// Reset the planner position vector and planner speed
inline void planner_set_position(double x, double y, double z) {
position[X_AXIS] = lround(x*CONFIG_X_STEPS_PER_MM);
position[Y_AXIS] = lround(y*CONFIG_Y_STEPS_PER_MM);
position[Z_AXIS] = lround(z*CONFIG_Z_STEPS_PER_MM);
previous_nominal_speed = 0.0; // resets planner junction speeds
clear_vector_double(previous_unit_vec);
}
// TODO: Update limits and homing cycle subprograms for better integration with new features.
void mc_go_home()
{
limits_go_home();
// Upon completion, reset all internal position vectors (g-code parser, planner, system)
gc_clear_position();
plan_clear_position();
clear_vector_double(sys.position);
}
void plan_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
plan_set_acceleration_manager_enabled(true);
clear_vector(position);
clear_vector_double(previous_unit_vec);
previous_nominal_speed = 0.0;
memset (&startpoint, 0, sizeof(startpoint));
}
void plan_set_current_position(tTarget *new_position)
{
startpoint = *new_position;
position[X_AXIS] = lround(new_position->x*(double)config.steps_per_mm_x);
position[Y_AXIS] = lround(new_position->y*(double)config.steps_per_mm_y);
position[Z_AXIS] = lround(new_position->z*(double)config.steps_per_mm_z);
position[E_AXIS] = lround(new_position->e*(double)config.steps_per_mm_e);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
clear_vector_double(previous_unit_vec);
}
void planner_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
block_buffer_tail_write = 0;
raster_buffer_next = 0;
raster_buffer_count = 0;
clear_vector(position);
planner_set_position( CONFIG_X_ORIGIN_OFFSET,
CONFIG_Y_ORIGIN_OFFSET,
CONFIG_Z_ORIGIN_OFFSET );
position_update_requested = false;
clear_vector_double(previous_unit_vec);
previous_nominal_speed = 0.0;
}
