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Merge pull request #3665 from thinkyhead/rc_stepper_babystep

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Fix BABYSTEPPING, add it to Travis test
This commit is contained in:
Scott Lahteine 2016-05-02 20:44:04 -07:00
commit 6bb664c690
3 changed files with 10 additions and 10 deletions
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4
.travis.yml
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@ -105,10 +105,10 @@ script:
#- opt_enable MAKRPANEL
#- build_marlin
#
# REPRAP_DISCOUNT_SMART_CONTROLLER
# REPRAP_DISCOUNT_SMART_CONTROLLER, SDSUPPORT, and BABYSTEPPING
#
- restore_configs
- opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT
- opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT BABYSTEPPING
- build_marlin
#
# G3D_PANEL

12
Marlin/planner.cpp
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@ -1025,18 +1025,18 @@ void Planner::check_axes_activity() {
* On CORE machines XYZ is derived from ABC.
*/
vector_3 Planner::adjusted_position() {
vector_3 position = vector_3(stepper.get_axis_position_mm(X_AXIS), stepper.get_axis_position_mm(Y_AXIS), stepper.get_axis_position_mm(Z_AXIS));
vector_3 pos = vector_3(stepper.get_axis_position_mm(X_AXIS), stepper.get_axis_position_mm(Y_AXIS), stepper.get_axis_position_mm(Z_AXIS));
//position.debug("in Planner::position");
//bed_level_matrix.debug("in Planner::position");
//pos.debug("in Planner::adjusted_position");
//bed_level_matrix.debug("in Planner::adjusted_position");
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
//inverse.debug("in Planner::inverse");
position.apply_rotation(inverse);
//position.debug("after rotation");
pos.apply_rotation(inverse);
//pos.debug("after rotation");
return position;
return pos;
}
#endif // AUTO_BED_LEVELING_FEATURE && !DELTA

4
Marlin/temperature.cpp
View File

@ -1835,11 +1835,11 @@ ISR(TIMER0_COMPB_vect) {
int curTodo = babystepsTodo[axis]; //get rid of volatile for performance
if (curTodo > 0) {
babystep(axis,/*fwd*/true);
stepper.babystep(axis,/*fwd*/true);
babystepsTodo[axis]--; //fewer to do next time
}
else if (curTodo < 0) {
babystep(axis,/*fwd*/false);
stepper.babystep(axis,/*fwd*/false);
babystepsTodo[axis]++; //fewer to do next time
}
}