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@ -429,7 +429,7 @@ void enquecommand(const char *cmd)
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//this is dangerous if a mixing of serial and this happens
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strcpy(&(cmdbuffer[bufindw][0]),cmd);
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM("enqueing \"");
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SERIAL_ECHOPGM(MSG_Enqueing);
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SERIAL_ECHO(cmdbuffer[bufindw]);
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SERIAL_ECHOLNPGM("\"");
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bufindw= (bufindw + 1)%BUFSIZE;
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@ -444,7 +444,7 @@ void enquecommand_P(const char *cmd)
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//this is dangerous if a mixing of serial and this happens
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strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM("enqueing \"");
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SERIAL_ECHOPGM(MSG_Enqueing);
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SERIAL_ECHO(cmdbuffer[bufindw]);
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SERIAL_ECHOLNPGM("\"");
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bufindw= (bufindw + 1)%BUFSIZE;
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@ -1537,7 +1537,7 @@ void process_commands()
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#ifdef SCARA
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current_position[X_AXIS]=code_value();
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#else
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current_position[X_AXIS]=code_value()+add_homing[0];
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current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
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#endif
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}
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}
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@ -1547,7 +1547,7 @@ void process_commands()
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#ifdef SCARA
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current_position[Y_AXIS]=code_value();
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#else
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current_position[Y_AXIS]=code_value()+add_homing[1];
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current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
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#endif
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}
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}
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@ -1612,7 +1612,7 @@ void process_commands()
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if(code_seen(axis_codes[Z_AXIS])) {
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if(code_value_long() != 0) {
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current_position[Z_AXIS]=code_value()+add_homing[2];
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current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
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}
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}
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#ifdef ENABLE_AUTO_BED_LEVELING
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@ -2745,9 +2745,9 @@ Sigma_Exit:
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SERIAL_PROTOCOLLN("");
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SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
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SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[0]);
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SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
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SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
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SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[1]);
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SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
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SERIAL_PROTOCOLLN("");
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SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
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@ -2883,11 +2883,11 @@ Sigma_Exit:
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#ifdef SCARA
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if(code_seen('T')) // Theta
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{
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add_homing[0] = code_value() ;
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add_homing[X_AXIS] = code_value() ;
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}
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if(code_seen('P')) // Psi
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{
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add_homing[1] = code_value() ;
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add_homing[Y_AXIS] = code_value() ;
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}
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#endif
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break;
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@ -3275,11 +3275,11 @@ Sigma_Exit:
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if(Stopped == false) {
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//get_coordinates(); // For X Y Z E F
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delta[0] = 0;
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delta[1] = 120;
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delta[X_AXIS] = 0;
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delta[Y_AXIS] = 120;
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calculate_SCARA_forward_Transform(delta);
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destination[0] = delta[0]/axis_scaling[X_AXIS];
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destination[1] = delta[1]/axis_scaling[Y_AXIS];
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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@ -3293,11 +3293,11 @@ Sigma_Exit:
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if(Stopped == false) {
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//get_coordinates(); // For X Y Z E F
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delta[0] = 90;
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delta[1] = 130;
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delta[X_AXIS] = 90;
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delta[Y_AXIS] = 130;
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calculate_SCARA_forward_Transform(delta);
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destination[0] = delta[0]/axis_scaling[X_AXIS];
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destination[1] = delta[1]/axis_scaling[Y_AXIS];
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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@ -3310,11 +3310,11 @@ Sigma_Exit:
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if(Stopped == false) {
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//get_coordinates(); // For X Y Z E F
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delta[0] = 60;
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delta[1] = 180;
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delta[X_AXIS] = 60;
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delta[Y_AXIS] = 180;
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calculate_SCARA_forward_Transform(delta);
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destination[0] = delta[0]/axis_scaling[X_AXIS];
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destination[1] = delta[1]/axis_scaling[Y_AXIS];
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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@ -3327,11 +3327,11 @@ Sigma_Exit:
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if(Stopped == false) {
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//get_coordinates(); // For X Y Z E F
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delta[0] = 50;
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delta[1] = 90;
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delta[X_AXIS] = 50;
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delta[Y_AXIS] = 90;
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calculate_SCARA_forward_Transform(delta);
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destination[0] = delta[0]/axis_scaling[X_AXIS];
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destination[1] = delta[1]/axis_scaling[Y_AXIS];
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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@ -3344,11 +3344,11 @@ Sigma_Exit:
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//SERIAL_ECHOLN(" Soft endstops disabled ");
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if(Stopped == false) {
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//get_coordinates(); // For X Y Z E F
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delta[0] = 45;
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delta[1] = 135;
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delta[X_AXIS] = 45;
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delta[Y_AXIS] = 135;
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calculate_SCARA_forward_Transform(delta);
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destination[0] = delta[0]/axis_scaling[X_AXIS];
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destination[1] = delta[1]/axis_scaling[Y_AXIS];
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destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
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prepare_move();
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//ClearToSend();
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@ -4020,9 +4020,9 @@ for (int s = 1; s <= steps; s++) {
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calculate_delta(destination);
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//SERIAL_ECHOPGM("destination[0]="); SERIAL_ECHOLN(destination[0]);
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//SERIAL_ECHOPGM("destination[1]="); SERIAL_ECHOLN(destination[1]);
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//SERIAL_ECHOPGM("destination[2]="); SERIAL_ECHOLN(destination[2]);
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//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
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//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
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//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
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//SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
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//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
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//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
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