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-rw-r--r--Sprinter/Sprinter.pde30
1 files changed, 18 insertions, 12 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index 706910f..9de3d48 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -252,6 +252,8 @@ bool relative_mode = false; //Determines Absolute or Relative Coordinates
//bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
//long timediff = 0;
+bool is_homing = false;
+
//experimental feedrate calc
//float d = 0;
//float axis_diff[NUM_AXIS] = {0, 0, 0, 0};
@@ -1059,6 +1061,7 @@ FORCE_INLINE void process_commands()
destination[i] = current_position[i];
}
feedrate = 0;
+ is_homing = true;
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
@@ -1164,6 +1167,7 @@ FORCE_INLINE void process_commands()
enable_endstops(false);
#endif
+ is_homing = false;
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
@@ -1764,20 +1768,22 @@ void prepare_move()
{
long help_feedrate = 0;
- if (min_software_endstops)
- {
- if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
- if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
- if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0;
- }
+ if(!is_homing){
+ if (min_software_endstops)
+ {
+ if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
+ if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
+ if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0;
+ }
- if (max_software_endstops)
- {
- if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
- if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
- if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
+ if (max_software_endstops)
+ {
+ if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
+ if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
+ if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
+ }
}
-
+
help_feedrate = ((long)feedrate*(long)feedmultiply);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], help_feedrate/6000.0);