diff options
Diffstat (limited to 'docs')
| -rw-r--r-- | docs/Code_Overview.md | 8 | ||||
| -rw-r--r-- | docs/G-Codes.md | 21 |
2 files changed, 16 insertions, 13 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index 0e4836ac..9ccaa60b 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -359,10 +359,10 @@ Useful steps: be efficient as it is typically only called during homing and probing operations. 5. Other methods. Implement the `check_move()`, `get_status()`, - `get_steppers()`, `home()`, and `set_position()` methods. These - functions are typically used to provide kinematic specific checks. - However, at the start of development one can use boiler-plate code - here. + `get_steppers()`, `home()`, `clear_homing_state()`, and `set_position()` + methods. These functions are typically used to provide kinematic + specific checks. However, at the start of development one can use + boiler-plate code here. 6. Implement test cases. Create a g-code file with a series of moves that can test important cases for the given kinematics. Follow the [debugging documentation](Debugging.md) to convert this g-code file diff --git a/docs/G-Codes.md b/docs/G-Codes.md index d44017de..ff6182fa 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -585,15 +585,18 @@ state; issue a G28 afterwards to reset the kinematics. This command is intended for low-level diagnostics and debugging. #### SET_KINEMATIC_POSITION -`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force -the low-level kinematic code to believe the toolhead is at the given -cartesian position. This is a diagnostic and debugging command; use -SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an -axis is not specified then it will default to the position that the -head was last commanded to. Setting an incorrect or invalid position -may lead to internal software errors. This command may invalidate -future boundary checks; issue a G28 afterwards to reset the -kinematics. +`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>] +[CLEAR=<[X][Y][Z]>]`: Force the low-level kinematic code to believe the +toolhead is at the given cartesian position. This is a diagnostic and +debugging command; use SET_GCODE_OFFSET and/or G92 for regular axis +transformations. If an axis is not specified then it will default to the +position that the head was last commanded to. Setting an incorrect or +invalid position may lead to internal software errors. Use the CLEAR +parameter to forget the homing state for the given axes. Note that CLEAR +will not override the previous functionality; if an axis is not specified +to CLEAR it will have its kinematic position set as per above. This +command may invalidate future boundary checks; issue a G28 afterwards to +reset the kinematics. ### [gcode] |