ManuelW/grbl-LPC-CoreXY
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CoreXY planner bug fix.

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- CoreXY motions were moving to the negative value of the intended
target. Now fixed.
This commit is contained in:
Sonny Jeon 2015-05-23 16:40:20 -06:00
parent 993c83d1c8
commit 0eb8bca3d9
1 changed files with 4 additions and 4 deletions
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8
grbl/planner.c
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@ -277,8 +277,8 @@ uint8_t plan_check_full_buffer()
#ifdef COREXY
target_steps[A_MOTOR] = lround(target[A_MOTOR]*settings.steps_per_mm[A_MOTOR]);
target_steps[B_MOTOR] = lround(target[B_MOTOR]*settings.steps_per_mm[B_MOTOR]);
block->steps[A_MOTOR] = labs((target_steps[X_AXIS]-pl.position[X_AXIS]) - (target_steps[Y_AXIS]-pl.position[Y_AXIS]));
block->steps[B_MOTOR] = labs((target_steps[X_AXIS]-pl.position[X_AXIS]) + (target_steps[Y_AXIS]-pl.position[Y_AXIS]));
block->steps[A_MOTOR] = labs((target_steps[X_AXIS]-pl.position[X_AXIS]) + (target_steps[Y_AXIS]-pl.position[Y_AXIS]));
block->steps[B_MOTOR] = labs((target_steps[X_AXIS]-pl.position[X_AXIS]) - (target_steps[Y_AXIS]-pl.position[Y_AXIS]));
#endif
for (idx=0; idx<N_AXIS; idx++) {
@ -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];
} 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];
} 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];
} else {
delta_mm = (target_steps[idx] - pl.position[idx])/settings.steps_per_mm[idx];
}