Use sync_plan_position_delta where needed
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a6b8c67df4
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bfccf26294
1 changed files with 52 additions and 18 deletions
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@ -2035,7 +2035,12 @@ static void setup_for_endstop_move() {
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// Get the current stepper position after bumping an endstop
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current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
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sync_plan_position();
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
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@ -2079,7 +2084,11 @@ static void setup_for_endstop_move() {
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
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#endif
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sync_plan_position();
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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}
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#endif // !DELTA
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@ -2119,7 +2128,11 @@ static void setup_for_endstop_move() {
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if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
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#endif
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sync_plan_position();
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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}
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#endif // !AUTO_BED_LEVELING_GRID
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@ -2321,7 +2334,11 @@ static void homeaxis(AxisEnum axis) {
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// Set the axis position as setup for the move
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current_position[axis] = 0;
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sync_plan_position();
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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// Homing Z towards the bed? Deploy the Z probe or endstop.
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#if HAS_BED_PROBE
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@ -2346,7 +2363,11 @@ static void homeaxis(AxisEnum axis) {
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// Set the axis position as setup for the move
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current_position[axis] = 0;
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sync_plan_position();
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
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@ -2407,7 +2428,7 @@ static void homeaxis(AxisEnum axis) {
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
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#endif
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endstops.enable(false); // Disable endstops while moving away
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sync_plan_position();
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sync_plan_position_delta();
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destination[axis] = endstop_adj[axis];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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@ -2434,7 +2455,12 @@ static void homeaxis(AxisEnum axis) {
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// Set the axis position to its home position (plus home offsets)
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set_axis_is_at_home(axis);
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sync_plan_position();
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
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@ -2485,7 +2511,7 @@ static void homeaxis(AxisEnum axis) {
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if (retract_zlift > 0.01) {
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current_position[Z_AXIS] -= retract_zlift;
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#if ENABLED(DELTA)
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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@ -2497,7 +2523,7 @@ static void homeaxis(AxisEnum axis) {
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if (retract_zlift > 0.01) {
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current_position[Z_AXIS] += retract_zlift;
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#if ENABLED(DELTA)
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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@ -3056,13 +3082,13 @@ inline void gcode_G28() {
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#endif // Z_HOME_DIR < 0
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sync_plan_position();
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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#endif // else DELTA
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#endif
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#endif // !DELTA (gcode_G28)
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#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
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endstops.enable(false);
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@ -3470,7 +3496,11 @@ inline void gcode_G28() {
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if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
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#endif
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sync_plan_position();
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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#endif // !DELTA
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}
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@ -3788,7 +3818,11 @@ inline void gcode_G28() {
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#endif
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;
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// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
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sync_plan_position();
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
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@ -6707,7 +6741,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
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#endif // !DUAL_X_CARRIAGE
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// Tell the planner the new "current position"
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#if ENABLED(DELTA)
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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