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Add R parameter to G28 to specify pre-raise

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This commit is contained in:
Scott Lahteine 2018-04-21 19:07:48 -05:00
parent 2f4b4d6076
commit 7dcd0a1cff
1 changed files with 10 additions and 7 deletions
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17
Marlin/src/gcode/calibrate/G28.cpp
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@ -152,7 +152,9 @@
* None Home to all axes with no parameters.
* With QUICK_HOME enabled XY will home together, then Z.
*
* Cartesian parameters
* Rn Raise by n mm/inches before homing
*
* Cartesian/SCARA parameters
*
* X Home to the X endstop
* Y Home to the Y endstop
@ -226,12 +228,13 @@ void GcodeSuite::G28(const bool always_home_all) {
#endif
#if ENABLED(UNKNOWN_Z_NO_RAISE)
const float z_homing_height = axis_known_position[Z_AXIS] ? Z_HOMING_HEIGHT : 0;
#else
constexpr float z_homing_height = Z_HOMING_HEIGHT;
#endif
const float z_homing_height = (
#if ENABLED(UNKNOWN_Z_NO_RAISE)
!axis_known_position[Z_AXIS] ? 0 :
#endif
(parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT)
);
if (z_homing_height && (home_all || homeX || homeY)) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
destination[Z_AXIS] = z_homing_height;