From caa848f943d03eba117687f34d6b0d5d897a23ad Mon Sep 17 00:00:00 2001
From: Jim Morris <morris@wolfman.com>
Date: Sun, 9 Jun 2013 21:10:00 -0700
Subject: [PATCH] fix homing for deltas
---
Marlin/Marlin_main.cpp | 48 ++++++++++++++++++++++++++++++++++--------
1 file changed, 39 insertions(+), 9 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 8c771685f4..bfb57bad0f 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -808,9 +808,42 @@ void process_commands()
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
- feedrate = 0.0;
- home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])))
- || ((code_seen(axis_codes[0])) && (code_seen(axis_codes[1])) && (code_seen(axis_codes[2])));
+ feedrate = 0.0;
+
+#ifdef DELTA
+ // A delta can only safely home all axis at the same time
+ // all axis have to home at the same time
+
+ // Move all carriages up together until the first endstop is hit.
+ current_position[X_AXIS] = 0;
+ current_position[Y_AXIS] = 0;
+ current_position[Z_AXIS] = 0;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+
+ destination[X_AXIS] = 3 * Z_MAX_LENGTH;
+ destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
+ destination[Z_AXIS] = 3 * Z_MAX_LENGTH;
+ feedrate = 1.732 * homing_feedrate[X_AXIS];
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+ endstops_hit_on_purpose();
+
+ current_position[X_AXIS] = destination[X_AXIS];
+ current_position[Y_AXIS] = destination[Y_AXIS];
+ current_position[Z_AXIS] = destination[Z_AXIS];
+
+ // take care of back off and rehome now we are all at the top
+ HOMEAXIS(X);
+ HOMEAXIS(Y);
+ HOMEAXIS(Z);
+
+ calculate_delta(current_position);
+ plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+
+#else // NOT DELTA
+
+ home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
+
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
@@ -879,12 +912,9 @@ void process_commands()
current_position[Z_AXIS]=code_value()+add_homeing[2];
}
}
- #ifdef DELTA
- calculate_delta(current_position);
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
- #else
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- #endif
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+#endif // DELTA
+
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif