y;
|
1091
|
|
- count_position[Z_AXIS] = z;
|
|
1098
|
+
|
|
1099
|
+ #if ENABLED(COREXY)
|
|
1100
|
+ // corexy positioning
|
|
1101
|
+ // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
|
|
1102
|
+ count_position[A_AXIS] = x + y;
|
|
1103
|
+ count_position[B_AXIS] = x - y;
|
|
1104
|
+ count_position[Z_AXIS] = z;
|
|
1105
|
+ #elif ENABLED(COREXZ)
|
|
1106
|
+ // corexz planning
|
|
1107
|
+ count_position[A_AXIS] = x + z;
|
|
1108
|
+ count_position[Y_AXIS] = y;
|
|
1109
|
+ count_position[C_AXIS] = x - z;
|
|
1110
|
+ #else
|
|
1111
|
+ // default non-h-bot planning
|
|
1112
|
+ count_position[X_AXIS] = x;
|
|
1113
|
+ count_position[Y_AXIS] = y;
|
|
1114
|
+ count_position[Z_AXIS] = z;
|
|
1115
|
+ #endif
|
|
1116
|
+
|
1092
|
1117
|
count_position[E_AXIS] = e;
|
1093
|
1118
|
CRITICAL_SECTION_END;
|
1094
|
1119
|
}
|