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SCARA support in homeaxis

pull/1/head
Scott Lahteine 8 years ago
parent
commit
1c5f9821c4
  1. 25
      Marlin/Marlin_main.cpp

25
Marlin/Marlin_main.cpp

@ -2228,10 +2228,15 @@ static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
static void homeaxis(AxisEnum axis) {
#define CAN_HOME(A) \
(axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
#if IS_SCARA
// Only Z homing (with probe) is permitted
if (axis != Z_AXIS) { BUZZ(100, 880); return; }
#else
#define CAN_HOME(A) \
(axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -2294,10 +2299,16 @@ static void homeaxis(AxisEnum axis) {
} // Z_AXIS
#endif
// Delta has already moved all three towers up in G28
// so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes.
#if ENABLED(DELTA)
#if IS_SCARA
set_axis_is_at_home(axis);
SYNC_PLAN_POSITION_KINEMATIC();
#elif ENABLED(DELTA)
// Delta has already moved all three towers up in G28
// so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes.
// retrace by the amount specified in endstop_adj
if (endstop_adj[axis] * Z_HOME_DIR < 0) {

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