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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_MESH
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#include "../gcode.h"
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#include "../../Marlin.h" // for IsRunning()
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#include "../../module/motion.h"
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#include "../../feature/bedlevel/bedlevel.h"
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/**
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* G42: Move X & Y axes to mesh coordinates (I & J)
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*/
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void GcodeSuite::G42() {
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if (MOTION_CONDITIONS) {
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const bool hasI = parser.seenval('I');
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const int8_t ix = hasI ? parser.value_int() : 0;
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const bool hasJ = parser.seenval('J');
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const int8_t iy = hasJ ? parser.value_int() : 0;
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if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
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SERIAL_ECHOLNPGM(MSG_ERR_MESH_XY);
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return;
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}
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set_destination_from_current();
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if (hasI) destination[X_AXIS] = _GET_MESH_X(ix);
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if (hasJ) destination[Y_AXIS] = _GET_MESH_Y(iy);
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if (parser.boolval('P')) {
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if (hasI) destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
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if (hasJ) destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
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}
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const float fval = parser.linearval('F');
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if (fval > 0.0) feedrate_mm_s = MMM_TO_MMS(fval);
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// SCARA kinematic has "safe" XY raw moves
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#if IS_SCARA
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prepare_uninterpolated_move_to_destination();
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#else
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prepare_move_to_destination();
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#endif
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}
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}
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#endif // HAS_MESH
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