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Do interpolated moves for Allen Key deploy/stow #4181

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merged 2 commits into from
Jun 30, 2016
Merged

Do interpolated moves for Allen Key deploy/stow #4181

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c42f8fb
Rename some movement sub-functions
thinkyhead Jun 30, 2016
da6b0da
Use prepare_move_to_destination for Allen Key deploy/stow
thinkyhead Jun 30, 2016
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24 changes: 12 additions & 12 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1821,7 +1821,7 @@ static void clean_up_after_endstop_or_probe_move() {
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
prepare_move_to_destination(); // this will also set_current_to_destination

// Move to engage deployment
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)
Expand All @@ -1832,7 +1832,7 @@ static void clean_up_after_endstop_or_probe_move() {
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y;
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Z != Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Z;
prepare_move_to_destination_raw();
prepare_move_to_destination();

#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
Expand All @@ -1848,14 +1848,14 @@ static void clean_up_after_endstop_or_probe_move() {
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Z != Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Z;

prepare_move_to_destination_raw();
prepare_move_to_destination();
#endif
}

// Partially Home X,Y for safety
destination[X_AXIS] *= 0.75;
destination[Y_AXIS] *= 0.75;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
prepare_move_to_destination(); // this will also set_current_to_destination

feedrate = old_feedrate;

Expand Down Expand Up @@ -1921,7 +1921,7 @@ static void clean_up_after_endstop_or_probe_move() {
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Z;
prepare_move_to_destination_raw();
prepare_move_to_destination();

// Move the nozzle down to push the Z probe into retracted position
if (Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)
Expand All @@ -1931,7 +1931,7 @@ static void clean_up_after_endstop_or_probe_move() {
if (Z_PROBE_ALLEN_KEY_STOW_2_Y != Z_PROBE_ALLEN_KEY_STOW_1_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z;
prepare_move_to_destination_raw();
prepare_move_to_destination();

// Move up for safety
if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)
Expand All @@ -1941,13 +1941,13 @@ static void clean_up_after_endstop_or_probe_move() {
if (Z_PROBE_ALLEN_KEY_STOW_3_Y != Z_PROBE_ALLEN_KEY_STOW_2_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z;
prepare_move_to_destination_raw();
prepare_move_to_destination();

// Home XY for safety
feedrate = homing_feedrate[X_AXIS] / 2;
destination[X_AXIS] = 0;
destination[Y_AXIS] = 0;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
prepare_move_to_destination(); // this will also set_current_to_destination

feedrate = old_feedrate;

Expand Down Expand Up @@ -7537,7 +7537,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,

#if ENABLED(DUAL_X_CARRIAGE)

inline bool prepare_move_dual_x_carriage() {
inline bool prepare_move_to_destination_dualx() {
if (active_extruder_parked) {
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
// move duplicate extruder into correct duplication position.
Expand Down Expand Up @@ -7576,7 +7576,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,

#if DISABLED(DELTA) && DISABLED(SCARA)

inline bool prepare_cartesian_move_to_destination() {
inline bool prepare_move_to_destination_cartesian() {
// Do not use feedrate_multiplier for E or Z only moves
if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
line_to_destination();
Expand Down Expand Up @@ -7637,9 +7637,9 @@ void prepare_move_to_destination() {
if (!prepare_delta_move_to(destination)) return;
#else
#if ENABLED(DUAL_X_CARRIAGE)
if (!prepare_move_dual_x_carriage()) return;
if (!prepare_move_to_destination_dualx()) return;
#endif
if (!prepare_cartesian_move_to_destination()) return;
if (!prepare_move_to_destination_cartesian()) return;
#endif

set_current_to_destination();
Expand Down