Merge pull request #4361 from AnHardt/imp-dbmt-for-delta
DELTA do_blocking_move_to() more like the Chartesian one
This commit is contained in:
commit
39caef4279
1 changed files with 26 additions and 4 deletions
|
@ -1679,14 +1679,36 @@ void do_blocking_move_to(float x, float y, float z, float fr_mm_m /*=0.0*/) {
|
|||
|
||||
feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M;
|
||||
|
||||
// when in the danger zone
|
||||
if (current_position[Z_AXIS] > delta_clip_start_height) {
|
||||
if (delta_clip_start_height < z) { // staying in the danger zone
|
||||
destination[X_AXIS] = x; // move directly
|
||||
destination[Y_AXIS] = y;
|
||||
destination[Z_AXIS] = z;
|
||||
prepare_move_to_destination_raw(); // this will also set_current_to_destination
|
||||
return;
|
||||
} else { // leave the danger zone
|
||||
destination[X_AXIS] = current_position[X_AXIS];
|
||||
destination[Y_AXIS] = current_position[Y_AXIS];
|
||||
destination[Z_AXIS] = delta_clip_start_height;
|
||||
prepare_move_to_destination_raw(); // this will also set_current_to_destination
|
||||
}
|
||||
}
|
||||
if (current_position[Z_AXIS] < z) { // raise
|
||||
destination[X_AXIS] = current_position[X_AXIS];
|
||||
destination[Y_AXIS] = current_position[Y_AXIS];
|
||||
destination[Z_AXIS] = z;
|
||||
prepare_move_to_destination_raw(); // this will also set_current_to_destination
|
||||
}
|
||||
destination[X_AXIS] = x;
|
||||
destination[Y_AXIS] = y;
|
||||
destination[Z_AXIS] = z;
|
||||
destination[Z_AXIS] = current_position[Z_AXIS];
|
||||
prepare_move_to_destination(); // this will also set_current_to_destination
|
||||
|
||||
if (x == current_position[X_AXIS] && y == current_position[Y_AXIS])
|
||||
if (current_position[Z_AXIS] > z) { // lower
|
||||
destination[Z_AXIS] = z;
|
||||
prepare_move_to_destination_raw(); // this will also set_current_to_destination
|
||||
else
|
||||
prepare_move_to_destination(); // this will also set_current_to_destination
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
|
|
Reference in a new issue