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Testing probing code

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Alden Hart
2017-02-25 13:36:31 -05:00
parent a56a09d72e
commit e5fa7c960f
1 changed files with 16 additions and 12 deletions
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g2core/plan_exec.cpp
+16 -12
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@@ -991,21 +991,25 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
// Case (4) - Wait for the steppers to stop
if (cm->hold_state == FEEDHOLD_MOTORS_STOPPING) {
if (mp_runtime_is_idle()) { // wait for steppers to actually finish
// finalize position and velocity
// copy_vector(mr->position, mr->gm.target); // update position from target
// copy_vector(mp->position, mr->position); // update the planner position from the runtime
// bf->length = get_axis_vector_length(mr->target, mr->position); // reset length in buffer //+++++ TEST THIS
mp_zero_segment_velocity(); // for reporting purposes
mp_zero_segment_velocity(); // finalize velocity for reporting purposes
// when homing or probing don't stay in HOLD or execute entry actions
// if probing or homing exit the move and advance to the _motion_end finalization command
if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
copy_vector(mp->position, mr->position); // update the planner position from the runtime
bf->length = get_axis_vector_length(mr->target, mr->position); // reset length in buffer //+++++ TEST THIS
mr->block_state = BLOCK_INACTIVE; // disable the rest of the runtime movement
copy_vector(mp->position, mr->position); // update planner position from runtime
mp_free_run_buffer(); // free buffer and enable finalization move to get loaded
cm->hold_state = FEEDHOLD_OFF;
} else if (cm == &cm2) { // if in a p2 hold set up a flush of the p2 planner queue
}
// if exiting a p2 hold set up a flush of the p2 planner queue
else if (cm == &cm2) {
// copy_vector(mp->position, mr->position); // update planner position from runtime
cm->hold_state = FEEDHOLD_P2_EXIT;
} else {
cm->hold_state = FEEDHOLD_ACTIONS_START; // otherwise perform Z-lift, spindle, coolant actions
}
// if exiting a regular p1 hold perform Z-lift, spindle, coolant actions
else {
cm->hold_state = FEEDHOLD_ACTIONS_START;
}
sr_request_status_report(SR_REQUEST_IMMEDIATE);
@@ -1026,7 +1030,7 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
// mp_free_run_buffer();
// }
mp_replan_queue(mp_get_r()); // make it replan all the blocks
return (STAT_OK); // stop mp_exec_aline() from further execution
return (STAT_OK); // exit from mp_exec_aline()
}
// Cases (1x), Case (2)