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Minor cleanups in Marlin_main.cpp
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@ -1487,7 +1487,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
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set_current_to_destination();
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}
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#endif
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#endif // IS_KINEMATIC
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/**
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* Plan a move to (X, Y, Z) and set the current_position
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@ -1554,16 +1554,12 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
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#endif
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}
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
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#endif
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#elif IS_SCARA
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set_destination_to_current();
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// If Z needs to raise, do it before moving XY
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if (current_position[Z_AXIS] < z) {
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if (destination[Z_AXIS] < z) {
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destination[Z_AXIS] = z;
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prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
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}
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@ -1573,7 +1569,7 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
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prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
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// If Z needs to lower, do it after moving XY
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if (current_position[Z_AXIS] > z) {
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if (destination[Z_AXIS] > z) {
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destination[Z_AXIS] = z;
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prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
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}
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@ -1604,6 +1600,10 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
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stepper.synchronize();
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feedrate_mm_s = old_feedrate_mm_s;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
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#endif
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}
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void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
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@ -2846,7 +2846,8 @@ inline void gcode_G4() {
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// Move all carriages together linearly until an endstop is hit.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate_mm_s[X_AXIS], active_extruder);
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feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
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line_to_current_position();
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stepper.synchronize();
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endstops.hit_on_purpose(); // clear endstop hit flags
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@ -9015,7 +9016,7 @@ void stop() {
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*/
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void setup() {
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#ifdef DISABLE_JTAG
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#if ENABLED(DISABLE_JTAG)
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// Disable JTAG on AT90USB chips to free up pins for IO
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MCUCR = 0x80;
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MCUCR = 0x80;
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@ -650,8 +650,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
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//*/
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// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
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if (DEBUGGING(DRYRUN))
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position[E_AXIS] = target[E_AXIS];
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if (DEBUGGING(DRYRUN)) position[E_AXIS] = target[E_AXIS];
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long de = target[E_AXIS] - position[E_AXIS];
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