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Obey defined X and Y homing direction.

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Problem manifested itself as sketch/Marlin_main.cpp:2288:13: warning: unused variable 'axis_home_dir' [-Wunused-variable]
This commit is contained in:
Marek Bel 2018-08-02 20:47:03 +02:00
parent 90ee05a036
commit 2e61c0e289
1 changed files with 13 additions and 13 deletions
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26
Firmware/Marlin_main.cpp
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@ -2296,43 +2296,43 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
#endif //TMC2130 #endif //TMC2130
// Move right a bit, so that the print head does not touch the left end position, // Move away a bit, so that the print head does not touch the end position,
// and the following left movement has a chance to achieve the required velocity // and the following movement to endstop has a chance to achieve the required velocity
// for the stall guard to work. // for the stall guard to work.
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
set_destination_to_current(); set_destination_to_current();
// destination[axis] = 11.f; // destination[axis] = 11.f;
destination[axis] = 3.f; destination[axis] = -3.f * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize(); st_synchronize();
// Move left away from the possible collision with the collision detection disabled. // Move away from the possible collision with opposite endstop with the collision detection disabled.
endstops_hit_on_purpose(); endstops_hit_on_purpose();
enable_endstops(false); enable_endstops(false);
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = - 1.; destination[axis] = 1. * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize(); st_synchronize();
// Now continue to move up to the left end stop with the collision detection enabled. // Now continue to move up to the left end stop with the collision detection enabled.
enable_endstops(true); enable_endstops(true);
destination[axis] = - 1.1 * max_length(axis); destination[axis] = 1.1 * axis_home_dir * max_length(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize(); st_synchronize();
for (uint8_t i = 0; i < cnt; i++) for (uint8_t i = 0; i < cnt; i++)
{ {
// Move right from the collision to a known distance from the left end stop with the collision detection disabled. // Move away from the collision to a known distance from the left end stop with the collision detection disabled.
endstops_hit_on_purpose(); endstops_hit_on_purpose();
enable_endstops(false); enable_endstops(false);
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 10.f; destination[axis] = -10.f * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize(); st_synchronize();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
// Now move left up to the collision, this time with a repeatable velocity. // Now move left up to the collision, this time with a repeatable velocity.
enable_endstops(true); enable_endstops(true);
destination[axis] = - 11.f; destination[axis] = 11.f * axis_home_dir;
#ifdef TMC2130 #ifdef TMC2130
feedrate = homing_feedrate[axis]; feedrate = homing_feedrate[axis];
#else //TMC2130 #else //TMC2130
@ -2356,10 +2356,10 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
{ {
tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis)); tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
if (back > 0) if (back > 0)
tmc2130_do_steps(axis, back, 1, 1000); tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
} }
else else
tmc2130_do_steps(axis, 8, 2, 1000); tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
tmc2130_home_exit(); tmc2130_home_exit();
#endif //TMC2130 #endif //TMC2130
@ -2367,9 +2367,9 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
axis_known_position[axis] = true; axis_known_position[axis] = true;
// Move from minimum // Move from minimum
#ifdef TMC2130 #ifdef TMC2130
float dist = 0.01f * tmc2130_home_fsteps[axis]; float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
#else //TMC2130 #else //TMC2130
float dist = 0.01f * 64; float dist = - axis_home_dir * 0.01f * 64;
#endif //TMC2130 #endif //TMC2130
current_position[axis] -= dist; current_position[axis] -= dist;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);