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@ -2195,7 +2195,7 @@ bool Planner::_populate_block( |
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); |
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#if SECONDARY_LINEAR_AXES >= 1 && NONE(FOAMCUTTER_XYUV, ARTICULATED_ROBOT_ARM) |
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if (NEAR_ZERO(distance_sqr)) { |
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if (UNEAR_ZERO(distance_sqr)) { |
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// Move does not involve any primary linear axes (xyz) but might involve secondary linear axes
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distance_sqr = (0.0f |
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SECONDARY_AXIS_GANG( |
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@ -2211,7 +2211,7 @@ bool Planner::_populate_block( |
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#endif |
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#if HAS_ROTATIONAL_AXES && NONE(FOAMCUTTER_XYUV, ARTICULATED_ROBOT_ARM) |
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if (NEAR_ZERO(distance_sqr)) { |
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if (UNEAR_ZERO(distance_sqr)) { |
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// Move involves only rotational axes. Calculate angular distance in accordance with LinuxCNC
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TERN_(INCH_MODE_SUPPORT, cartesian_move = false); |
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distance_sqr = ROTATIONAL_AXIS_GANG(sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k), + sq(steps_dist_mm.u), + sq(steps_dist_mm.v), + sq(steps_dist_mm.w)); |
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@ -3154,7 +3154,9 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s |
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PlannerHints ph = hints; |
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if (!hints.millimeters) |
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ph.millimeters = (cart_dist_mm.x || cart_dist_mm.y) ? cart_dist_mm.magnitude() : TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z)); |
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ph.millimeters = (cart_dist_mm.x || cart_dist_mm.y) |
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? xyz_pos_t(cart_dist_mm).magnitude() |
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: TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z)); |
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#if ENABLED(SCARA_FEEDRATE_SCALING) |
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// For SCARA scale the feedrate from mm/s to degrees/s
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