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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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39
Marlin/src/feature/I2CPositionEncoder.cpp
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@@ -326,25 +326,23 @@ bool I2CPositionEncoder::test_axis() {
//only works on XYZ cartesian machines for the time being
if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false;
float startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
const float startPosition = soft_endstop[encoderAxis].min + 10,
endPosition = soft_endstop[encoderAxis].max - 10;
const float startPosition = soft_endstop.min[encoderAxis] + 10,
endPosition = soft_endstop.max[encoderAxis] - 10;
const feedRate_t fr_mm_s = FLOOR(MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY));
ec = false;
LOOP_XYZ(i) {
startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
xyze_pos_t startCoord, endCoord;
LOOP_XYZ(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
startCoord[encoderAxis] = startPosition;
endCoord[encoderAxis] = endPosition;
planner.synchronize();
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
@@ -355,8 +353,8 @@ bool I2CPositionEncoder::test_axis() {
}
if (trusted) { // if trusted, commence test
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
endCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
}
@@ -376,8 +374,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
float old_steps_mm, new_steps_mm,
startDistance, endDistance,
travelDistance, travelledDistance, total = 0,
startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
travelDistance, travelledDistance, total = 0;
int32_t startCount, stopCount;
@@ -387,31 +384,31 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
ec = false;
startDistance = 20;
endDistance = soft_endstop[encoderAxis].max - 20;
endDistance = soft_endstop.max[encoderAxis] - 20;
travelDistance = endDistance - startDistance;
xyze_pos_t startCoord, endCoord;
LOOP_XYZ(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
startCoord[encoderAxis] = startDistance;
endCoord[encoderAxis] = endDistance;
planner.synchronize();
LOOP_L_N(i, iter) {
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
delay(250);
startCount = get_position();
//do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
//do_blocking_move_to(endCoord);
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
endCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
//Read encoder distance