diff options
| author | kliment <kliment.yanev@gmail.com> | 2011-07-09 15:12:33 +0200 |
|---|---|---|
| committer | kliment <kliment.yanev@gmail.com> | 2011-07-09 15:12:33 +0200 |
| commit | 469e53475a04cab77d5ab4ce787f70ea580b67b9 (patch) | |
| tree | e8b212613b5419a98aa6cfef67ee6ae6677a8ef8 /Sprinter/Sprinter.pde | |
| parent | 75edff00c497798a07520e4be9af334e8b38c4e0 (diff) | |
Use fastio for endstop checks during moves
Diffstat (limited to 'Sprinter/Sprinter.pde')
| -rw-r--r-- | Sprinter/Sprinter.pde | 24 |
1 files changed, 18 insertions, 6 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index b79a329..ae07730 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1197,12 +1197,24 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with //If there are x or y steps remaining, perform Bresenham algorithm if(axis_steps_remaining[primary_axis]) { - if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break; - if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break; - if(X_MAX_PIN > -1) if(move_direction[0]) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break; - if(Y_MAX_PIN > -1) if(move_direction[1]) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break; - if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break; - if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break; + #if (X_MIN_PIN > -1) + if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) break; + #endif + #if (Y_MIN_PIN > -1) + if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) break; + #endif + #if (X_MAX_PIN > -1) + if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) break; + #endif + #if (Y_MAX_PIN > -1) + if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) break; + #endif + #if (Z_MIN_PIN > -1) + if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) break; + #endif + #if (Z_MAX_PIN > -1) + if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) break; + #endif timediff = micros() * 100 - axis_previous_micros[primary_axis]; if(timediff<0){//check for overflow axis_previous_micros[primary_axis]=micros()*100; |