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CoreXY homing bug fix attempt 2.

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chamnit
2016-07-25 13:50:08 -06:00
parent 7251657872
commit 59a4d2ef06
5 changed files with 9 additions and 10 deletions
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4
grbl/config.h
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@@ -72,8 +72,8 @@
// on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
// will not be affected by pin sharing.
// NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
#define HOMING_CYCLE_0 (1<<Z_AXIS) // REQUIRED: First move Z to clear workspace.
#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS)) // OPTIONAL: Then move X,Y at the same time.
#define HOMING_CYCLE_0 (1<<X_AXIS) // REQUIRED: First move Z to clear workspace.
#define HOMING_CYCLE_1 (1<<Y_AXIS) // OPTIONAL: Then move X,Y at the same time.
// #define HOMING_CYCLE_2 // OPTIONAL: Uncomment and add axes mask to enable
// Number of homing cycles performed after when the machine initially jogs to limit switches.

7
grbl/limits.c
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@@ -185,13 +185,12 @@ void limits_go_home(uint8_t cycle_mask)
if (bit_istrue(cycle_mask,bit(idx))) {
n_active_axis++;
#ifdef COREXY
int32_t axis_position;
if (idx == X_AXIS) {
axis_position = system_convert_corexy_to_x_axis_steps(sys.position);
int32_t axis_position = system_convert_corexy_to_y_axis_steps(sys.position);
sys.position[A_MOTOR] = axis_position;
sys.position[B_MOTOR] = -axis_position;
} else if (idx == Y_AXIS) {
axis_position = system_convert_corexy_to_y_axis_steps(sys.position);
int32_t axis_position = system_convert_corexy_to_x_axis_steps(sys.position);
sys.position[A_MOTOR] = sys.position[B_MOTOR] = axis_position;
} else {
sys.position[Z_AXIS] = 0;
@@ -306,7 +305,7 @@ void limits_go_home(uint8_t cycle_mask)
}
#endif
#ifdef COREXY
#ifdef COREXY
if (idx==X_AXIS) {
int32_t off_axis_position = system_convert_corexy_to_y_axis_steps(sys.position);
sys.position[A_MOTOR] = set_axis_position + off_axis_position;

4
grbl/planner.c
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@@ -292,9 +292,9 @@ uint8_t plan_check_full_buffer()
}
block->step_event_count = max(block->step_event_count, block->steps[idx]);
if (idx == A_MOTOR) {
delta_mm = ((target_steps[X_AXIS]-pl.position[X_AXIS]) + (target_steps[Y_AXIS]-pl.position[Y_AXIS]))/settings.steps_per_mm[idx];
delta_mm = (target_steps[X_AXIS]-pl.position[X_AXIS] + target_steps[Y_AXIS]-pl.position[Y_AXIS])/settings.steps_per_mm[idx];
} else if (idx == B_MOTOR) {
delta_mm = ((target_steps[X_AXIS]-pl.position[X_AXIS]) - (target_steps[Y_AXIS]-pl.position[Y_AXIS]))/settings.steps_per_mm[idx];
delta_mm = (target_steps[X_AXIS]-pl.position[X_AXIS] - target_steps[Y_AXIS]+pl.position[Y_AXIS])/settings.steps_per_mm[idx];
} else {
delta_mm = (target_steps[idx] - pl.position[idx])/settings.steps_per_mm[idx];
}

3
grbl/system.c
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@@ -288,12 +288,11 @@ void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
}
// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps)
{
return( (steps[A_MOTOR] + steps[B_MOTOR])/2 );
}
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps)
{
return( (steps[A_MOTOR] - steps[B_MOTOR])/2 );

1
grbl/system.h
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@@ -106,6 +106,7 @@ float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx);
// Updates a machine 'position' array based on the 'step' array sent.
void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps);
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);