From 13599a73c7d2c356b20695e2e1556952b2f5d3cf Mon Sep 17 00:00:00 2001
From: Brian <bgort@users.noreply.github.com>
Date: Wed, 17 May 2017 19:03:00 -0400
Subject: [PATCH] Add `G7` gcode command to move between UBL mesh points - can
be augmented in the future to enable for other leveling systems
Quite simple, but did not want to modify `G1` as the additional checking would slow it down.
Tested & working.
---
Marlin/Marlin_main.cpp | 38 ++++++++++++++++++++++++++++++++++++++
1 file changed, 38 insertions(+)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 352c01eb61..1d29853667 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3395,6 +3395,34 @@ inline void gcode_G4() {
#endif // BEZIER_CURVE_SUPPORT
+#if ENABLED(AUTO_BED_LEVELING_UBL) //todo: enable for other leveling systems?
+/**
+ * G7: Move X & Y axes to mesh coordinates
+ */
+inline void gcode_G7(
+ #if IS_SCARA
+ bool fast_move=false
+ #endif
+) {
+ if (IsRunning()) {
+ destination[X_AXIS] = code_seen('I') ? pgm_read_float(&ubl.mesh_index_to_xpos[code_has_value() ? code_value_int() : 0]) : current_position[X_AXIS];
+ destination[Y_AXIS] = code_seen('J') ? pgm_read_float(&ubl.mesh_index_to_ypos[code_has_value() ? code_value_int() : 0]) : current_position[Y_AXIS];
+ destination[Z_AXIS] = current_position[Z_AXIS]; //todo: perhaps add Z-move support?
+ destination[E_AXIS] = current_position[E_AXIS];
+
+ if (code_seen('F') && code_value_linear_units() > 0.0)
+ feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
+
+ #if IS_SCARA
+ fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
+ #else
+ prepare_move_to_destination();
+ #endif
+ }
+}
+#endif
+
+
#if ENABLED(FWRETRACT)
/**
@@ -9982,6 +10010,16 @@ void process_next_command() {
break;
#endif // BEZIER_CURVE_SUPPORT
+ #if ENABLED(AUTO_BED_LEVELING_UBL)
+ case 7:
+ #if IS_SCARA
+ gcode_G7(codenum == 0);
+ #else
+ gcode_G7();
+ #endif
+ break;
+ #endif
+
#if ENABLED(FWRETRACT)
case 10: // G10: retract
case 11: // G11: retract_recover