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CoreXY, dda.c: separate bot axes from extruder axes.

This commit is contained in:
Markus Hitter 2014-10-16 20:56:56 +02:00
parent a36b96357e
commit 41bf99c1aa
1 changed files with 19 additions and 2 deletions
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21
dda.c
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@ -189,7 +189,7 @@ void dda_create(DDA *dda, TARGET *target) {
dda->id = idcnt++;
#endif
for (i = X; i < (target->e_relative ? E : AXIS_COUNT); i++) {
for (i = X; i < E; i++) {
delta_um[i] = (uint32_t)abs32(target->axis[i] - startpoint.axis[i]);
steps[i] = um_to_steps(target->axis[i], i);
@ -207,7 +207,24 @@ void dda_create(DDA *dda, TARGET *target) {
#endif
}
if (target->e_relative) {
if ( ! target->e_relative) {
delta_um[E] = (uint32_t)abs32(target->axis[E] - startpoint.axis[E]);
steps[E] = um_to_steps(target->axis[E], E);
dda->delta[E] = (uint32_t)abs32(steps[E] - startpoint_steps.axis[E]);
startpoint_steps.axis[E] = steps[E];
set_direction(dda, E, (target->axis[E] >= startpoint.axis[E]) ? 1 : 0);
#ifdef LOOKAHEAD
// Also displacements in micrometers, but for the lookahead alogrithms.
// TODO: this is redundant. delta_um[] and dda->delta_um[] differ by
// just signedness and storage location. Ideally, dda is used
// as storage place only if neccessary (LOOKAHEAD turned on?)
// because this space is multiplied by the movement queue size.
dda->delta_um[E] = target->axis[E] - startpoint.axis[E];
#endif
}
else {
// When we get more extruder axes:
// for (i = E; i < AXIS_COUNT; i++) { ...
delta_um[E] = abs32(target->axis[E]);