From b20bf1826db04e1f103d65f646466c050eceaa92 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Thu, 14 Apr 2016 00:00:21 -0700
Subject: [PATCH] Fix debugging of vector_3
---
Marlin/Marlin_main.cpp | 31 ++++++++++++++++++++-----------
1 file changed, 20 insertions(+), 11 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 09c4b7747b..cf6e046d35 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -496,6 +496,11 @@ void gcode_M114();
void print_xyz(const char* prefix, const float xyz[]) {
print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}
+ #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+ void print_xyz(const char* prefix, const vector_3 &xyz) {
+ print_xyz(prefix, xyz.x, xyz.y, xyz.z);
+ }
+ #endif
#define DEBUG_POS(PREFIX,VAR) do{ SERIAL_ECHOPGM(PREFIX); print_xyz(" > " STRINGIFY(VAR), VAR); }while(0)
#endif
@@ -1373,6 +1378,11 @@ static void setup_for_endstop_move() {
static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
+ vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
+ plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+
+ //plan_bed_level_matrix.debug("bed level before");
+
#if ENABLED(DEBUG_LEVELING_FEATURE)
plan_bed_level_matrix.set_to_identity();
if (DEBUGGING(LEVELING)) {
@@ -1382,17 +1392,8 @@ static void setup_for_endstop_move() {
}
#endif
- vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
- // planeNormal.debug("planeNormal");
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- //bedLevel.debug("bedLevel");
-
- //plan_bed_level_matrix.debug("bed level before");
- //vector_3 uncorrected_position = plan_get_position();
- //uncorrected_position.debug("position before");
-
vector_3 corrected_position = plan_get_position();
- //corrected_position.debug("position after");
+
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
@@ -1426,12 +1427,20 @@ static void setup_for_endstop_move() {
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
vector_3 corrected_position = plan_get_position();
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ vector_3 uncorrected_position = corrected_position;
+ DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
+ }
+ #endif
+
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", current_position);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
#endif
sync_plan_position();