diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 2daeef4d80fbdbf3d9cbafe45ce008d89726dafd..d507832292b572e4c57c16f7b0edcabfe556bb07 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -238,6 +238,11 @@ const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
//#define DISABLE_MAX_ENDSTOPS
+// Disable max endstops for compatibility with endstop checking routine
+#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
+ #define DISABLE_MAX_ENDSTOPS
+#endif
+
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 24a20b1cd30a64464c536b9cfec593a158255261..8eff191751a078be015e12744dfc71a9ccc8fb84 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -564,8 +564,16 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
block->busy = false;
// Number of steps for each axis
- block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
- block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
+#ifndef COREXY
+// default non-h-bot planning
+block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
+block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
+#else
+// corexy planning
+// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
+block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
+block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
+#endif
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
block->steps_e *= extrudemultiply;
@@ -586,6 +594,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
// Compute direction bits for this block
block->direction_bits = 0;
+#ifndef COREXY
if (target[X_AXIS] < position[X_AXIS])
{
block->direction_bits |= (1<<X_AXIS);
@@ -594,6 +603,16 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
{
block->direction_bits |= (1<<Y_AXIS);
}
+#else
+ if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
+ {
+ block->direction_bits |= (1<<X_AXIS);
+ }
+ if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
+ {
+ block->direction_bits |= (1<<Y_AXIS);
+ }
+#endif
if (target[Z_AXIS] < position[Z_AXIS])
{
block->direction_bits |= (1<<Z_AXIS);
@@ -638,8 +657,13 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
}
float delta_mm[4];
- delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
- delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
+ #ifndef COREXY
+ delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
+ delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
+ #else
+ delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
+ delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
+ #endif
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 6a012b54b6c1d2e90983b263e8d49fcd80535e57..3d88b38383d619b71c72b6d845e10f89a2d70110 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -345,12 +345,31 @@ ISR(TIMER1_COMPA_vect)
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
+
+ // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
+ if((out_bits & (1<<X_AXIS))!=0){
+ WRITE(X_DIR_PIN, INVERT_X_DIR);
+ count_direction[X_AXIS]=-1;
+ }
+ else{
+ WRITE(X_DIR_PIN, !INVERT_X_DIR);
+ count_direction[X_AXIS]=1;
+ }
+ if((out_bits & (1<<Y_AXIS))!=0){
+ WRITE(Y_DIR_PIN, INVERT_Y_DIR);
+ count_direction[Y_AXIS]=-1;
+ }
+ else{
+ WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
+ count_direction[Y_AXIS]=1;
+ }
+
// Set direction en check limit switches
+ #ifndef COREXY
if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
- #if !defined COREXY //NOT COREXY
- WRITE(X_DIR_PIN, INVERT_X_DIR);
- #endif
- count_direction[X_AXIS]=-1;
+ #else
+ if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) { //-X occurs for -A and -B
+ #endif
CHECK_ENDSTOPS
{
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
@@ -365,11 +384,6 @@ ISR(TIMER1_COMPA_vect)
}
}
else { // +direction
- #if !defined COREXY //NOT COREXY
- WRITE(X_DIR_PIN,!INVERT_X_DIR);
- #endif
-
- count_direction[X_AXIS]=1;
CHECK_ENDSTOPS
{
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
@@ -384,11 +398,11 @@ ISR(TIMER1_COMPA_vect)
}
}
+ #ifndef COREXY
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
- #if !defined COREXY //NOT COREXY
- WRITE(Y_DIR_PIN,INVERT_Y_DIR);
- #endif
- count_direction[Y_AXIS]=-1;
+ #else
+ if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) { // -Y occurs for -A and +B
+ #endif
CHECK_ENDSTOPS
{
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
@@ -403,10 +417,6 @@ ISR(TIMER1_COMPA_vect)
}
}
else { // +direction
- #if !defined COREXY //NOT COREXY
- WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
- #endif
- count_direction[Y_AXIS]=1;
CHECK_ENDSTOPS
{
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
@@ -420,28 +430,7 @@ ISR(TIMER1_COMPA_vect)
#endif
}
}
-
-
- #ifdef COREXY //coreXY kinematics defined
- if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) == 0)){ //+X is major axis
- WRITE(X_DIR_PIN, !INVERT_X_DIR);
- WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
- }
- if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) != 0)){ //-X is major axis
- WRITE(X_DIR_PIN, INVERT_X_DIR);
- WRITE(Y_DIR_PIN, INVERT_Y_DIR);
- }
- if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) == 0)){ //+Y is major axis
- WRITE(X_DIR_PIN, !INVERT_X_DIR);
- WRITE(Y_DIR_PIN, INVERT_Y_DIR);
- }
- if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) != 0)){ //-Y is major axis
- WRITE(X_DIR_PIN, INVERT_X_DIR);
- WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
- }
- #endif //coreXY
-
-
+
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
@@ -516,7 +505,6 @@ ISR(TIMER1_COMPA_vect)
}
#endif //ADVANCE
- #if !defined COREXY
counter_x += current_block->steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
@@ -532,56 +520,7 @@ ISR(TIMER1_COMPA_vect)
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
}
- #endif
- #ifdef COREXY
- counter_x += current_block->steps_x;
- counter_y += current_block->steps_y;
-
- if ((counter_x > 0)&&!(counter_y>0)){ //X step only
- WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
- WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
- counter_x -= current_block->step_event_count;
- count_position[X_AXIS]+=count_direction[X_AXIS];
- WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
- WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
- }
-
- if (!(counter_x > 0)&&(counter_y>0)){ //Y step only
- WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
- WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
- counter_y -= current_block->step_event_count;
- count_position[Y_AXIS]+=count_direction[Y_AXIS];
- WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
- WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
- }
-
- if ((counter_x > 0)&&(counter_y>0)){ //step in both axes
- if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){ //X and Y in different directions
- WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
- counter_x -= current_block->step_event_count;
- WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
- step_wait();
- count_position[X_AXIS]+=count_direction[X_AXIS];
- count_position[Y_AXIS]+=count_direction[Y_AXIS];
- WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
- counter_y -= current_block->step_event_count;
- WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
- }
- else{ //X and Y in same direction
- WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
- counter_x -= current_block->step_event_count;
- WRITE(X_STEP_PIN, INVERT_X_STEP_PIN) ;
- step_wait();
- count_position[X_AXIS]+=count_direction[X_AXIS];
- count_position[Y_AXIS]+=count_direction[Y_AXIS];
- WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
- counter_y -= current_block->step_event_count;
- WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
- }
- }
- #endif //corexy
-
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);