From ac204028e717a83b7a96a636d42eee732fbde24f Mon Sep 17 00:00:00 2001
From: John Davis <ei8htohms@gmail.com>
Date: Fri, 19 Dec 2014 17:49:22 -0500
Subject: [PATCH] Update planner.cpp
Changed level and leveling to compensation
---
Marlin/planner.cpp | 32 ++++++++++++++++----------------
1 file changed, 16 insertions(+), 16 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index c8942251e4..c877070dfa 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -75,14 +75,14 @@ float max_e_jerk;
float mintravelfeedrate;
unsigned long axis_steps_per_sqr_second[NUM_AXIS];
-#ifdef ENABLE_AUTO_BED_LEVELING
-// this holds the required transform to compensate for bed level
-matrix_3x3 plan_bed_level_matrix = {
+#ifdef ENABLE_AUTO_BED_COMPENSATION
+// this holds the required transform to compensate for bed compensation
+matrix_3x3 plan_bed_compensation_matrix = {
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0,
};
-#endif // #ifdef ENABLE_AUTO_BED_LEVELING
+#endif // #ifdef ENABLE_AUTO_BED_COMPENSATION
// The current position of the tool in absolute steps
long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
@@ -528,11 +528,11 @@ float junction_deviation = 0.1;
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
-#ifdef ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_COMPENSATION
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
#else
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
-#endif //ENABLE_AUTO_BED_LEVELING
+#endif //ENABLE_AUTO_BED_COMPENSATION
{
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
@@ -546,9 +546,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
lcd_update();
}
-#ifdef ENABLE_AUTO_BED_LEVELING
- apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
-#endif // ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_COMPENSATION
+ apply_rotation_xyz(plan_bed_compensation_matrix, x, y, z);
+#endif // ENABLE_AUTO_BED_COMPENSATION
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
@@ -1021,29 +1021,29 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
st_wake_up();
}
-#ifdef ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_COMPENSATION
vector_3 plan_get_position() {
vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
//position.debug("in plan_get position");
- //plan_bed_level_matrix.debug("in plan_get bed_level");
- matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
+ //plan_bed_compensation_matrix.debug("in plan_get bed_compensation");
+ matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_compensation_matrix);
//inverse.debug("in plan_get inverse");
position.apply_rotation(inverse);
//position.debug("after rotation");
return position;
}
-#endif // ENABLE_AUTO_BED_LEVELING
+#endif // ENABLE_AUTO_BED_COMPENSATION
-#ifdef ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_COMPENSATION
void plan_set_position(float x, float y, float z, const float &e)
{
- apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
+ apply_rotation_xyz(plan_bed_compensation_matrix, x, y, z);
#else
void plan_set_position(const float &x, const float &y, const float &z, const float &e)
{
-#endif // ENABLE_AUTO_BED_LEVELING
+#endif // ENABLE_AUTO_BED_COMPENSATION
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);