42 lines
1.6 KiB
C
42 lines
1.6 KiB
C
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
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*
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* *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
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* *** M206 for SCARA will remain enabled in 1.1.x for compatibility.
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* *** In the 2.0 release, it will simply be disabled by default.
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*/
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void gcode_M206() {
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LOOP_XYZ(i)
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if (parser.seen(axis_codes[i]))
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set_home_offset((AxisEnum)i, parser.value_linear_units());
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#if ENABLED(MORGAN_SCARA)
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if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_linear_units()); // Theta
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if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_linear_units()); // Psi
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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report_current_position();
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}
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