|
|
|
|
148
|
hop_amount += retract_zlift; // Add to the hop total (again, only once)
|
148
|
hop_amount += retract_zlift; // Add to the hop total (again, only once)
|
149
|
destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
|
149
|
destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
|
150
|
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
|
150
|
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
|
151
|
- prepare_move_to_destination(); // Raise up to the old current pos
|
|
|
152
|
- current_position[Z_AXIS] = old_z; // Spoof the Z position
|
|
|
|
|
151
|
+ prepare_move_to_destination(); // Raise up
|
|
|
152
|
+ current_position[Z_AXIS] = old_z; // Spoof the Z position in the planner
|
153
|
SYNC_PLAN_POSITION_KINEMATIC();
|
153
|
SYNC_PLAN_POSITION_KINEMATIC();
|
154
|
}
|
154
|
}
|
155
|
}
|
155
|
}
|
|
|
|
|
157
|
// If a hop was done and Z hasn't changed, undo the Z hop
|
157
|
// If a hop was done and Z hasn't changed, undo the Z hop
|
158
|
if (hop_amount) {
|
158
|
if (hop_amount) {
|
159
|
current_position[Z_AXIS] += hop_amount; // Set actual Z (due to the prior hop)
|
159
|
current_position[Z_AXIS] += hop_amount; // Set actual Z (due to the prior hop)
|
|
|
160
|
+ SYNC_PLAN_POSITION_KINEMATIC(); // Spoof the Z position in the planner
|
160
|
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
|
161
|
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
|
161
|
prepare_move_to_destination(); // Lower Z and update current_position
|
162
|
prepare_move_to_destination(); // Lower Z and update current_position
|
162
|
- SYNC_PLAN_POSITION_KINEMATIC(); // Update the planner
|
|
|
163
|
hop_amount = 0.0; // Clear the hop amount
|
163
|
hop_amount = 0.0; // Clear the hop amount
|
164
|
- }
|
|
|
|
|
164
|
+ }
|
165
|
|
165
|
|
166
|
// A retract multiplier has been added here to get faster swap recovery
|
166
|
// A retract multiplier has been added here to get faster swap recovery
|
167
|
feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
|
167
|
feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
|