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@ -543,6 +543,11 @@ void Planner::check_axes_activity() { |
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block->steps[A_AXIS] = labs(dx + dz); |
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block->steps[Y_AXIS] = labs(dy); |
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block->steps[C_AXIS] = labs(dx - dz); |
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#elif ENABLED(COREYZ) |
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// coreyz planning
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block->steps[X_AXIS] = labs(dx); |
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block->steps[B_AXIS] = labs(dy + dz); |
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block->steps[C_AXIS] = labs(dy - dz); |
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#else |
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// default non-h-bot planning
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block->steps[X_AXIS] = labs(dx); |
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@ -581,7 +586,13 @@ void Planner::check_axes_activity() { |
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if (dy < 0) SBI(db, Y_AXIS); |
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if (dz < 0) SBI(db, Z_HEAD); // ...and Z
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if (dx + dz < 0) SBI(db, A_AXIS); // Motor A direction
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if (dx - dz < 0) SBI(db, C_AXIS); // Motor B direction
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if (dx - dz < 0) SBI(db, C_AXIS); // Motor C direction
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#elif ENABLED(COREYZ) |
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if (dx < 0) SBI(db, X_AXIS); |
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if (dy < 0) SBI(db, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
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if (dz < 0) SBI(db, Z_HEAD); // ...and Z
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if (dy + dz < 0) SBI(db, B_AXIS); // Motor B direction
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if (dy - dz < 0) SBI(db, C_AXIS); // Motor C direction
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#else |
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if (dx < 0) SBI(db, X_AXIS); |
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if (dy < 0) SBI(db, Y_AXIS); |
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@ -698,20 +709,27 @@ void Planner::check_axes_activity() { |
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* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head. |
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* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed. |
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*/ |
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#if ENABLED(COREXY) |
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#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ) |
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float delta_mm[6]; |
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delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS]; |
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delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS]; |
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delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS]; |
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delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS]; |
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delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS]; |
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#elif ENABLED(COREXZ) |
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float delta_mm[6]; |
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delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS]; |
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delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS]; |
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delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS]; |
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delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS]; |
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delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS]; |
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#if ENABLED(COREXY) |
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delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS]; |
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delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS]; |
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delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS]; |
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delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS]; |
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delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS]; |
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#elif ENABLED(COREXZ) |
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delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS]; |
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delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS]; |
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delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS]; |
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delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS]; |
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delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS]; |
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#elif ENABLED(COREYZ) |
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delta_mm[X_AXIS] = dx / axis_steps_per_unit[A_AXIS]; |
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delta_mm[Y_HEAD] = dy / axis_steps_per_unit[Y_AXIS]; |
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delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS]; |
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delta_mm[B_AXIS] = (dy + dz) / axis_steps_per_unit[B_AXIS]; |
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delta_mm[C_AXIS] = (dy - dz) / axis_steps_per_unit[C_AXIS]; |
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#endif |
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#else |
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float delta_mm[4]; |
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delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS]; |
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@ -729,6 +747,8 @@ void Planner::check_axes_activity() { |
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square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]) |
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#elif ENABLED(COREXZ) |
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square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD]) |
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#elif ENABLED(COREYZ) |
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square(delta_mm[X_AXIS]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_HEAD]) |
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#else |
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square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]) |
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#endif |
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Scott Lahteine
8 years ago