Roxy-3D
5 years ago
committed by
Scott Lahteine
Scott Lahteine
91 changed files with 443 additions and 123 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (C) 2019 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 ENABLED(BABYSTEPPING) |
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#include "babystep.h" |
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#include "../Marlin.h" |
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#include "../module/planner.h" |
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#include "../module/stepper.h" |
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#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) |
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#include "../gcode/gcode.h" |
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#endif |
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Babystep babystep; |
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volatile int16_t Babystep::todo[BS_TODO_AXIS(Z_AXIS) + 1]; |
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#if HAS_LCD_MENU |
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int16_t Babystep::accum; |
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#if ENABLED(BABYSTEP_DISPLAY_TOTAL) |
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int16_t Babystep::axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]; |
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#endif |
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#endif |
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void Babystep::step_axis(const AxisEnum axis) { |
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const int16_t curTodo = todo[BS_TODO_AXIS(axis)]; // get rid of volatile for performance
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if (curTodo) { |
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stepper.babystep((AxisEnum)axis, curTodo > 0); |
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if (curTodo > 0) todo[BS_TODO_AXIS(axis)]--; else todo[BS_TODO_AXIS(axis)]++; |
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} |
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} |
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void Babystep::task() { |
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#if EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS) |
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LOOP_XYZ(axis) step_axis((AxisEnum)axis); |
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#else |
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step_axis(Z_AXIS); |
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#endif |
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} |
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void Babystep::add_mm(const AxisEnum axis, const float &mm) { |
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add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]); |
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} |
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void Babystep::add_steps(const AxisEnum axis, const int32_t distance) { |
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#if ENABLED(BABYSTEP_WITHOUT_HOMING) |
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#define CAN_BABYSTEP(AXIS) true |
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#else |
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extern uint8_t axis_known_position; |
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#define CAN_BABYSTEP(AXIS) TEST(axis_known_position, AXIS) |
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#endif |
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if (!CAN_BABYSTEP(axis)) return; |
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#if HAS_LCD_MENU |
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accum += distance; // Count up babysteps for the UI
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#if ENABLED(BABYSTEP_DISPLAY_TOTAL) |
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axis_total[BS_TOTAL_AXIS(axis)] += distance; |
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#endif |
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#endif |
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#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) |
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#define BSA_ENABLE(AXIS) do{ switch (AXIS) { case X_AXIS: enable_X(); break; case Y_AXIS: enable_Y(); break; case Z_AXIS: enable_Z(); } }while(0) |
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#else |
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#define BSA_ENABLE(AXIS) NOOP |
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#endif |
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#if IS_CORE |
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#if ENABLED(BABYSTEP_XY) |
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switch (axis) { |
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case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
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BSA_ENABLE(CORE_AXIS_1); |
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BSA_ENABLE(CORE_AXIS_2); |
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todo[CORE_AXIS_1] += distance * 2; |
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todo[CORE_AXIS_2] += distance * 2; |
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break; |
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case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
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BSA_ENABLE(CORE_AXIS_1); |
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BSA_ENABLE(CORE_AXIS_2); |
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todo[CORE_AXIS_1] += CORESIGN(distance * 2); |
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todo[CORE_AXIS_2] -= CORESIGN(distance * 2); |
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break; |
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case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
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default: |
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BSA_ENABLE(NORMAL_AXIS); |
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todo[NORMAL_AXIS] += distance; |
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break; |
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} |
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#elif CORE_IS_XZ || CORE_IS_YZ |
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// Only Z stepping needs to be handled here
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BSA_ENABLE(CORE_AXIS_1); |
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BSA_ENABLE(CORE_AXIS_2); |
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todo[CORE_AXIS_1] += CORESIGN(distance * 2); |
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todo[CORE_AXIS_2] -= CORESIGN(distance * 2); |
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#else |
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BSA_ENABLE(Z_AXIS); |
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todo[Z_AXIS] += distance; |
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#endif |
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#else |
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#if ENABLED(BABYSTEP_XY) |
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BSA_ENABLE(axis); |
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#else |
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BSA_ENABLE(Z_AXIS); |
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#endif |
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todo[BS_TODO_AXIS(axis)] += distance; |
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#endif |
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#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) |
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gcode.reset_stepper_timeout(); |
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#endif |
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} |
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#endif // BABYSTEPPING
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@ -0,0 +1,63 @@ |
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (C) 2019 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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#pragma once |
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#include "../inc/MarlinConfigPre.h" |
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#include "../core/enum.h" |
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#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS) |
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#define BS_TODO_AXIS(A) A |
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#else |
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#define BS_TODO_AXIS(A) 0 |
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#endif |
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#if HAS_LCD_MENU && ENABLED(BABYSTEP_DISPLAY_TOTAL) |
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#if ENABLED(BABYSTEP_XY) |
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#define BS_TOTAL_AXIS(A) A |
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#else |
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#define BS_TOTAL_AXIS(A) 0 |
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#endif |
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#endif |
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class Babystep { |
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public: |
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static volatile int16_t todo[BS_TODO_AXIS(Z_AXIS) + 1]; |
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#if HAS_LCD_MENU |
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static int16_t accum; // Total babysteps in current edit
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#if ENABLED(BABYSTEP_DISPLAY_TOTAL) |
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static int16_t axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]; // Total babysteps since G28
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static inline void reset_total(const AxisEnum axis) { |
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#if ENABLED(BABYSTEP_XY) |
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if (axis == Z_AXIS) |
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#endif |
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axis_total[BS_TOTAL_AXIS(axis)] = 0; |
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} |
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#endif |
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#endif |
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static void add_steps(const AxisEnum axis, const int32_t distance); |
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static void add_mm(const AxisEnum axis, const float &mm); |
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static void task(); |
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private: |
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static void step_axis(const AxisEnum axis); |
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}; |
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extern Babystep babystep; |
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