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Attempt to complete move if non-primary axis endstop hit, otherwise abort move and save position

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kliment 2011-07-10 11:10:45 +02:00
parent 19ae7c56b6
commit c669e0bc0a
1 changed files with 6 additions and 6 deletions
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12
Sprinter/Sprinter.pde
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@ -1225,22 +1225,22 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
//If there are x or y steps remaining, perform Bresenham algorithm
if(axis_steps_remaining[primary_axis]) {
#if (X_MIN_PIN > -1)
if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_step_remaining[0]) axis_step_remaining[0]=0;
#endif
#if (Y_MIN_PIN > -1)
if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_step_remaining[1]) axis_step_remaining[1]=0;
#endif
#if (X_MAX_PIN > -1)
if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_step_remaining[0]) axis_step_remaining[0]=0;
#endif
#if (Y_MAX_PIN > -1)
if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_step_remaining[1]) axis_step_remaining[1]=0;
#endif
#if (Z_MIN_PIN > -1)
if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_step_remaining[2]) axis_step_remaining[2]=0;
#endif
#if (Z_MAX_PIN > -1)
if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_step_remaining[2]) axis_step_remaining[2]=0;
#endif
timediff = micros() * 100 - axis_previous_micros[primary_axis];
if(timediff<0){//check for overflow