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This commit is contained in:
PavelSindler 2018-04-24 14:33:48 +02:00
parent cc74edfa13
commit ffe93b2ca9
1 changed files with 199 additions and 199 deletions
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392
Firmware/Marlin_main.cpp
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@ -2958,169 +2958,169 @@ void process_commands()
break; break;
#endif //FWRETRACT #endif //FWRETRACT
case 28: //G28 Home all Axis one at a time case 28: //G28 Home all Axis one at a time
{ {
st_synchronize(); st_synchronize();
#if 0 #if 0
SERIAL_ECHOPGM("G28, initial "); print_world_coordinates(); SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates(); SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
#endif #endif
// Flag for the display update routine and to disable the print cancelation during homing. // Flag for the display update routine and to disable the print cancelation during homing.
homing_flag = true; homing_flag = true;
// Which axes should be homed? // Which axes should be homed?
bool home_x = code_seen(axis_codes[X_AXIS]); bool home_x = code_seen(axis_codes[X_AXIS]);
bool home_y = code_seen(axis_codes[Y_AXIS]); bool home_y = code_seen(axis_codes[Y_AXIS]);
bool home_z = code_seen(axis_codes[Z_AXIS]); bool home_z = code_seen(axis_codes[Z_AXIS]);
// calibrate? // calibrate?
bool calib = code_seen('C'); bool calib = code_seen('C');
// Either all X,Y,Z codes are present, or none of them. // Either all X,Y,Z codes are present, or none of them.
bool home_all_axes = home_x == home_y && home_x == home_z; bool home_all_axes = home_x == home_y && home_x == home_z;
if (home_all_axes) if (home_all_axes)
// No X/Y/Z code provided means to home all axes. // No X/Y/Z code provided means to home all axes.
home_x = home_y = home_z = true; home_x = home_y = home_z = true;
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data) plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif //ENABLE_AUTO_BED_LEVELING #endif //ENABLE_AUTO_BED_LEVELING
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
// the planner will not perform any adjustments in the XY plane. // the planner will not perform any adjustments in the XY plane.
// Wait for the motors to stop and update the current position with the absolute values. // Wait for the motors to stop and update the current position with the absolute values.
world2machine_revert_to_uncorrected(); world2machine_revert_to_uncorrected();
// For mesh bed leveling deactivate the matrix temporarily. // For mesh bed leveling deactivate the matrix temporarily.
// It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
// in a single axis only. // in a single axis only.
// In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
#ifdef MESH_BED_LEVELING #ifdef MESH_BED_LEVELING
uint8_t mbl_was_active = mbl.active; uint8_t mbl_was_active = mbl.active;
mbl.active = 0; mbl.active = 0;
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS); current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
#endif #endif
// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
// consumed during the first movements following this statement. // consumed during the first movements following this statement.
if (home_z) if (home_z)
babystep_undo(); babystep_undo();
saved_feedrate = feedrate; saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply; saved_feedmultiply = feedmultiply;
feedmultiply = 100; feedmultiply = 100;
previous_millis_cmd = millis(); previous_millis_cmd = millis();
enable_endstops(true); enable_endstops(true);
memcpy(destination, current_position, sizeof(destination)); memcpy(destination, current_position, sizeof(destination));
feedrate = 0.0; feedrate = 0.0;
#if Z_HOME_DIR > 0 // If homing away from BED do Z first #if Z_HOME_DIR > 0 // If homing away from BED do Z first
if(home_z) if(home_z)
homeaxis(Z_AXIS); homeaxis(Z_AXIS);
#endif #endif
#ifdef QUICK_HOME #ifdef QUICK_HOME
// In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
if(home_x && home_y) //first diagonal move if(home_x && home_y) //first diagonal move
{ {
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0; current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
int x_axis_home_dir = home_dir(X_AXIS); int x_axis_home_dir = home_dir(X_AXIS);
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[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS); destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
feedrate = homing_feedrate[X_AXIS]; feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate) if(homing_feedrate[Y_AXIS]<feedrate)
feedrate = homing_feedrate[Y_AXIS]; feedrate = homing_feedrate[Y_AXIS];
if (max_length(X_AXIS) > max_length(Y_AXIS)) { if (max_length(X_AXIS) > max_length(Y_AXIS)) {
feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1); feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
} else { } else {
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1); feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
}
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
axis_is_at_home(X_AXIS);
axis_is_at_home(Y_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
feedrate = 0.0;
st_synchronize();
endstops_hit_on_purpose();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
current_position[Z_AXIS] = destination[Z_AXIS];
} }
#endif /* QUICK_HOME */ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
axis_is_at_home(X_AXIS);
axis_is_at_home(Y_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
feedrate = 0.0;
st_synchronize();
endstops_hit_on_purpose();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
current_position[Z_AXIS] = destination[Z_AXIS];
}
#endif /* QUICK_HOME */
#ifdef TMC2130 #ifdef TMC2130
if(home_x) if(home_x)
{ {
if (!calib) if (!calib)
homeaxis(X_AXIS); homeaxis(X_AXIS);
else else
tmc2130_home_calibrate(X_AXIS); tmc2130_home_calibrate(X_AXIS);
} }
if(home_y) if(home_y)
{ {
if (!calib) if (!calib)
homeaxis(Y_AXIS); homeaxis(Y_AXIS);
else else
tmc2130_home_calibrate(Y_AXIS); tmc2130_home_calibrate(Y_AXIS);
} }
#endif //TMC2130 #endif //TMC2130
if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0) if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
current_position[X_AXIS]=code_value()+add_homing[X_AXIS]; current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0) if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS]; current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
#if Z_HOME_DIR < 0 // If homing towards BED do Z last #if Z_HOME_DIR < 0 // If homing towards BED do Z last
#ifndef Z_SAFE_HOMING #ifndef Z_SAFE_HOMING
if(home_z) { if(home_z) {
#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0) #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS]; feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize(); st_synchronize();
#endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0) #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
#if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] )) if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
{ {
homeaxis(X_AXIS); homeaxis(X_AXIS);
homeaxis(Y_AXIS); homeaxis(Y_AXIS);
} }
// 1st mesh bed leveling measurement point, corrected. // 1st mesh bed leveling measurement point, corrected.
world2machine_initialize(); world2machine_initialize();
world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]); world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]);
world2machine_reset(); world2machine_reset();
if (destination[Y_AXIS] < Y_MIN_POS) if (destination[Y_AXIS] < Y_MIN_POS)
destination[Y_AXIS] = Y_MIN_POS; destination[Y_AXIS] = Y_MIN_POS;
destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
feedrate = homing_feedrate[Z_AXIS]/10; feedrate = homing_feedrate[Z_AXIS]/10;
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
enable_endstops(false); enable_endstops(false);
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]);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize(); st_synchronize();
current_position[X_AXIS] = destination[X_AXIS]; current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS];
enable_endstops(true); enable_endstops(true);
endstops_hit_on_purpose(); endstops_hit_on_purpose();
homeaxis(Z_AXIS); homeaxis(Z_AXIS);
#else // MESH_BED_LEVELING #else // MESH_BED_LEVELING
homeaxis(Z_AXIS); homeaxis(Z_AXIS);
#endif // MESH_BED_LEVELING #endif // MESH_BED_LEVELING
} }
#else // defined(Z_SAFE_HOMING): Z Safe mode activated. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
if(home_all_axes) { if(home_all_axes) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER); destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER); destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
@ -3134,23 +3134,23 @@ void process_commands()
current_position[Y_AXIS] = destination[Y_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS];
homeaxis(Z_AXIS); homeaxis(Z_AXIS);
} }
// Let's see if X and Y are homed and probe is inside bed area. // Let's see if X and Y are homed and probe is inside bed area.
if(home_z) { if(home_z) {
if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \ if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \ && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \ && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \ && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) { && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
current_position[Z_AXIS] = 0; current_position[Z_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[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS]; feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize(); st_synchronize();
homeaxis(Z_AXIS); homeaxis(Z_AXIS);
} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) { } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN); LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START; SERIAL_ECHO_START;
@ -3160,72 +3160,72 @@ void process_commands()
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT); SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
} }
} }
#endif // Z_SAFE_HOMING #endif // Z_SAFE_HOMING
#endif // Z_HOME_DIR < 0 #endif // Z_HOME_DIR < 0
if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0) if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS]; current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
if(home_z) if(home_z)
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative) current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
#endif #endif
// Set the planner and stepper routine positions. // Set the planner and stepper routine positions.
// At this point the mesh bed leveling and world2machine corrections are disabled and current_position // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
// contains the machine coordinates. // contains the machine coordinates.
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]);
#ifdef ENDSTOPS_ONLY_FOR_HOMING #ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false); enable_endstops(false);
#endif #endif
feedrate = saved_feedrate; feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply; feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis(); previous_millis_cmd = millis();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
#ifndef MESH_BED_LEVELING #ifndef MESH_BED_LEVELING
// If MESH_BED_LEVELING is not active, then it is the original Prusa i3. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
// Offer the user to load the baby step value, which has been adjusted at the previous print session. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z)) if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
lcd_adjust_z(); lcd_adjust_z();
#endif #endif
// Load the machine correction matrix // Load the machine correction matrix
world2machine_initialize(); world2machine_initialize();
// and correct the current_position XY axes to match the transformed coordinate system. // and correct the current_position XY axes to match the transformed coordinate system.
world2machine_update_current(); world2machine_update_current();
#if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS])) if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
{ {
if (! home_z && mbl_was_active) { if (! home_z && mbl_was_active) {
// Re-enable the mesh bed leveling if only the X and Y axes were re-homed. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
mbl.active = true; mbl.active = true;
// and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS)); current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
} }
} }
else else
{ {
st_synchronize(); st_synchronize();
homing_flag = false; homing_flag = false;
// Push the commands to the front of the message queue in the reverse order! // Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands. // There shall be always enough space reserved for these commands.
// enquecommand_front_P((PSTR("G80"))); // enquecommand_front_P((PSTR("G80")));
goto case_G80; goto case_G80;
} }
#endif #endif
if (farm_mode) { prusa_statistics(20); }; if (farm_mode) { prusa_statistics(20); };
homing_flag = false; homing_flag = false;
#if 0 #if 0
SERIAL_ECHOPGM("G28, final "); print_world_coordinates(); SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
SERIAL_ECHOPGM("G28, final "); print_physical_coordinates(); SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table(); SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
#endif #endif
break; break;
} }
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.