Merge pull request #4584 from thinkyhead/rc_delta_cal_more

Use configured feedrates, center in DELTA_CALIBRATION_MENU

Marlin/Conditionals_post.h

     #endif
   #else
     #if ENABLED(DELTA)
-      #define X_HOME_POS ((X_MAX_LENGTH) * 0.5)
+      #define X_HOME_POS (X_MIN_POS + (X_MAX_LENGTH) * 0.5)
     #else
       #define X_HOME_POS (X_HOME_DIR < 0 ? X_MIN_POS : X_MAX_POS)
     #endif
     #endif
   #else
     #if ENABLED(DELTA)
-      #define Y_HOME_POS ((Y_MAX_LENGTH) * 0.5)
+      #define Y_HOME_POS (Y_MIN_POS + (Y_MAX_LENGTH) * 0.5)
     #else
       #define Y_HOME_POS (Y_HOME_DIR < 0 ? Y_MIN_POS : Y_MAX_POS)
     #endif

Marlin/Marlin.h

 /**
  * Blocking movement and shorthand functions
  */
-inline void do_blocking_move_to(float x, float y, float z, float fr_mm_s=0.0);
-inline void do_blocking_move_to_x(float x, float fr_mm_s=0.0);
-inline void do_blocking_move_to_z(float z, float fr_mm_s=0.0);
-inline void do_blocking_move_to_xy(float x, float y, float fr_mm_s=0.0);
+void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
+void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
+void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
+void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
 
 #endif //MARLIN_H

Marlin/Marlin_main.cpp

  *  Plan a move to (X, Y, Z) and set the current_position
  *  The final current_position may not be the one that was requested
  */
-void do_blocking_move_to(float x, float y, float z, float fr_mm_s /*=0.0*/) {
+void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
   float old_feedrate_mm_s = feedrate_mm_s;
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
 
   feedrate_mm_s = old_feedrate_mm_s;
 }
-void do_blocking_move_to_x(float x, float fr_mm_s/*=0.0*/) {
+void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
   do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
 }
-void do_blocking_move_to_z(float z, float fr_mm_s/*=0.0*/) {
+void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
   do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
 }
-void do_blocking_move_to_xy(float x, float y, float fr_mm_s/*=0.0*/) {
+void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
   do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
 }
 

Marlin/ultralcd.cpp

   #if ENABLED(DELTA_CALIBRATION_MENU)
 
     static void _goto_tower_pos(const float &a) {
-      char cmd[26];
-      sprintf_P(cmd, PSTR("G1 F4000 X%i Y%i"), int(-(DELTA_PRINTABLE_RADIUS) * sin(a)), int((DELTA_PRINTABLE_RADIUS) * cos(a)));
-      enqueue_and_echo_commands_P(PSTR("G1 F8000 Z4"));
-      enqueue_and_echo_command(cmd);
+      do_blocking_move_to(
+        a < 0 ? X_HOME_POS : sin(a) * -(DELTA_PRINTABLE_RADIUS),
+        a < 0 ? Y_HOME_POS : cos(a) *  (DELTA_PRINTABLE_RADIUS),
+        4
+      );
     }
 
     static void _goto_tower_x() { _goto_tower_pos(RADIANS(120)); }
     static void _goto_tower_y() { _goto_tower_pos(RADIANS(240)); }
     static void _goto_tower_z() { _goto_tower_pos(0); }
+    static void _goto_center()  { _goto_tower_pos(-1); }
 
     static void lcd_delta_calibrate_menu() {
       START_MENU();
       MENU_ITEM(function, MSG_DELTA_CALIBRATE_X, _goto_tower_x);
       MENU_ITEM(function, MSG_DELTA_CALIBRATE_Y, _goto_tower_y);
       MENU_ITEM(function, MSG_DELTA_CALIBRATE_Z, _goto_tower_z);
-      MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_CENTER, PSTR("G1 F8000 Z4\nG1 F4000 X0 Y0"));
+      MENU_ITEM(function, MSG_DELTA_CALIBRATE_CENTER, _goto_center);
       END_MENU();
     }