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Fix up untilted_stepper_position and set_current_from_steppers_for_axis

Scott Lahteine 9 years ago
parent
commit
82be65065c
1 changed files with 9 additions and 7 deletions
  1. 9
    7
      Marlin/Marlin_main.cpp

+ 9
- 7
Marlin/Marlin_main.cpp View File

@@ -2073,10 +2073,12 @@ static void clean_up_after_endstop_or_probe_move() {
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      * using the home XY and Z0 position as the fulcrum.
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      */
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     vector_3 untilted_stepper_position() {
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+      get_cartesian_from_steppers();
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+
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       vector_3 pos = vector_3(
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-        RAW_X_POSITION(stepper.get_axis_position_mm(X_AXIS)) - X_TILT_FULCRUM,
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-        RAW_Y_POSITION(stepper.get_axis_position_mm(Y_AXIS)) - Y_TILT_FULCRUM,
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-        RAW_Z_POSITION(stepper.get_axis_position_mm(Z_AXIS))
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+        cartes[X_AXIS] - X_TILT_FULCRUM,
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+        cartes[Y_AXIS] - Y_TILT_FULCRUM,
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+        cartes[Z_AXIS]
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       );
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       matrix_3x3 inverse = matrix_3x3::transpose(planner.bed_level_matrix);
@@ -7838,12 +7840,12 @@ void ok_to_send() {
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 #endif // DELTA
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 void set_current_from_steppers_for_axis(AxisEnum axis) {
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-  #if ENABLED(DELTA)
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-    get_cartesian_from_steppers();
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-    current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
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-  #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
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+  #if ENABLED(AUTO_BED_LEVELING_LINEAR)
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     vector_3 pos = untilted_stepper_position();
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     current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z;
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+  #elif IS_KINEMATIC
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+    get_cartesian_from_steppers();
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+    current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
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   #else
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     current_position[axis] = stepper.get_axis_position_mm(axis); // CORE handled transparently
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   #endif

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