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Merge pull request #3504 from thinkyhead/rc_fix_debugging

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Fix debugging of vector_3
This commit is contained in:
Scott Lahteine 2016-04-14 19:08:30 -07:00
commit 6e52b0b723
1 changed files with 20 additions and 11 deletions
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31
Marlin/Marlin_main.cpp
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@ -498,6 +498,11 @@ void gcode_M114();
void print_xyz(const char* prefix, const float xyz[]) { void print_xyz(const char* prefix, const float xyz[]) {
print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]); print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
} }
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
void print_xyz(const char* prefix, const vector_3 &xyz) {
print_xyz(prefix, xyz.x, xyz.y, xyz.z);
}
#endif
#define DEBUG_POS(PREFIX,VAR) do{ SERIAL_ECHOPGM(PREFIX); print_xyz(" > " STRINGIFY(VAR), VAR); }while(0) #define DEBUG_POS(PREFIX,VAR) do{ SERIAL_ECHOPGM(PREFIX); print_xyz(" > " STRINGIFY(VAR), VAR); }while(0)
#endif #endif
@ -1408,6 +1413,11 @@ static void setup_for_endstop_move() {
static void set_bed_level_equation_lsq(double* plane_equation_coefficients) { static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
//plan_bed_level_matrix.debug("bed level before");
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
plan_bed_level_matrix.set_to_identity(); plan_bed_level_matrix.set_to_identity();
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
@ -1417,17 +1427,8 @@ static void setup_for_endstop_move() {
} }
#endif #endif
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
// planeNormal.debug("planeNormal");
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
//bedLevel.debug("bedLevel");
//plan_bed_level_matrix.debug("bed level before");
//vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position before");
vector_3 corrected_position = plan_get_position(); vector_3 corrected_position = plan_get_position();
//corrected_position.debug("position after");
current_position[X_AXIS] = corrected_position.x; current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y; current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z; current_position[Z_AXIS] = corrected_position.z;
@ -1461,12 +1462,20 @@ static void setup_for_endstop_move() {
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal); plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
vector_3 corrected_position = plan_get_position(); vector_3 corrected_position = plan_get_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
vector_3 uncorrected_position = corrected_position;
DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
}
#endif
current_position[X_AXIS] = corrected_position.x; current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y; current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z; current_position[Z_AXIS] = corrected_position.z;
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
#endif #endif
sync_plan_position(); sync_plan_position();