diff options
Diffstat (limited to 'src/GCodes/GCodes.cpp')
| -rw-r--r-- | src/GCodes/GCodes.cpp | 33 |
1 files changed, 18 insertions, 15 deletions
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp index 2b8b2dd7..97bebd8e 100644 --- a/src/GCodes/GCodes.cpp +++ b/src/GCodes/GCodes.cpp @@ -589,7 +589,7 @@ void GCodes::Spin() const uint32_t numPointsProbed = reprap.GetMove()->AccessBedProbeGrid().GetStatistics(mean, deviation); if (numPointsProbed >= 4) { - reply.printf("%u points probed, mean error %.2f, deviation %.2f\n", numPointsProbed, mean, deviation); + reply.printf("%u points probed, mean error %.3f, deviation %.3f\n", numPointsProbed, mean, deviation); error = SaveHeightMap(gb, reply); reprap.GetMove()->AccessBedProbeGrid().UseHeightMap(true); } @@ -1747,8 +1747,9 @@ bool GCodes::DoSingleZProbe(GCodeBuffer& gb, StringRef& reply, bool reportOnly, else { moveBuffer.coords[Z_AXIS] = platform->ZProbeStopHeight() + heightAdjust; - SetPositions(moveBuffer.coords); + SetPositions(moveBuffer.coords, false); // set positions WITHOUT (very important) applying bed compensation SetAxisIsHomed(Z_AXIS); + reprap.GetMove()->GetCurrentUserPosition(moveBuffer.coords, 0, reprap.GetCurrentXAxes()); // update the user position lastProbedZ = 0.0; } return true; @@ -3049,10 +3050,10 @@ bool GCodes::RetractFilament(GCodeBuffer& gb, bool retract) { if (retract != isRetracted && (retractLength != 0.0 || retractHop != 0.0 || (!retract && retractExtra != 0.0))) { - const Tool *tool = reprap.GetCurrentTool(); + const Tool * const tool = reprap.GetCurrentTool(); if (tool != nullptr) { - size_t nDrives = tool->DriveCount(); + const size_t nDrives = tool->DriveCount(); if (nDrives != 0) { if (segmentsLeft != 0) @@ -3060,28 +3061,30 @@ bool GCodes::RetractFilament(GCodeBuffer& gb, bool retract) return false; } - reprap.GetMove()->GetCurrentUserPosition(moveBuffer.coords, 0, reprap.GetCurrentXAxes()); + const uint32_t xAxes = reprap.GetCurrentXAxes(); + reprap.GetMove()->GetCurrentUserPosition(moveBuffer.coords, 0, xAxes); for (size_t i = numAxes; i < DRIVES; ++i) { moveBuffer.coords[i] = 0.0; } // Set the feed rate. If there is any Z hop then we need to pass the Z speed, else we pass the extrusion speed. const float speedToUse = (retract) ? retractSpeed : unRetractSpeed; - moveBuffer.feedRate = (retractHop == 0.0) + moveBuffer.feedRate = (retractHop == 0.0 || retractLength == 0.0) ? speedToUse : speedToUse * retractHop/retractLength; moveBuffer.coords[Z_AXIS] += (retract) ? retractHop : -retractHop; const float lengthToUse = (retract) ? -retractLength : retractLength + retractExtra; for (size_t i = 0; i < nDrives; ++i) { - moveBuffer.coords[E0_AXIS + tool->Drive(i)] = lengthToUse; + moveBuffer.coords[numAxes + tool->Drive(i)] = lengthToUse; } + moveBuffer.moveType = 0; moveBuffer.isFirmwareRetraction = true; moveBuffer.usePressureAdvance = false; moveBuffer.filePos = (&gb == fileGCode) ? gb.MachineState().fileState.GetPosition() : noFilePosition; moveBuffer.canPauseAfter = !retract; // don't pause after a retraction because that could cause too much retraction - moveBuffer.xAxes = reprap.GetCurrentXAxes(); + moveBuffer.xAxes = xAxes; segmentsLeft = 1; } } @@ -3134,14 +3137,14 @@ bool GCodes::ToolHeatersAtSetTemperatures(const Tool *tool, bool waitWhenCooling return true; } -// Set the current position -void GCodes::SetPositions(float positionNow[DRIVES]) +// Set the current position, optionally applying bed and axis compensation +void GCodes::SetPositions(const float positionNow[DRIVES], bool doBedCompensation) { - // Transform the position so that e.g. if the user does G92 Z0, - // the position we report (which gets inverse-transformed) really is Z=0 afterwards - reprap.GetMove()->Transform(positionNow, reprap.GetCurrentXAxes()); - reprap.GetMove()->SetLiveCoordinates(positionNow); - reprap.GetMove()->SetPositions(positionNow); + float newPos[DRIVES]; + memcpy(newPos, positionNow, sizeof(newPos)); // copy to local storage because Transform modifies it + reprap.GetMove()->Transform(newPos, reprap.GetCurrentXAxes(), doBedCompensation); + reprap.GetMove()->SetLiveCoordinates(newPos); + reprap.GetMove()->SetPositions(newPos); } bool GCodes::IsPaused() const |