From 46994fd17d738d7915a90bc33e5cefce2d35f95c Mon Sep 17 00:00:00 2001 From: AnHardt Date: Fri, 15 Jul 2016 15:02:15 +0200 Subject: [PATCH] Use do_blicking_move_to*() in G28 --- Marlin/Marlin_main.cpp | 31 +++++++++---------------------- 1 file changed, 9 insertions(+), 22 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 88502e4a2c..4400bc9deb 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1709,6 +1709,10 @@ inline void do_blocking_move_to_y(float y) { do_blocking_move_to(current_position[X_AXIS], y, current_position[Z_AXIS]); } +inline void do_blocking_move_to_xy(float x, float y, float feed_rate = 0.0) { + do_blocking_move_to(x, y, current_position[Z_AXIS], feed_rate); +} + inline void do_blocking_move_to_z(float z, float feed_rate = 0.0) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, feed_rate); } @@ -2110,10 +2114,6 @@ inline void do_blocking_move_to_z(float z, float feed_rate = 0.0) { return current_position[Z_AXIS]; } - inline void do_blocking_move_to_xy(float x, float y, float feed_rate = 0.0) { - do_blocking_move_to(x, y, current_position[Z_AXIS], feed_rate); - } - // // - Move to the given XY // - Deploy the probe, if not already deployed @@ -2885,20 +2885,17 @@ inline void gcode_G28() { if (home_all_axis || homeX || homeY) { // Raise Z before homing any other axes and z is not already high enough (never lower z) - float z_dest = home_offset[Z_AXIS] + MIN_Z_HEIGHT_FOR_HOMING; - if (z_dest > current_position[Z_AXIS]) { + destination[Z_AXIS] = home_offset[Z_AXIS] + MIN_Z_HEIGHT_FOR_HOMING; + if (destination[Z_AXIS] > current_position[Z_AXIS]) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("Raise Z (before homing) to ", z_dest); + SERIAL_ECHOPAIR("Raise Z (before homing) to ", destination[Z_AXIS]); SERIAL_EOL; } #endif - feedrate = homing_feedrate[Z_AXIS]; - line_to_z(z_dest); - stepper.synchronize(); - destination[Z_AXIS] = current_position[Z_AXIS] = z_dest; + do_blocking_move_to_z(destination[Z_AXIS]); } } @@ -2985,8 +2982,6 @@ inline void gcode_G28() { destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER)); destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height - feedrate = XY_PROBE_FEEDRATE; - #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", current_position); @@ -2995,15 +2990,7 @@ inline void gcode_G28() { #endif // Move in the XY plane - line_to_destination(); - stepper.synchronize(); - - /** - * Update the current positions for XY, Z is still at least at - * MIN_Z_HEIGHT_FOR_HOMING height, no changes there. - */ - current_position[X_AXIS] = destination[X_AXIS]; - current_position[Y_AXIS] = destination[Y_AXIS]; + do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]); } // Let's see if X and Y are homed