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Merge pull request #3490 from thinkyhead/rc_mbl_adjustments

Document some movement functions, rename a local
Scott Lahteine 9 years ago
parent
commit
9ce4264fda
1 changed files with 18 additions and 3 deletions
  1. 18
    3
      Marlin/Marlin_main.cpp

+ 18
- 3
Marlin/Marlin_main.cpp View File

@@ -1303,18 +1303,33 @@ inline void set_homing_bump_feedrate(AxisEnum axis) {
1303 1303
   }
1304 1304
   feedrate = homing_feedrate[axis] / hbd;
1305 1305
 }
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+//
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+// line_to_current_position
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+// Move the planner to the current position from wherever it last moved
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+// (or from wherever it has been told it is located).
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+//
1306 1311
 inline void line_to_current_position() {
1307 1312
   plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
1308 1313
 }
1309 1314
 inline void line_to_z(float zPosition) {
1310 1315
   plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate / 60, active_extruder);
1311 1316
 }
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+//
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+// line_to_destination
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+// Move the planner, not necessarily synced with current_position
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+//
1312 1321
 inline void line_to_destination(float mm_m) {
1313 1322
   plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder);
1314 1323
 }
1315 1324
 inline void line_to_destination() {
1316 1325
   line_to_destination(feedrate);
1317 1326
 }
1327
+/**
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+ * sync_plan_position
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+ * Set planner / stepper positions to the cartesian current_position.
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+ * The stepper code translates these coordinates into step units.
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+ * Allows translation between steps and units (mm) for cartesian & core robots
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+ */
1318 1333
 inline void sync_plan_position() {
1319 1334
   #if ENABLED(DEBUG_LEVELING_FEATURE)
1320 1335
     if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
@@ -3116,8 +3131,8 @@ inline void gcode_G28() {
3116 3131
       #if ENABLED(DELTA)
3117 3132
         delta_grid_spacing[0] = xGridSpacing;
3118 3133
         delta_grid_spacing[1] = yGridSpacing;
3119
-        float z_offset = zprobe_zoffset;
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-        if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
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+        float zoffset = zprobe_zoffset;
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+        if (code_seen(axis_codes[Z_AXIS])) zoffset += code_value();
3121 3136
       #else // !DELTA
3122 3137
         /**
3123 3138
          * solve the plane equation ax + by + d = z
@@ -3207,7 +3222,7 @@ inline void gcode_G28() {
3207 3222
             eqnAMatrix[probePointCounter + 2 * abl2] = 1;
3208 3223
             indexIntoAB[xCount][yCount] = probePointCounter;
3209 3224
           #else
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-            bed_level[xCount][yCount] = measured_z + z_offset;
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+            bed_level[xCount][yCount] = measured_z + zoffset;
3211 3226
           #endif
3212 3227
 
3213 3228
           probePointCounter++;

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