diff options
Diffstat (limited to 'src/GCodes/GCodes3.cpp')
| -rw-r--r-- | src/GCodes/GCodes3.cpp | 23 |
1 files changed, 19 insertions, 4 deletions
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp index 4fee02ae..9ab7291b 100644 --- a/src/GCodes/GCodes3.cpp +++ b/src/GCodes/GCodes3.cpp @@ -193,7 +193,7 @@ GCodeResult GCodes::OffsetAxes(GCodeBuffer& gb) #if SUPPORT_WORKPLACE_COORDINATES // Set workspace coordinates -GCodeResult GCodes::GetSetWorkplaceCoordinates(GCodeBuffer& gb, const StringRef& reply) +GCodeResult GCodes::GetSetWorkplaceCoordinates(GCodeBuffer& gb, const StringRef& reply, bool compute) { if (gb.Seen('P')) { @@ -205,11 +205,26 @@ GCodeResult GCodes::GetSetWorkplaceCoordinates(GCodeBuffer& gb, const StringRef& { if (gb.Seen(axisLetters[axis])) { - workplaceCoordinates[cs][axis] = gb.GetFValue() * distanceScale; - seen = true; + const float coord = gb.GetFValue() * distanceScale; + if (!seen) + { + if (!LockMovementAndWaitForStandstill(gb)) // make sure the user coordinates are stable and up to date + { + return GCodeResult::notFinished; + } + seen = true; + } + workplaceCoordinates[cs][axis] = (compute) + ? coord - currentUserPosition[axis] + workplaceCoordinates[currentCoordinateSystem][axis] + : coord; } } - if (!seen) + + if (seen) + { + ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // update user coordinates in case we are using the workspace we just changed + } + else { reply.printf("Coordinates of workplace %" PRIu32 ":", cs); for (size_t axis = 0; axis < numVisibleAxes; axis++) |