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@ -367,11 +367,12 @@ void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/
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planner.e_factor[active_extruder] = 1.0f;
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planner.e_factor[active_extruder] = 1.0f;
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#endif
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#endif
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#if IS_KINEMATIC
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#if !IS_KINEMATIC
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constexpr bool is_fast = false;
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#endif
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if (is_fast)
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if (is_fast)
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prepare_fast_move_to_destination();
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prepare_fast_move_to_destination();
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else
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else
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#endif
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prepare_line_to_destination();
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prepare_line_to_destination();
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feedrate_mm_s = old_feedrate;
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feedrate_mm_s = old_feedrate;
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@ -382,7 +383,12 @@ void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/
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}
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}
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/**
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/**
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* Plan a move to (X, Y, Z) and set the current_position
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* Plan a move to (X, Y, Z) with separation of the XY and Z components.
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*
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* - If Z is moving up, the Z move is done before XY.
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* - If Z is moving down, the Z move is done after XY.
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* - Delta may lower Z first to get into the free motion zone.
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* - Before returning, wait for the planner buffer to empty.
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*/
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*/
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void do_blocking_move_to(const float rx, const float ry, const float rz, const_feedRate_t fr_mm_s/*=0.0*/) {
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void do_blocking_move_to(const float rx, const float ry, const float rz, const_feedRate_t fr_mm_s/*=0.0*/) {
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DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING));
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DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING));
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@ -391,14 +397,15 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const_f
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const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS),
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const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS),
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xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S);
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xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S);
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#if EITHER(DELTA, IS_SCARA)
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if (!position_is_reachable(rx, ry)) return;
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destination = current_position; // sync destination at the start
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#endif
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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if (!position_is_reachable(rx, ry)) return;
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REMEMBER(fr, feedrate_mm_s, xy_feedrate);
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REMEMBER(fr, feedrate_mm_s, xy_feedrate);
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destination = current_position; // sync destination at the start
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if (DEBUGGING(LEVELING)) DEBUG_POS("destination = current_position", destination);
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if (DEBUGGING(LEVELING)) DEBUG_POS("destination = current_position", destination);
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// when in the danger zone
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// when in the danger zone
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@ -432,10 +439,6 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const_f
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#elif IS_SCARA
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#elif IS_SCARA
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if (!position_is_reachable(rx, ry)) return;
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destination = current_position;
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// If Z needs to raise, do it before moving XY
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// If Z needs to raise, do it before moving XY
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if (destination.z < rz) {
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if (destination.z < rz) {
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destination.z = rz;
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destination.z = rz;
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