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Add custom types for position (#15204)

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Scott Lahteine 2019-09-29 04:25:39 -05:00 • committed by GitHub
parent 43d6e9fa43
commit 50e4545255
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227 changed files with 3147 additions and 3264 deletions
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297
Marlin/src/gcode/bedlevel/G26.cpp
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@ -62,7 +62,7 @@
#define G26_ERR true
#if ENABLED(ARC_SUPPORT)
void plan_arc(const float (&cart)[XYZE], const float (&offset)[2], const uint8_t clockwise);
void plan_arc(const xyze_pos_t &cart, const ab_float_t &offset, const uint8_t clockwise);
#endif
/**
@ -142,7 +142,7 @@
// Private functions
static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
static MeshFlags circle_flags, horizontal_mesh_line_flags, vertical_mesh_line_flags;
float g26_e_axis_feedrate = 0.025,
random_deviation = 0.0;
@ -154,7 +154,7 @@ float g26_extrusion_multiplier,
g26_layer_height,
g26_prime_length;
float g26_x_pos = 0, g26_y_pos = 0;
xy_pos_t g26_pos; // = { 0, 0 }
int16_t g26_bed_temp,
g26_hotend_temp;
@ -178,85 +178,85 @@ int8_t g26_prime_flag;
#endif
mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
mesh_index_pair find_closest_circle_to_print(const xy_pos_t &pos) {
float closest = 99999.99;
mesh_index_pair return_val;
mesh_index_pair out_point;
return_val.x_index = return_val.y_index = -1;
out_point.pos = -1;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if (!is_bitmap_set(circle_flags, i, j)) {
const float mx = _GET_MESH_X(i), // We found a circle that needs to be printed
my = _GET_MESH_Y(j);
if (!circle_flags.marked(i, j)) {
// We found a circle that needs to be printed
const xy_pos_t m = { _GET_MESH_X(i), _GET_MESH_Y(j) };
// Get the distance to this intersection
float f = HYPOT(X - mx, Y - my);
float f = (pos - m).magnitude();
// It is possible that we are being called with the values
// to let us find the closest circle to the start position.
// But if this is not the case, add a small weighting to the
// distance calculation to help it choose a better place to continue.
f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
f += (g26_pos - m).magnitude() / 15.0f;
// Add in the specified amount of Random Noise to our search
if (random_deviation > 1.0)
f += random(0.0, random_deviation);
// Add the specified amount of Random Noise to our search
if (random_deviation > 1.0) f += random(0.0, random_deviation);
if (f < closest) {
closest = f; // We found a closer location that is still
return_val.x_index = i; // un-printed --- save the data for it
return_val.y_index = j;
return_val.distance = closest;
closest = f; // Found a closer un-printed location
out_point.pos.set(i, j); // Save its data
out_point.distance = closest;
}
}
}
}
bitmap_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
return return_val;
circle_flags.mark(out_point); // Mark this location as done.
return out_point;
}
void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
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.
const xy_pos_t dest = { rx, ry };
const bool has_xy_component = dest != current_position; // Check if X or Y is involved in the movement.
destination = current_position;
if (z != last_z) {
last_z = z;
last_z = destination.z = z;
const feedRate_t feed_value = planner.settings.max_feedrate_mm_s[Z_AXIS] * 0.5f; // Use half of the Z_AXIS max 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];
prepare_internal_move_to_destination(feed_value);
set_destination_from_current();
destination = current_position;
}
// If X or Y is involved do a 'normal' move. Otherwise retract/recover/hop.
destination = dest;
destination.e += e_delta;
const feedRate_t feed_value = has_xy_component ? feedRate_t(G26_XY_FEEDRATE) : planner.settings.max_feedrate_mm_s[E_AXIS] * 0.666f;
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
destination[E_AXIS] += e_delta;
prepare_internal_move_to_destination(feed_value);
set_destination_from_current();
destination = current_position;
}
FORCE_INLINE void move_to(const float (&where)[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }
FORCE_INLINE void move_to(const xyz_pos_t &where, const float &de) { move_to(where.x, where.y, where.z, de); }
void retract_filament(const float (&where)[XYZE]) {
void retract_filament(const xyz_pos_t &where) {
if (!g26_retracted) { // Only retract if we are not already retracted!
g26_retracted = true;
move_to(where, -1.0 * g26_retraction_multiplier);
move_to(where, -1.0f * g26_retraction_multiplier);
}
}
void recover_filament(const float (&where)[XYZE]) {
// TODO: Parameterize the Z lift with a define
void retract_lift_move(const xyz_pos_t &s) {
retract_filament(destination);
move_to(current_position.x, current_position.y, current_position.z + 0.5f, 0.0); // Z lift to minimize scraping
move_to(s.x, s.y, s.z + 0.5f, 0.0); // Get to the starting point with no extrusion while lifted
}
void recover_filament(const xyz_pos_t &where) {
if (g26_retracted) { // Only un-retract if we are retracted.
move_to(where, 1.2 * g26_retraction_multiplier);
move_to(where, 1.2f * g26_retraction_multiplier);
g26_retracted = false;
}
}
@ -276,41 +276,34 @@ void recover_filament(const float (&where)[XYZE]) {
* segment of a 'circle'. The time this requires is very short and is easily saved by the other
* cases where the optimization comes into play.
*/
void print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
dy_s = current_position[Y_AXIS] - sy,
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
// to save computation time
dx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segment
dy_e = current_position[Y_AXIS] - ey,
dist_end = HYPOT2(dx_e, dy_e),
void print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e) {
line_length = HYPOT(ex - sx, ey - sy);
// Distances to the start / end of the line
xy_float_t svec = current_position - s, evec = current_position - e;
const float dist_start = HYPOT2(svec.x, svec.y),
dist_end = HYPOT2(evec.x, evec.y),
line_length = HYPOT(e.x - s.x, e.y - s.y);
// If the end point of the line is closer to the nozzle, flip the direction,
// moving from the end to the start. On very small lines the optimization isn't worth it.
if (dist_end < dist_start && (INTERSECTION_CIRCLE_RADIUS) < ABS(line_length))
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
return print_line_from_here_to_there(e, s);
// Decide whether to retract & bump
// Decide whether to retract & lift
if (dist_start > 2.0) retract_lift_move(s);
if (dist_start > 2.0) {
retract_filament(destination);
//todo: parameterize the bump height with a define
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
}
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
recover_filament(destination);
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
move_to(e, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
}
inline bool look_for_lines_to_connect() {
float sx, sy, ex, ey;
xyz_pos_t s, e;
s.z = e.z = g26_layer_height;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
@ -319,43 +312,43 @@ inline bool look_for_lines_to_connect() {
if (user_canceled()) return true;
#endif
if (i < GRID_MAX_POINTS_X) { // Can't connect to anything to the right than GRID_MAX_POINTS_X.
// Already a half circle at the edge of the bed.
if (i < GRID_MAX_POINTS_X) { // Can't connect to anything farther to the right than GRID_MAX_POINTS_X.
// Already a half circle at the edge of the bed.
if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
if (!is_bitmap_set(horizontal_mesh_line_flags, i, j)) {
if (circle_flags.marked(i, j) && circle_flags.marked(i + 1, j)) { // Test whether a leftward line can be done
if (!horizontal_mesh_line_flags.marked(i, j)) {
// Two circles need a horizontal line to connect them
sx = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
ex = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
s.x = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
e.x = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
LIMIT(sx, X_MIN_POS + 1, X_MAX_POS - 1);
sy = ey = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(ex, X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1);
s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey))
print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
print_line_from_here_to_there(s, e);
bitmap_set(horizontal_mesh_line_flags, i, j); // Mark done, even if skipped
horizontal_mesh_line_flags.mark(i, j); // Mark done, even if skipped
}
}
if (j < GRID_MAX_POINTS_Y) { // Can't connect to anything further back than GRID_MAX_POINTS_Y.
// Already a half circle at the edge of the bed.
if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
if (!is_bitmap_set( vertical_mesh_line_flags, i, j)) {
if (circle_flags.marked(i, j) && circle_flags.marked(i, j + 1)) { // Test whether a downward line can be done
if (!vertical_mesh_line_flags.marked(i, j)) {
// Two circles that need a vertical line to connect them
sy = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
ey = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
s.y = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
e.y = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
sx = ex = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey))
print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
print_line_from_here_to_there(s, e);
bitmap_set(vertical_mesh_line_flags, i, j); // Mark done, even if skipped
vertical_mesh_line_flags.mark(i, j); // Mark done, even if skipped
}
}
}
@ -436,19 +429,19 @@ inline bool prime_nozzle() {
ui.set_status_P(PSTR(MSG_G26_MANUAL_PRIME), 99);
ui.chirp();
set_destination_from_current();
destination = current_position;
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
while (!ui.button_pressed()) {
ui.chirp();
destination[E_AXIS] += 0.25;
destination.e += 0.25;
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
#endif
prepare_internal_move_to_destination(fr_slow_e);
set_destination_from_current();
destination = current_position;
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
@ -468,10 +461,10 @@ inline bool prime_nozzle() {
ui.set_status_P(PSTR(MSG_G26_FIXED_LENGTH), 99);
ui.quick_feedback();
#endif
set_destination_from_current();
destination[E_AXIS] += g26_prime_length;
destination = current_position;
destination.e += g26_prime_length;
prepare_internal_move_to_destination(fr_slow_e);
set_destination_from_current();
destination.e -= g26_prime_length;
retract_filament(destination);
}
@ -630,9 +623,9 @@ void GcodeSuite::G26() {
return;
}
g26_x_pos = parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[X_AXIS];
g26_y_pos = parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position[Y_AXIS];
if (!position_is_reachable(g26_x_pos, g26_y_pos)) {
g26_pos.set(parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position.x,
parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position.y);
if (!position_is_reachable(g26_pos.x, g26_pos.y)) {
SERIAL_ECHOLNPGM("?Specified X,Y coordinate out of bounds.");
return;
}
@ -642,9 +635,9 @@ void GcodeSuite::G26() {
*/
set_bed_leveling_enabled(!parser.seen('D'));
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
if (current_position.z < Z_CLEARANCE_BETWEEN_PROBES) {
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
set_current_from_destination();
current_position = destination;
}
#if DISABLED(NO_VOLUMETRICS)
@ -655,7 +648,7 @@ void GcodeSuite::G26() {
if (turn_on_heaters() != G26_OK) goto LEAVE;
current_position[E_AXIS] = 0.0;
current_position.e = 0.0;
sync_plan_position_e();
if (g26_prime_flag && prime_nozzle() != G26_OK) goto LEAVE;
@ -670,13 +663,13 @@ void GcodeSuite::G26() {
* It's "Show Time" !!!
*/
ZERO(circle_flags);
ZERO(horizontal_mesh_line_flags);
ZERO(vertical_mesh_line_flags);
circle_flags.reset();
horizontal_mesh_line_flags.reset();
vertical_mesh_line_flags.reset();
// Move nozzle to the specified height for the first layer
set_destination_from_current();
destination[Z_AXIS] = g26_layer_height;
destination = current_position;
destination.z = g26_layer_height;
move_to(destination, 0.0);
move_to(destination, g26_ooze_amount);
@ -706,71 +699,68 @@ void GcodeSuite::G26() {
mesh_index_pair location;
do {
location = g26_continue_with_closest
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
// Find the nearest confluence
location = find_closest_circle_to_print(g26_continue_with_closest ? xy_pos_t(current_position) : g26_pos);
if (location.x_index >= 0 && location.y_index >= 0) {
const float circle_x = _GET_MESH_X(location.x_index),
circle_y = _GET_MESH_Y(location.y_index);
if (location.valid()) {
const xy_pos_t circle = _GET_MESH_POS(location.pos);
// If this mesh location is outside the printable_radius, skip it.
if (!position_is_reachable(circle_x, circle_y)) continue;
if (!position_is_reachable(circle)) continue;
// Determine where to start and end the circle,
// which is always drawn counter-clockwise.
const uint8_t xi = location.x_index, yi = location.y_index;
const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1;
const xy_int8_t st = location;
const bool f = st.y == 0,
r = st.x >= GRID_MAX_POINTS_X - 1,
b = st.y >= GRID_MAX_POINTS_Y - 1;
#if ENABLED(ARC_SUPPORT)
#define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2)
#define INTERSECTION_CIRCLE_DIAM ((INTERSECTION_CIRCLE_RADIUS) * 2)
float sx = circle_x + INTERSECTION_CIRCLE_RADIUS, // default to full circle
ex = circle_x + INTERSECTION_CIRCLE_RADIUS,
sy = circle_y, ey = circle_y,
arc_length = ARC_LENGTH(4);
xy_float_t e = { circle.x + INTERSECTION_CIRCLE_RADIUS, circle.y };
xyz_float_t s = e;
// Figure out where to start and end the arc - we always print counterclockwise
if (xi == 0) { // left edge
if (!f) { sx = circle_x; sy -= INTERSECTION_CIRCLE_RADIUS; }
if (!b) { ex = circle_x; ey += INTERSECTION_CIRCLE_RADIUS; }
float arc_length = ARC_LENGTH(4);
if (st.x == 0) { // left edge
if (!f) { s.x = circle.x; s.y -= INTERSECTION_CIRCLE_RADIUS; }
if (!b) { e.x = circle.x; e.y += INTERSECTION_CIRCLE_RADIUS; }
arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
}
else if (r) { // right edge
sx = b ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x;
ex = f ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x;
sy = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS;
ey = f ? circle_y : circle_y - (INTERSECTION_CIRCLE_RADIUS);
if (b) s.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
else s.set(circle.x, circle.y + INTERSECTION_CIRCLE_RADIUS);
if (f) e.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
else e.set(circle.x, circle.y - (INTERSECTION_CIRCLE_RADIUS));
arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
}
else if (f) {
ex -= INTERSECTION_CIRCLE_DIAM;
e.x -= INTERSECTION_CIRCLE_DIAM;
arc_length = ARC_LENGTH(2);
}
else if (b) {
sx -= INTERSECTION_CIRCLE_DIAM;
s.x -= INTERSECTION_CIRCLE_DIAM;
arc_length = ARC_LENGTH(2);
}
const float arc_offset[2] = { circle_x - sx, circle_y - sy },
dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual circle
dy_s = current_position[Y_AXIS] - sy,
dist_start = HYPOT2(dx_s, dy_s),
endpoint[XYZE] = {
ex, ey,
g26_layer_height,
current_position[E_AXIS] + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
};
const ab_float_t arc_offset = circle - s;
const xy_float_t dist = current_position - s; // Distance from the start of the actual circle
const float dist_start = HYPOT2(dist.x, dist.y);
const xyze_pos_t endpoint = {
e.x, e.y, g26_layer_height,
current_position.e + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
};
if (dist_start > 2.0) {
retract_filament(destination);
//todo: parameterize the bump height with a define
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
move_to(sx, sy, g26_layer_height + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
s.z = g26_layer_height + 0.5f;
retract_lift_move(s);
}
move_to(sx, sy, g26_layer_height, 0.0); // Get to the starting point with no extrusion / un-Z bump
s.z = g26_layer_height;
move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift
recover_filament(destination);
@ -778,7 +768,7 @@ void GcodeSuite::G26() {
feedrate_mm_s = PLANNER_XY_FEEDRATE() * 0.1f;
plan_arc(endpoint, arc_offset, false); // Draw a counter-clockwise arc
feedrate_mm_s = old_feedrate;
set_destination_from_current();
destination = current_position;
#if HAS_LCD_MENU
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
@ -787,7 +777,7 @@ void GcodeSuite::G26() {
#else // !ARC_SUPPORT
int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00)
if (xi == 0) { // Left edge? Just right half.
if (st.x == 0) { // Left edge? Just right half.
start_ind = f ? 0 : -3; // 03:00 to 12:00 for front-left
end_ind = b ? 0 : 2; // 06:00 to 03:00 for back-left
}
@ -810,23 +800,21 @@ void GcodeSuite::G26() {
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
#endif
float rx = circle_x + _COS(ind), // For speed, these are now a lookup table entry
ry = circle_y + _SIN(ind),
xe = circle_x + _COS(ind + 1),
ye = circle_y + _SIN(ind + 1);
xy_float_t p = { circle.x + _COS(ind ), circle.y + _SIN(ind ), g26_layer_height },
q = { circle.x + _COS(ind + 1), circle.y + _SIN(ind + 1), g26_layer_height };
#if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not.
if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue;
#else // not, we need to skip
LIMIT(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
LIMIT(ry, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(xe, X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
if (!position_is_reachable(p) || !position_is_reachable(q)) continue;
#else
LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops
LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(q.x, X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(q.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
#endif
print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height);
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
print_line_from_here_to_there(p, q);
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
}
#endif // !ARC_SUPPORT
@ -836,19 +824,18 @@ void GcodeSuite::G26() {
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);
} while (--g26_repeats && location.valid());
LEAVE:
ui.set_status_P(PSTR(MSG_G26_LEAVING), -1);
retract_filament(destination);
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
destination.z = Z_CLEARANCE_BETWEEN_PROBES;
move_to(destination, 0); // Raise the nozzle
destination[X_AXIS] = g26_x_pos; // Move back to the starting position
destination[Y_AXIS] = g26_y_pos;
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
destination.set(g26_pos.x, g26_pos.y); // Move back to the starting position
//destination.z = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
move_to(destination, 0); // Move back to the starting position