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SCARA support in homeaxis

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This commit is contained in:
Scott Lahteine 2016-09-15 15:43:06 -05:00
parent 92b4459f6c
commit 1c5f9821c4
1 changed files with 18 additions and 7 deletions
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15
Marlin/Marlin_main.cpp
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@ -2228,10 +2228,15 @@ static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
static void homeaxis(AxisEnum axis) { static void homeaxis(AxisEnum axis) {
#if IS_SCARA
// Only Z homing (with probe) is permitted
if (axis != Z_AXIS) { BUZZ(100, 880); return; }
#else
#define CAN_HOME(A) \ #define CAN_HOME(A) \
(axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0))) (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return; if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
@ -2294,10 +2299,16 @@ static void homeaxis(AxisEnum axis) {
} // Z_AXIS } // Z_AXIS
#endif #endif
#if IS_SCARA
set_axis_is_at_home(axis);
SYNC_PLAN_POSITION_KINEMATIC();
#elif ENABLED(DELTA)
// Delta has already moved all three towers up in G28 // Delta has already moved all three towers up in G28
// so here it re-homes each tower in turn. // so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes. // Delta homing treats the axes as normal linear axes.
#if ENABLED(DELTA)
// retrace by the amount specified in endstop_adj // retrace by the amount specified in endstop_adj
if (endstop_adj[axis] * Z_HOME_DIR < 0) { if (endstop_adj[axis] * Z_HOME_DIR < 0) {