/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
void GcodeSuite::G0_G1(
#if IS_SCARA || defined(G0_FEEDRATE)
bool fast_move/*=false*/
#endif
) {
if (IsRunning()
#if ENABLED(NO_MOTION_BEFORE_HOMING)
&& !axis_unhomed_error(parser.seen('X'), parser.seen('Y'), parser.seen('Z'))
#endif
) {
#ifdef G0_FEEDRATE
float saved_feedrate_mm_s;
#if ENABLED(VARIABLE_G0_FEEDRATE)
if (fast_move) {
saved_feedrate_mm_s = feedrate_mm_s; // Back up the (old) motion mode feedrate
feedrate_mm_s = saved_g0_feedrate_mm_s; // Get G0 feedrate from last usage
}
#endif
#endif
get_destination_from_command(); // For X Y Z E F
#ifdef G0_FEEDRATE
if (fast_move) {
#if ENABLED(VARIABLE_G0_FEEDRATE)
saved_g0_feedrate_mm_s = feedrate_mm_s; // Save feedrate for the next G0
#else
saved_feedrate_mm_s = feedrate_mm_s; // Back up the (new) motion mode feedrate
feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); // Get the fixed G0 feedrate
#endif
}
#endif
#if ENABLED(FWRETRACT) && ENABLED(FWRETRACT_AUTORETRACT)
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
const float echange = destination[E_AXIS] - current_position[E_AXIS];
// Is this a retract or recover move?
if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
sync_plan_position_e(); // AND from the planner
return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
}
}
}
#endif // FWRETRACT
#if IS_SCARA
fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
#else
prepare_move_to_destination();
#endif
#ifdef G0_FEEDRATE
// Restore the motion mode feedrate
if (fast_move) feedrate_mm_s = saved_feedrate_mm_s;
#endif
#if ENABLED(NANODLP_Z_SYNC)
#if ENABLED(NANODLP_ALL_AXIS)
#define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message
#else
#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
#endif
if (_MOVE_SYNC) {
planner.synchronize();
SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
}
#endif
}
}
void G26_line_to_destination(const float &feed_rate) {
const float save_feedrate = feedrate_mm_s;
feedrate_mm_s = feed_rate;
prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_SEGMENTED
feedrate_mm_s = save_feedrate;
}
void unified_bed_leveling::G26_line_to_destination(const float &feed_rate) {
const float save_feedrate = feedrate_mm_s;
feedrate_mm_s = feed_rate; // use specified feed rate
prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
feedrate_mm_s = save_feedrate; // restore global feed rate
}