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| author | David Crocker <dcrocker@eschertech.com> | 2021-01-04 17:40:01 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2021-01-04 17:40:01 +0300 |
| commit | 060fd04eaab93b76ace779d53cdb087a5ce0e4da (patch) | |
| tree | b0d77f8ba878e261eb8aec04ba57d5db90808904 /src/Movement | |
| parent | b824125d992cf37d0858c08aaa6cc7d3795a964e (diff) | |
| parent | b7e51fd15191dacded5a64f58a522f50e989b4d7 (diff) | |
Merge branch 'v3.02-dev' into 3.3-dev
Diffstat (limited to 'src/Movement')
| -rw-r--r-- | src/Movement/Move.cpp | 11 |
1 files changed, 7 insertions, 4 deletions
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp index 5508770a..e5504fbb 100644 --- a/src/Movement/Move.cpp +++ b/src/Movement/Move.cpp @@ -616,7 +616,8 @@ void Move::InverseAxisTransform(float xyzPoint[MaxAxes], const Tool *tool) const // Do the bed transform AFTER the axis transform void Move::BedTransform(float xyzPoint[MaxAxes], const Tool *tool) const noexcept { - if (!useTaper || xyzPoint[Z_AXIS] < taperHeight) + const float toolHeight = xyzPoint[Z_AXIS] + Tool::GetOffset(tool, Z_AXIS); + if (!useTaper || toolHeight < taperHeight) { float zCorrection = 0.0; const size_t numAxes = reprap.GetGCodes().GetVisibleAxes(); @@ -625,6 +626,7 @@ void Move::BedTransform(float xyzPoint[MaxAxes], const Tool *tool) const noexcep unsigned int numCorrections = 0; // Transform the Z coordinate based on the average correction for each axis used as an X or Y axis. + // TODO use Iterate when we have changed it to use inline_function for (uint32_t xAxis = 0; xAxis < numAxes; ++xAxis) { if (xAxes.IsBitSet(xAxis)) @@ -648,7 +650,7 @@ void Move::BedTransform(float xyzPoint[MaxAxes], const Tool *tool) const noexcep } zCorrection += zShift; - xyzPoint[Z_AXIS] += (useTaper) ? (taperHeight - xyzPoint[Z_AXIS]) * recipTaperHeight * zCorrection : zCorrection; + xyzPoint[Z_AXIS] += (useTaper && zCorrection < taperHeight) ? (taperHeight - toolHeight) * recipTaperHeight * zCorrection : zCorrection; } } @@ -692,8 +694,9 @@ void Move::InverseBedTransform(float xyzPoint[MaxAxes], const Tool *tool) const } else { - const float zreq = (xyzPoint[Z_AXIS] - zCorrection)/(1.0 - (zCorrection * recipTaperHeight)); - if (zreq < taperHeight) + const float toolZoffset = Tool::GetOffset(tool, Z_AXIS); + const float zreq = (xyzPoint[Z_AXIS] - (taperHeight - toolZoffset) * zCorrection * recipTaperHeight)/(1.0 - zCorrection * recipTaperHeight); + if (zreq + toolZoffset < taperHeight) { xyzPoint[Z_AXIS] = zreq; } |