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make Z optional for corexy #25630

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merged 3 commits into from
Apr 7, 2023
Merged

make Z optional for corexy #25630

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2aa9083
make Z optional for corexy
ellensp Apr 4, 2023
1087895
fix indent
ellensp Apr 4, 2023
de29b2d
cleanup
thinkyhead Apr 7, 2023
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6 changes: 3 additions & 3 deletions Marlin/src/module/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1972,7 +1972,7 @@ bool Planner::_populate_block(
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
if (dc < 0) SBI(dm, Z_AXIS);
TERN_(HAS_Z_AXIS, if (dc < 0) SBI(dm, Z_AXIS));
#endif
#if IS_CORE
#if CORE_IS_XY
Expand Down Expand Up @@ -2096,7 +2096,7 @@ bool Planner::_populate_block(
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
steps_dist_mm.z = dc * mm_per_step[Z_AXIS];
TERN_(HAS_Z_AXIS, steps_dist_mm.z = dc * mm_per_step[Z_AXIS]);
#endif
#if IS_CORE
#if CORE_IS_XY
Expand Down Expand Up @@ -2244,7 +2244,7 @@ bool Planner::_populate_block(
stepper.enable_axis(X_AXIS);
stepper.enable_axis(Y_AXIS);
}
#if DISABLED(Z_LATE_ENABLE)
#if HAS_Z_AXIS && DISABLED(Z_LATE_ENABLE)
if (block->steps.z) stepper.enable_axis(Z_AXIS);
#endif
#elif CORE_IS_XZ
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/module/stepper.cpp
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Expand Up @@ -3276,7 +3276,7 @@ void Stepper::_set_position(const abce_long_t &spos) {
#if CORE_IS_XY
// corexy positioning
// these equations follow the form of the dA and dB equations on https://www.corexy.com/theory.html
count_position.set(spos.a + spos.b, CORESIGN(spos.a - spos.b), spos.c);
count_position.set(spos.a + spos.b, CORESIGN(spos.a - spos.b) OPTARG(HAS_Z_AXIS, spos.c));
#elif CORE_IS_XZ
// corexz planning
count_position.set(spos.a + spos.c, spos.b, CORESIGN(spos.a - spos.c));
Expand Down