void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
float feed_value;
static float last_z = -999.99;
bool has_xy_component = (rx != current_position[X_AXIS] || ry != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
if (z != last_z) {
last_z = z;
feed_value = planner.settings.max_feedrate_mm_s[Z_AXIS]/(2.0); // Base the feed rate off of the configured Z_AXIS feed rate
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
destination[Z_AXIS] = z; // We know the last_z!=z or we wouldn't be in this block of code.
destination[E_AXIS] = current_position[E_AXIS];
G26_line_to_destination(feed_value);
set_destination_from_current();
}
// Check if X or Y is involved in the movement.
// Yes: a 'normal' movement. No: a retract() or recover()
feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 3.0 : planner.settings.max_feedrate_mm_s[E_AXIS] / 1.5;
if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
destination[E_AXIS] += e_delta;
G26_line_to_destination(feed_value);
set_destination_from_current();
}
/**
* Prime the nozzle if needed. Return true on error.
*/
inline bool prime_nozzle() {
#if HAS_LCD_MENU
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
float Total_Prime = 0.0;
#endif
if (g26_prime_flag == -1) { // The user wants to control how much filament gets purged
ui.capture();
ui.set_status_P(PSTR("User-Controlled Prime"), 99);
ui.chirp();
set_destination_from_current();
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
while (!ui.button_pressed()) {
ui.chirp();
destination[E_AXIS] += 0.25;
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
#endif
G26_line_to_destination(planner.settings.max_feedrate_mm_s[E_AXIS] / 15.0);
set_destination_from_current();
planner.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth
// action to give the user a more responsive 'Stop'.
}
ui.wait_for_release();
ui.set_status_P(PSTR("Done Priming"), 99);
ui.quick_feedback();
ui.release();
}
else
#endif
{
#if ENABLED(ULTRA_LCD)
ui.set_status_P(PSTR("Fixed Length Prime."), 99);
ui.quick_feedback();
#endif
set_destination_from_current();
destination[E_AXIS] += g26_prime_length;
G26_line_to_destination(planner.settings.max_feedrate_mm_s[E_AXIS] / 15.0);
set_destination_from_current();
retract_filament(destination);
}
return G26_OK;
}
/**
* Prime the nozzle if needed. Return true on error.
*/
bool unified_bed_leveling::prime_nozzle() {
#if ENABLED(NEWPANEL)
float Total_Prime = 0.0;
if (g26_prime_flag == -1) { // The user wants to control how much filament gets purged
has_control_of_lcd_panel = true;
lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99);
chirp_at_user();
set_destination_to_current();
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
while (!ubl_lcd_clicked()) {
chirp_at_user();
destination[E_AXIS] += 0.25;
#ifdef PREVENT_LENGTHY_EXTRUDE
Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR;
#endif
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth
// action to give the user a more responsive 'Stop'.
set_destination_to_current();
idle();
}
while (ubl_lcd_clicked()) idle(); // Debounce Encoder Wheel
#if ENABLED(ULTRA_LCD)
strcpy_P(lcd_status_message, PSTR("Done Priming")); // We can't do lcd_setstatusPGM() without having it continue;
// So... We cheat to get a message up.
lcd_setstatusPGM(PSTR("Done Priming"), 99);
lcd_quick_feedback();
#endif
has_control_of_lcd_panel = false;
}
else {
#else
{
#endif
#if ENABLED(ULTRA_LCD)
lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99);
lcd_quick_feedback();
#endif
set_destination_to_current();
destination[E_AXIS] += g26_prime_length;
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize();
set_destination_to_current();
retract_filament(destination);
}
return UBL_OK;
}
