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Fixes virtual endstops when using mixed physical endstop positions.

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midopple 2012-03-19 18:53:06 +01:00
parent 8954e1ccb9
commit 8147df6ae0
1 changed files with 18 additions and 12 deletions
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30
Sprinter/Sprinter.pde
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@ -252,6 +252,8 @@ bool relative_mode = false; //Determines Absolute or Relative Coordinates
//bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode. //bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
//long timediff = 0; //long timediff = 0;
bool is_homing = false;
//experimental feedrate calc //experimental feedrate calc
//float d = 0; //float d = 0;
//float axis_diff[NUM_AXIS] = {0, 0, 0, 0}; //float axis_diff[NUM_AXIS] = {0, 0, 0, 0};
@ -1059,6 +1061,7 @@ FORCE_INLINE void process_commands()
destination[i] = current_position[i]; destination[i] = current_position[i];
} }
feedrate = 0; feedrate = 0;
is_homing = true;
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
@ -1164,6 +1167,7 @@ FORCE_INLINE void process_commands()
enable_endstops(false); enable_endstops(false);
#endif #endif
is_homing = false;
feedrate = saved_feedrate; feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply; feedmultiply = saved_feedmultiply;
@ -1764,20 +1768,22 @@ void prepare_move()
{ {
long help_feedrate = 0; long help_feedrate = 0;
if (min_software_endstops) if(!is_homing){
{ if (min_software_endstops)
if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0; {
if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0; if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0; if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
} if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0;
}
if (max_software_endstops) if (max_software_endstops)
{ {
if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH; if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH; if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH; if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
}
} }
help_feedrate = ((long)feedrate*(long)feedmultiply); help_feedrate = ((long)feedrate*(long)feedmultiply);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], help_feedrate/6000.0); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], help_feedrate/6000.0);