Exemplo n.º 1
0
/**
 * 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
  }
}
Exemplo n.º 2
0
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
 }