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Move some Stepper methods to Planner (#10719)

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This commit is contained in:
Scott Lahteine
2018-05-12 09:29:17 -05:00
committed by GitHub
parent 8c81e6341a
commit ea353c3df6
12 changed files with 139 additions and 136 deletions
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32
Marlin/I2CPositionEncoder.cpp
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@@ -99,7 +99,7 @@
//the encoder likely lost its place when the error occured, so we'll reset and use the printer's
//idea of where it the axis is to re-initialise
float position = stepper.get_axis_position_mm(encoderAxis);
float position = planner.get_axis_position_mm(encoderAxis);
int32_t positionInTicks = position * get_ticks_unit();
//shift position from previous to current position
@@ -254,7 +254,7 @@
float I2CPositionEncoder::get_axis_error_mm(const bool report) {
float target, actual, error;
target = stepper.get_axis_position_mm(encoderAxis);
target = planner.get_axis_position_mm(encoderAxis);
actual = mm_from_count(position);
error = actual - target;
@@ -349,18 +349,18 @@
ec = false;
LOOP_NA(i) {
startCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
endCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
}
startCoord[encoderAxis] = startPosition;
endCoord[encoderAxis] = endPosition;
stepper.synchronize();
planner.synchronize();
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
stepper.synchronize();
planner.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.synchronize();
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
if (!trusted) {
@@ -371,8 +371,8 @@
if (trusted) { // if trusted, commence test
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
stepper.synchronize();
planner.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.synchronize();
}
return trusted;
@@ -408,19 +408,19 @@
travelDistance = endDistance - startDistance;
LOOP_NA(i) {
startCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
endCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
}
startCoord[encoderAxis] = startDistance;
endCoord[encoderAxis] = endDistance;
stepper.synchronize();
planner.synchronize();
LOOP_L_N(i, iter) {
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
stepper.synchronize();
planner.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.synchronize();
delay(250);
startCount = get_position();
@@ -428,8 +428,8 @@
//do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
stepper.synchronize();
planner.get_axis_position_mm(E_AXIS), feedrate, 0);
planner.synchronize();
//Read encoder distance
delay(250);