/* -*- c++ -*- */

/*
    Reprap firmware based on Sprinter and grbl.
 Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm

 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 This program is distributed in the hope that it will be useful,G
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
 This firmware is a mashup between Sprinter and grbl.
  (https://github.com/kliment/Sprinter)
  (https://github.com/simen/grbl/tree)

 It has preliminary support for Matthew Roberts advance algorithm
    http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
 */

#include "Marlin.h"

#ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h"
  #ifdef AUTO_BED_LEVELING_GRID
    #include "qr_solve.h"
  #endif
#endif // ENABLE_AUTO_BED_LEVELING

#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "motion_control.h"
#include "cardreader.h"
#include "watchdog.h"
#include "ConfigurationStore.h"
#include "language.h"
#include "pins_arduino.h"
#include "math.h"


//这是mpu需要包含的头文件
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "Wire.h"




#ifdef BLINKM
#include "BlinkM.h"
#include "Wire.h"
#endif

#if NUM_SERVOS > 0
#include "Servo.h"
#endif

#ifdef COLOR
#include "color.h"
#endif

#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#endif

#define VERSION_STRING  "1.0.2"

// look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes

//Implemented Codes
//-------------------
// G0  -> G1
// G1  - Coordinated Movement X Y Z E
// G2  - CW ARC
// G3  - CCW ARC
// G4  - Dwell S<seconds> or P<milliseconds>
// G10 - retract filament according to settings of M207
// G11 - retract recover filament according to settings of M208
// G28 - Home all Axis
// G29 - Detailed Z-Probe, probes the bed at 3 or more points.  Will fail if you haven't homed yet.
// G30 - Single Z Probe, probes bed at current XY location.
// G31 - Dock sled (Z_PROBE_SLED only)
// G32 - Undock sled (Z_PROBE_SLED only)
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to coordinates given
// G93 - Set current position to angle given
// G94 - No Use Angle Coordinates
// G95 - Use Angle Coordinates

// M Codes
// M0   - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
// M1   - Same as M0
// M17  - Enable/Power all stepper motors
// M18  - Disable all stepper motors; same as M84
// M20  - List SD card
// M21  - Init SD card
// M22  - Release SD card
// M23  - Select SD file (M23 filename.g)
// M24  - Start/resume SD print
// M25  - Pause SD print
// M26  - Set SD position in bytes (M26 S12345)
// M27  - Report SD print status
// M28  - Start SD write (M28 filename.g)
// M29  - Stop SD write
// M30  - Delete file from SD (M30 filename.g)
// M31  - Output time since last M109 or SD card start to serial
// M32  - Select file and start SD print (Can be used _while_ printing from SD card files):
//        syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
//        Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
//        The '#' is necessary when calling from within sd files, as it stops buffer prereading
// M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
// M80  - Turn on Power Supply
// M81  - Turn off Power Supply
// M82  - Set E codes absolute (default)
// M83  - Set E codes relative while in Absolute Coordinates (G90) mode
// M84  - Disable steppers until next move,
//        or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
// M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92  - Set axis_steps_per_unit - same syntax as G92
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
//        Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
//        IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
// M112 - Emergency stop
// M114 - Output current position to serial port
// M115 - Capabilities string
// M117 - display message
// M119 - Output Endstop status to serial port
// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M140 - Set bed target temp
// M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
// M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
//        Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
// M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
// M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
// M206 - set additional homing offset
// M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
// M240 - Trigger a camera to take a photograph
// M250 - Set LCD contrast C<contrast value> (value 0..63)
// M280 - set servo position absolute. P: servo index, S: angle or microseconds
// M300 - Play beep sound S<frequency Hz> P<duration ms>
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M304 - Set bed PID parameters P I and D
// M400 - Finish all moves
// M401 - Lower z-probe if present
// M402 - Raise z-probe if present
// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
// M405 - Turn on Filament Sensor extrusion control.  Optional D<delay in cm> to set delay in centimeters between sensor and extruder 
// M406 - Turn off Filament Sensor extrusion control 
// M407 - Displays measured filament diameter 
// M500 - stores parameters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
// M503 - print the current settings (from memory not from EEPROM)
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
// M665 - set delta configurations
// M666 - set delta endstop adjustment
// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
// M907 - Set digital trimpot motor current using axis codes.
// M908 - Control digital trimpot directly.
// M350 - Set microstepping mode.
// M351 - Toggle MS1 MS2 pins directly.

// ************ SCARA Specific - This can change to suit future G-code regulations
// M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
// M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
// M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
// M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
// M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
// M365 - SCARA calibration: Scaling factor, X, Y, Z axis
// M366 - SCARA calibration: Linkage_1,Linkage_2,CencerOffset,HeadOffset
// M367 - SCARA calibration: SCARA_offset[3]
//************* SCARA End ***************

// M928 - Start SD logging (M928 filename.g) - ended by M29
// M999 - Restart after being stopped by error

//Stepper Movement Variables

//===========================================================================
//=============================imported variables============================
//===========================================================================


//===========================================================================
//=============================public variables=============================
//===========================================================================
#ifdef SDSUPPORT
CardReader card;
#endif
float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedmultiply=100; //100->1 200->2
int saved_feedmultiply;
int extrudemultiply=100; //100->1 200->2
int extruder_multiply[EXTRUDERS] = {100
  #if EXTRUDERS > 1
    , 100
    #if EXTRUDERS > 2
      , 100
    #endif
  #endif
};
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  #if EXTRUDERS > 1
      , DEFAULT_NOMINAL_FILAMENT_DIA
    #if EXTRUDERS > 2
       , DEFAULT_NOMINAL_FILAMENT_DIA
    #endif
  #endif
};
float volumetric_multiplier[EXTRUDERS] = {1.0
  #if EXTRUDERS > 1
    , 1.0
    #if EXTRUDERS > 2
      , 1.0
    #endif
  #endif
};
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homing[3]={0,0,0};
#ifdef DELTA
float endstop_adj[3]={0,0,0};
#endif

float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
float min_angle[2] = { X_MIN_ANGLE, Y_MIN_ANGLE };
float max_angle[2] = { X_MAX_ANGLE, Y_MAX_ANGLE };
bool axis_known_position[3] = {false, false, false};
float zprobe_zoffset;

// Extruder offset
#if EXTRUDERS > 1
#ifndef DUAL_X_CARRIAGE
  #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
#else
  #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
#endif
float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
#endif
};
#endif
uint8_t active_extruder = 0;
int fanSpeed=0;
#ifdef SERVO_ENDSTOPS
  int servo_endstops[] = SERVO_ENDSTOPS;
  int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
#endif
#ifdef BARICUDA
int ValvePressure=0;
int EtoPPressure=0;
#endif

#ifdef FWRETRACT
  bool autoretract_enabled=false;
  bool retracted[EXTRUDERS]={false
    #if EXTRUDERS > 1
    , false
     #if EXTRUDERS > 2
      , false
     #endif
  #endif
  };
  bool retracted_swap[EXTRUDERS]={false
    #if EXTRUDERS > 1
    , false
     #if EXTRUDERS > 2
      , false
     #endif
  #endif
  };

  float retract_length = RETRACT_LENGTH;
  float retract_length_swap = RETRACT_LENGTH_SWAP;
  float retract_feedrate = RETRACT_FEEDRATE;
  float retract_zlift = RETRACT_ZLIFT;
  float retract_recover_length = RETRACT_RECOVER_LENGTH;
  float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
#endif

#ifdef ULTIPANEL
  #ifdef PS_DEFAULT_OFF
    bool powersupply = false;
  #else
	  bool powersupply = true;
  #endif
#endif

#ifdef DELTA
  float delta[3] = {0.0, 0.0, 0.0};
  #define SIN_60 0.8660254037844386
  #define COS_60 0.5
  // these are the default values, can be overriden with M665
  float delta_radius= DELTA_RADIUS;
  float delta_tower1_x= -SIN_60*delta_radius; // front left tower
  float delta_tower1_y= -COS_60*delta_radius;	   
  float delta_tower2_x=  SIN_60*delta_radius; // front right tower
  float delta_tower2_y= -COS_60*delta_radius;	   
  float delta_tower3_x= 0.0;                  // back middle tower
  float delta_tower3_y= delta_radius;
  float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
  float delta_diagonal_rod_2= sq(delta_diagonal_rod);
  float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
#endif

#ifdef SCARA                              // Build size scaling
float axis_scaling[3]={1,1,1};  // Build size scaling, default to 1
float ManualHomePos[3]={MANUAL_HOME_POS_X,MANUAL_HOME_POS_Y,MANUAL_HOME_POS_Z};
float Linkage_1 = LINKAGE1;
float Linkage_2 = LINKAGE2;
float CencerOffset = CENCER_OFFSET;
float HeadOffset = HEAD_OFFSET;
float SCARA_offset[3]={SCARA_OFFSET_X,SCARA_OFFSET_Y,SCARA_OFFSET_Z};

//这里是我设置的位置
float moveto0[3]={0,0,40};//初始位置
float moveto1[3]={0,0,5};//接触物品位置
float moveto21[3]={0,0,-90};//转弯-90
float moveto22[3]={0,0,90};//转弯90
float moveto31[3]={-240,-300,4};//放下物品,改变这个Z参数可以确定向下放的时候爪子的高度
float moveto32[3]={-240,-380,4};//目的的位置
float TempDelta[3];//我记得我改了这里，把一个局部变量设成了全局变量。
float wlh[3]={30,30,30};//这是物品的宽长高，和码垛堆的加减有关，注意一定是宽长高，长对应传送带运动方向，，宽对应传送带的宽度方向。
float angle=153;//夹持物品时的舵机夹角。
float angle1=0;//用来放方位角
float stack_sizez=0;//存放这里这里面的尺寸是用来加在坐标上的，对于不同方向，尺寸大小相同但是正负不同。size[3]放的是角度
float stack_sizey[]={0,0};
int stack_time=6;//存放码垛循环次数。
int stack_mode=0;//0代表和传送带上方向一样，1代表成90度。
int stack_point[]={0,0,0};//这里面的因子是作为除数求出来的东西存在的。对于不同编号的物品，因子不同。
int stacking_num=0;//这里指的是物品堆的长宽高，对应和XYZ轴方向相同。后面用来存放求余数的东西
//我的设置结束
#endif

#ifdef COLOR
int color_goods1[]={0,0,0};//物体1的颜色。
int color_goods2[]={0,0,0};//物体2的颜色。
int color_goods3[]={0,0,0};//物体1的颜色。
int color_goods4[]={0,0,0};//物体2的颜色。
#endif


//--------------------------------
//示教部分开始
MPU6050 mpu;//定义类的变量，来使用库读取MPU6050的数据
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal,aaReal1;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
//定义结束，上面定义的是读数据，初始化传感器需要的变量
//定义示教功能对应的变量。
float teach_angle[3][100];//存放对应的角度，teach_angle[0][100]对应大臂角度；teach_angle[1][100]对应小臂角度。2对应底座角度
int teach_sample=250;//单位是毫秒，为采样时间。
float teach_offset[3];//初始化中校正的偏差量。
volatile int teach_number=0;//这个是下面算出来的运动到结束的采样值有多少组。
int teach_flag=0;//用到的标志位,因为采样时间不是1秒，但是要倒计时的原因，在实际运行的程序中，使用这个变量来决定是否倒计时1秒。
volatile int teach_timecushion=10;//用来表示时间等待传感器缓冲的时间还有多少。
volatile int teach_time=10;//表示示教活动进行的总时间。-------可以通过上位机修改
int teach_interval=1000;//存放定时器的时间，真实初始时间是他的五倍，就是5秒钟。
float teach_coordinate[3];//中间变量，存放目的坐标。
float teach_buffer[3];//中间变量，存放采样得到的角度。
float teach_velocity[3];//中间变量，存放他们的三个坐标轴的速度。
float teach_maxv=0;//中间变量，放这次采样和上一次采样的三坐标轴运动的最大速度。
int teach_loop=1;//定义示教之后运动的次数。--------------------可以通过上位机修改
//定义结束
//示教部分结束
//--------------------------------


bool cancel_heatup = false ;

#ifdef FILAMENT_SENSOR
  //Variables for Filament Sensor input 
  float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA;  //Set nominal filament width, can be changed with M404 
  bool filament_sensor=false;  //M405 turns on filament_sensor control, M406 turns it off 
  float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter 
  signed char measurement_delay[MAX_MEASUREMENT_DELAY+1];  //ring buffer to delay measurement  store extruder factor after subtracting 100 
  int delay_index1=0;  //index into ring buffer
  int delay_index2=-1;  //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  float delay_dist=0; //delay distance counter  
  int meas_delay_cm = MEASUREMENT_DELAY_CM;  //distance delay setting
#endif

const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";

//===========================================================================
//=============================Private Variables=============================
//===========================================================================
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};

#ifndef DELTA
static float delta[3] = {0.0, 0.0, 0.0};
static float delta1[3] = {0.0, 0.0, 0.0};//这是我自己定义的变量，用来放置这个运动反解，而这是个静态变量，作用域仅在此函数之内，因此没有在头文件声明的必要
#endif

static float offset[3] = {0.0, 0.0, 0.0};
static bool home_all_axis = true;
static float feedrate = 1500.0, next_feedrate, saved_feedrate;
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;

static bool relative_mode = false;  //Determines Absolute or Relative Coordinates
static bool angle_mode = false;

static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
static bool fromsd[BUFSIZE];
static int bufindr = 0;
static int bufindw = 0;
static int buflen = 0;
//static int i = 0;
static char serial_char;
static int serial_count = 0;
static boolean comment_mode = false;
static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc

const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42

//static float tt = 0;
//static float bt = 0;

//Inactivity shutdown variables
static unsigned long previous_millis_cmd = 0;
static unsigned long max_inactive_time = 0;
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;

unsigned long starttime=0;
unsigned long stoptime=0;

static uint8_t tmp_extruder;


bool Stopped=false;

#if NUM_SERVOS > 0
  Servo servos[NUM_SERVOS];
#endif

bool CooldownNoWait = true;
bool target_direction;

//Insert variables if CHDK is defined
#ifdef CHDK
unsigned long chdkHigh = 0;
boolean chdkActive = false;
#endif

//===========================================================================
//=============================Routines======================================
//===========================================================================

void get_arc_coordinates();
bool setTargetedHotend(int code);

void serial_echopair_P(const char *s_P, float v)
    { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, double v)
    { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, unsigned long v)
    { serialprintPGM(s_P); SERIAL_ECHO(v); }

#ifdef SDSUPPORT
  #include "SdFatUtil.h"
  int freeMemory() { return SdFatUtil::FreeRam(); }
#else
  extern "C" {
    extern unsigned int __bss_end;
    extern unsigned int __heap_start;
    extern void *__brkval;

    int freeMemory() {
      int free_memory;

      if ((int)__brkval == 0)
        free_memory = ((int)&free_memory) - ((int)&__bss_end);
      else
        free_memory = ((int)&free_memory) - ((int)__brkval);

      return free_memory;
    }
  }
#endif //!SDSUPPORT

//adds an command to the main command buffer
//thats really done in a non-safe way.
//needs overworking someday
void enquecommand(const char *cmd)
{
  if(buflen < BUFSIZE)
  {
    //this is dangerous if a mixing of serial and this happens
    strcpy(&(cmdbuffer[bufindw][0]),cmd);
    SERIAL_ECHO_START;
    SERIAL_ECHOPGM(MSG_Enqueing);
    SERIAL_ECHO(cmdbuffer[bufindw]);
    SERIAL_ECHOLNPGM("\"");
    bufindw= (bufindw + 1)%BUFSIZE;
    buflen += 1;
  }
}

void enquecommand_P(const char *cmd)
{
  if(buflen < BUFSIZE)
  {
    //this is dangerous if a mixing of serial and this happens
    strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
    SERIAL_ECHO_START;
    SERIAL_ECHOPGM(MSG_Enqueing);
    SERIAL_ECHO(cmdbuffer[bufindw]);
    SERIAL_ECHOLNPGM("\"");
    bufindw= (bufindw + 1)%BUFSIZE;
    buflen += 1;
  }
}

void setup_killpin()
{
  #if defined(KILL_PIN) && KILL_PIN > -1
    SET_INPUT(KILL_PIN);
    WRITE(KILL_PIN,HIGH);
  #endif
}

// Set home pin
void setup_homepin(void)
{
#if defined(HOME_PIN) && HOME_PIN > -1
   SET_INPUT(HOME_PIN);
   WRITE(HOME_PIN,HIGH);
#endif
}


void setup_photpin()
{
  #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
    SET_OUTPUT(PHOTOGRAPH_PIN);
    WRITE(PHOTOGRAPH_PIN, LOW);
  #endif
}

void setup_powerhold()
{
  #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
    SET_OUTPUT(SUICIDE_PIN);
    WRITE(SUICIDE_PIN, HIGH);
  #endif
  #if defined(PS_ON_PIN) && PS_ON_PIN > -1
    SET_OUTPUT(PS_ON_PIN);
	#if defined(PS_DEFAULT_OFF)
	  WRITE(PS_ON_PIN, PS_ON_ASLEEP);
    #else
	  WRITE(PS_ON_PIN, PS_ON_AWAKE);
	#endif
  #endif
}

void suicide()
{
  #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
    SET_OUTPUT(SUICIDE_PIN);
    WRITE(SUICIDE_PIN, LOW);
  #endif
}

void servo_init()
{
  #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
    servos[0].attach(SERVO0_PIN);
  #endif
  #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
    servos[1].attach(SERVO1_PIN);
  #endif
  #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
    servos[2].attach(SERVO2_PIN);
  #endif
  #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
    servos[3].attach(SERVO3_PIN);
  #endif
  #if (NUM_SERVOS >= 5)
    #error "TODO: enter initalisation code for more servos"
  #endif

  // Set position of Servo Endstops that are defined
  #ifdef SERVO_ENDSTOPS
  for(int8_t i = 0; i < 3; i++)
  {
    if(servo_endstops[i] > -1) {
      servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
    }
  }
  #endif

  #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  delay(PROBE_SERVO_DEACTIVATION_DELAY);
  servos[servo_endstops[Z_AXIS]].detach();
  #endif
}


void setup()
{
  setup_killpin();
  setup_powerhold();
  MYSERIAL.begin(BAUDRATE);
  SERIAL_PROTOCOLLNPGM("start");
  SERIAL_ECHO_START;

  // Check startup - does nothing if bootloader sets MCUSR to 0
  byte mcu = MCUSR;
  if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  MCUSR=0;

  SERIAL_ECHOPGM(MSG_MARLIN);
  SERIAL_ECHOPGM(VERSION_STRING);
  SERIAL_ECHOLNPGM(USER_NUMBER);
  #ifdef STRING_VERSION_CONFIG_H
    #ifdef STRING_CONFIG_H_AUTHOR
      SERIAL_ECHO_START;
      SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
      SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
      SERIAL_ECHOPGM(MSG_AUTHOR);
      SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
      SERIAL_ECHOPGM("Compiled: ");
      SERIAL_ECHOLNPGM(__DATE__);
    #endif
  #endif
  SERIAL_ECHO_START;
  SERIAL_ECHOPGM(MSG_FREE_MEMORY);
  SERIAL_ECHO(freeMemory());
  SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
  SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  for(int8_t i = 0; i < BUFSIZE; i++)
  {
    fromsd[i] = false;
  }

  // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  Config_RetrieveSettings();
  //recalc_delta_settings(delta_radius, delta_diagonal_rod);
  

  tp_init();    // Initialize temperature loop
  plan_init();  // Initialize planner;
  watchdog_init();
  st_init();    // Initialize stepper, this enables interrupts!
  setup_photpin();
  servo_init();
  

  lcd_init();
  _delay_ms(1000);	// wait 1sec to display the splash screen

  #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  #endif

  #ifdef DIGIPOT_I2C
    digipot_i2c_init();
  #endif
#ifdef Z_PROBE_SLED
  pinMode(SERVO0_PIN, OUTPUT);
  digitalWrite(SERVO0_PIN, LOW); // turn it off
#endif // Z_PROBE_SLED
  setup_homepin();
}


void loop()
{
  if(buflen < (BUFSIZE-1))
    get_command();
  #ifdef SDSUPPORT
  card.checkautostart(false);
  #endif
  if(buflen)
  {
    #ifdef SDSUPPORT
      if(card.saving)
      {
        if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
        {
          card.write_command(cmdbuffer[bufindr]);
          if(card.logging)
          {
            process_commands();
          }
          else
          {
            SERIAL_PROTOCOLLNPGM(MSG_OK);
          }
        }
        else
        {
          card.closefile();
          SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
        }
      }
      else
      {
        process_commands();
      }
    #else
      process_commands();
    #endif //SDSUPPORT
    buflen = (buflen-1);
    bufindr = (bufindr + 1)%BUFSIZE;
  }
  //check heater every n milliseconds
  manage_heater();
  manage_inactivity();
  checkHitEndstops();
  lcd_update();
}

void get_command()
{
  while( MYSERIAL.available() > 0  && buflen < BUFSIZE) {
    serial_char = MYSERIAL.read();
    if(serial_char == '\n' ||
       serial_char == '\r' ||
       (serial_char == ':' && comment_mode == false) ||
       serial_count >= (MAX_CMD_SIZE - 1) )
    {
      if(!serial_count) { //if empty line
        comment_mode = false; //for new command
        return;
      }
      cmdbuffer[bufindw][serial_count] = 0; //terminate string
      if(!comment_mode){
        comment_mode = false; //for new command
        fromsd[bufindw] = false;
        if(strchr(cmdbuffer[bufindw], 'N') != NULL)
        {
          strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
          gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
          if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
            SERIAL_ERROR_START;
            SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
            SERIAL_ERRORLN(gcode_LastN);
            //Serial.println(gcode_N);
            FlushSerialRequestResend();
            serial_count = 0;
            return;
          }

          if(strchr(cmdbuffer[bufindw], '*') != NULL)
          {
            byte checksum = 0;
            byte count = 0;
            while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
            strchr_pointer = strchr(cmdbuffer[bufindw], '*');

            if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
              SERIAL_ERROR_START;
              SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
              SERIAL_ERRORLN(gcode_LastN);
              FlushSerialRequestResend();
              serial_count = 0;
              return;
            }
            //if no errors, continue parsing
          }
          else
          {
            SERIAL_ERROR_START;
            SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
            SERIAL_ERRORLN(gcode_LastN);
            FlushSerialRequestResend();
            serial_count = 0;
            return;
          }

          gcode_LastN = gcode_N;
          //if no errors, continue parsing
        }
        else  // if we don't receive 'N' but still see '*'
        {
          if((strchr(cmdbuffer[bufindw], '*') != NULL))
          {
            SERIAL_ERROR_START;
            SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
            SERIAL_ERRORLN(gcode_LastN);
            serial_count = 0;
            return;
          }
        }
        if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
          strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
          switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
          case 0:
          case 1:
          case 2:
          case 3:
            if (Stopped == true) {
              SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
              LCD_MESSAGEPGM(MSG_STOPPED);
            }
            break;
          default:
            break;
          }

        }

        //If command was e-stop process now
        if(strcmp(cmdbuffer[bufindw], "M112") == 0)
          kill();
        
        bufindw = (bufindw + 1)%BUFSIZE;
        buflen += 1;
      }
      serial_count = 0; //clear buffer
    }
    else
    {
      if(serial_char == ';') comment_mode = true;
      if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
    }
  }
  #ifdef SDSUPPORT
  if(!card.sdprinting || serial_count!=0){
    return;
  }

  //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
  // if it occurs, stop_buffering is triggered and the buffer is ran dry.
  // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing

  static bool stop_buffering=false;
  if(buflen==0) stop_buffering=false;

  while( !card.eof()  && buflen < BUFSIZE && !stop_buffering) {
    int16_t n=card.get();
    serial_char = (char)n;
    if(serial_char == '\n' ||
       serial_char == '\r' ||
       (serial_char == '#' && comment_mode == false) ||
       (serial_char == ':' && comment_mode == false) ||
       serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
    {
      if(card.eof()){
        SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
        stoptime=millis();
        char time[30];
        unsigned long t=(stoptime-starttime)/1000;
        int hours, minutes;
        minutes=(t/60)%60;
        hours=t/60/60;
        sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
        SERIAL_ECHO_START;
        SERIAL_ECHOLN(time);
        lcd_setstatus(time);
        card.printingHasFinished();
        card.checkautostart(true);

      }
      if(serial_char=='#')
        stop_buffering=true;

      if(!serial_count)
      {
        comment_mode = false; //for new command
        return; //if empty line
      }
      cmdbuffer[bufindw][serial_count] = 0; //terminate string
//      if(!comment_mode){
        fromsd[bufindw] = true;
        buflen += 1;
        bufindw = (bufindw + 1)%BUFSIZE;
//      }
      comment_mode = false; //for new command
      serial_count = 0; //clear buffer
    }
    else
    {
      if(serial_char == ';') comment_mode = true;
      if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
    }
  }

  #endif //SDSUPPORT

}


float code_value()
{
  return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
}

long code_value_long()
{
  return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
}

bool code_seen(char code)
{
  strchr_pointer = strchr(cmdbuffer[bufindr], code);
  return (strchr_pointer != NULL);  //Return True if a character was found
}

#define DEFINE_PGM_READ_ANY(type, reader)       \
    static inline type pgm_read_any(const type *p)  \
    { return pgm_read_##reader##_near(p); }

DEFINE_PGM_READ_ANY(float,       float);
DEFINE_PGM_READ_ANY(signed char, byte);

#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[3] =        \
    { X_##CONFIG, Y_##CONFIG, Z_##CONFIG };     \
static inline type array(int axis)          \
    { return pgm_read_any(&array##_P[axis]); }

XYZ_CONSTS_FROM_CONFIG(float, base_min_pos,    MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos,    MAX_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos,   HOME_POS);
XYZ_CONSTS_FROM_CONFIG(float, max_length,      MAX_LENGTH);
XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir,  HOME_DIR);

#ifdef DUAL_X_CARRIAGE
  #if EXTRUDERS == 1 || defined(COREXY) \
      || !defined(X2_ENABLE_PIN) || !defined(X2_STEP_PIN) || !defined(X2_DIR_PIN) \
      || !defined(X2_HOME_POS) || !defined(X2_MIN_POS) || !defined(X2_MAX_POS) \
      || !defined(X_MAX_PIN) || X_MAX_PIN < 0
    #error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
  #endif
  #if X_HOME_DIR != -1 || X2_HOME_DIR != 1
    #error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
  #endif

#define DXC_FULL_CONTROL_MODE 0
#define DXC_AUTO_PARK_MODE    1
#define DXC_DUPLICATION_MODE  2
static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;

static float x_home_pos(int extruder) {
  if (extruder == 0)
    return base_home_pos(X_AXIS) + add_homing[X_AXIS];
  else
    // In dual carriage mode the extruder offset provides an override of the
    // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
    // This allow soft recalibration of the second extruder offset position without firmware reflash
    // (through the M218 command).
    return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
}

static int x_home_dir(int extruder) {
  return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
}

static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
static bool active_extruder_parked = false; // used in mode 1 & 2
static float raised_parked_position[NUM_AXIS]; // used in mode 1
static unsigned long delayed_move_time = 0; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
static float duplicate_extruder_temp_offset = 0; // used in mode 2
bool extruder_duplication_enabled = false; // used in mode 2
#endif //DUAL_X_CARRIAGE

static void axis_is_at_home(int axis) {
#ifdef DUAL_X_CARRIAGE
  if (axis == X_AXIS) {
    if (active_extruder != 0) {
      current_position[X_AXIS] = x_home_pos(active_extruder);
      min_pos[X_AXIS] =          X2_MIN_POS;
      max_pos[X_AXIS] =          max(extruder_offset[X_AXIS][1], X2_MAX_POS);
      return;
    }
    else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
      current_position[X_AXIS] = base_home_pos(X_AXIS) + add_homing[X_AXIS];
      min_pos[X_AXIS] =          base_min_pos(X_AXIS) + add_homing[X_AXIS];
      max_pos[X_AXIS] =          min(base_max_pos(X_AXIS) + add_homing[X_AXIS],
                                  max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
      return;
    }
  }
#endif
#ifdef SCARA
	current_position[axis] = base_home_pos(axis) + add_homing[axis];
	min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
	max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
	/*
   float homeposition[3];
   char i;
   
   if (axis < 2)
   {
   
     for (i=0; i<3; i++)
     {
        homeposition[i] = base_home_pos(i); 
     }  
	// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
   //  SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
   // Works out real Homeposition angles using inverse kinematics, 
   // and calculates homing offset using forward kinematics
     calculate_delta(homeposition);
     
    // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
    // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
     
     for (i=0; i<2; i++)
     {
        delta[i] -= add_homing[i];
     } 
     
    // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
	// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
    // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
    // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
      
     calculate_SCARA_forward_Transform(delta);
     
    // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
    // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
     
    current_position[axis] = delta[axis];
    
    // SCARA home positions are based on configuration since the actual limits are determined by the 
    // inverse kinematic transform.
    min_pos[axis] =          base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
    max_pos[axis] =          base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
   } 
   else
   {
      current_position[axis] = base_home_pos(axis) + add_homing[axis];
      min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
      max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
   }
   */
#else
  current_position[axis] = base_home_pos(axis) + add_homing[axis];
  min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
  max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
#endif
}

#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
{
    vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
    planeNormal.debug("planeNormal");
    plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
    //bedLevel.debug("bedLevel");

    //plan_bed_level_matrix.debug("bed level before");
    //vector_3 uncorrected_position = plan_get_position_mm();
    //uncorrected_position.debug("position before");

    vector_3 corrected_position = plan_get_position();
//    corrected_position.debug("position after");
    current_position[X_AXIS] = corrected_position.x;
    current_position[Y_AXIS] = corrected_position.y;
    current_position[Z_AXIS] = corrected_position.z;

    // put the bed at 0 so we don't go below it.
    current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure

    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}

#else // not AUTO_BED_LEVELING_GRID

static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {

    plan_bed_level_matrix.set_to_identity();

    vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
    vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
    vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);

    vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
    vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
    vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
    planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));

    plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);

    vector_3 corrected_position = plan_get_position();
    current_position[X_AXIS] = corrected_position.x;
    current_position[Y_AXIS] = corrected_position.y;
    current_position[Z_AXIS] = corrected_position.z;

    // put the bed at 0 so we don't go below it.
    current_position[Z_AXIS] = zprobe_zoffset;

    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);

}

#endif // AUTO_BED_LEVELING_GRID

static void run_z_probe() {
    plan_bed_level_matrix.set_to_identity();
    feedrate = homing_feedrate[Z_AXIS];

    // move down until you find the bed
    float zPosition = -10;
    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
    st_synchronize();

        // we have to let the planner know where we are right now as it is not where we said to go.
    zPosition = st_get_position_mm(Z_AXIS);
    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);

    // move up the retract distance
    zPosition += home_retract_mm(Z_AXIS);
    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
    st_synchronize();

    // move back down slowly to find bed
    feedrate = homing_feedrate[Z_AXIS]/4;
    zPosition -= home_retract_mm(Z_AXIS) * 2;
    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
    st_synchronize();

    current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
    // make sure the planner knows where we are as it may be a bit different than we last said to move to
    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}

static void do_blocking_move_to(float x, float y, float z) {
    float oldFeedRate = feedrate;

    feedrate = homing_feedrate[Z_AXIS];

    current_position[Z_AXIS] = z;
    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
    st_synchronize();

    feedrate = XY_TRAVEL_SPEED;

    current_position[X_AXIS] = x;
    current_position[Y_AXIS] = y;
    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
    st_synchronize();

    feedrate = oldFeedRate;
}

static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
    do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
}

static void setup_for_endstop_move() {
    saved_feedrate = feedrate;
    saved_feedmultiply = feedmultiply;
    feedmultiply = 100;
    previous_millis_cmd = millis();

    enable_endstops(true);
}

static void clean_up_after_endstop_move() {
#ifdef ENDSTOPS_ONLY_FOR_HOMING
    enable_endstops(false);
#endif

    feedrate = saved_feedrate;
    feedmultiply = saved_feedmultiply;
    previous_millis_cmd = millis();
}

static void engage_z_probe() {
    // Engage Z Servo endstop if enabled
    #ifdef SERVO_ENDSTOPS
    if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
        servos[servo_endstops[Z_AXIS]].attach(0);
#endif
        servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
        delay(PROBE_SERVO_DEACTIVATION_DELAY);
        servos[servo_endstops[Z_AXIS]].detach();
#endif
    }
    #endif
}

static void retract_z_probe() {
    // Retract Z Servo endstop if enabled
    #ifdef SERVO_ENDSTOPS
    if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
        servos[servo_endstops[Z_AXIS]].attach(0);
#endif
        servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
        delay(PROBE_SERVO_DEACTIVATION_DELAY);
        servos[servo_endstops[Z_AXIS]].detach();
#endif
    }
    #endif
}

/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before) {
  // move to right place
  do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);

#ifndef Z_PROBE_SLED
  engage_z_probe();   // Engage Z Servo endstop if available
#endif // Z_PROBE_SLED
  run_z_probe();
  float measured_z = current_position[Z_AXIS];
#ifndef Z_PROBE_SLED
  retract_z_probe();
#endif // Z_PROBE_SLED

  SERIAL_PROTOCOLPGM(MSG_BED);
  SERIAL_PROTOCOLPGM(" x: ");
  SERIAL_PROTOCOL(x);
  SERIAL_PROTOCOLPGM(" y: ");
  SERIAL_PROTOCOL(y);
  SERIAL_PROTOCOLPGM(" z: ");
  SERIAL_PROTOCOL(measured_z);
  SERIAL_PROTOCOLPGM("\n");
  return measured_z;
}

#endif // #ifdef ENABLE_AUTO_BED_LEVELING

static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
  ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))

  if (axis==X_AXIS ? HOMEAXIS_DO(X) :
      axis==Y_AXIS ? HOMEAXIS_DO(Y) :
      axis==Z_AXIS ? HOMEAXIS_DO(Z) :
      0) {
    int axis_home_dir = home_dir(axis);
#ifdef DUAL_X_CARRIAGE
    if (axis == X_AXIS)
      axis_home_dir = x_home_dir(active_extruder);
#endif

    current_position[axis] = 0;
    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);


#ifndef Z_PROBE_SLED
    // Engage Servo endstop if enabled
    #ifdef SERVO_ENDSTOPS
      #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
        if (axis==Z_AXIS) {
          engage_z_probe();
        }
	    else
      #endif
      if (servo_endstops[axis] > -1) {
        servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
      }
    #endif
#endif // Z_PROBE_SLED
    destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
    feedrate = homing_feedrate[axis];
    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
    st_synchronize();

	enable_endstops(false); 
	
    current_position[axis] = 0;
    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
    destination[axis] = -home_retract_mm(axis) * axis_home_dir;
    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
    st_synchronize();
	enable_endstops(true);
	
    destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
#ifdef DELTA
    feedrate = homing_feedrate[axis]/10;
#else
    feedrate = homing_feedrate[axis]/2 ;
#endif
    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
    st_synchronize();
#ifdef DELTA
    // retrace by the amount specified in endstop_adj
    if (endstop_adj[axis] * axis_home_dir < 0) {
	  enable_endstops(false);
      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
      destination[axis] = endstop_adj[axis];
      plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
      st_synchronize();
	  enable_endstops(true);
    }
#endif
    axis_is_at_home(axis);
    destination[axis] = current_position[axis];
    feedrate = 0.0;
    //endstops_hit_on_purpose();
    axis_known_position[axis] = true;

    // Retract Servo endstop if enabled
    #ifdef SERVO_ENDSTOPS
      if (servo_endstops[axis] > -1) {
        servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
      }
    #endif
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  #ifndef Z_PROBE_SLED
    if (axis==Z_AXIS) retract_z_probe();
  #endif
#endif

  }
}
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)

void refresh_cmd_timeout(void)
{
  previous_millis_cmd = millis();
}

#ifdef FWRETRACT
  void retract(bool retracting, bool swapretract = false) {
    if(retracting && !retracted[active_extruder]) {
      destination[X_AXIS]=current_position[X_AXIS];
      destination[Y_AXIS]=current_position[Y_AXIS];
      destination[Z_AXIS]=current_position[Z_AXIS];
      destination[E_AXIS]=current_position[E_AXIS];
      if (swapretract) {
        current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
      } else {
        current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
      }
      plan_set_e_position(current_position[E_AXIS]);
      float oldFeedrate = feedrate;
      feedrate=retract_feedrate*60;
      retracted[active_extruder]=true;
      prepare_move();
      current_position[Z_AXIS]-=retract_zlift;
#ifdef DELTA
      calculate_delta(current_position); // change cartesian kinematic to  delta kinematic;
      plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#else
      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
      prepare_move();
      feedrate = oldFeedrate;
    } else if(!retracting && retracted[active_extruder]) {
      destination[X_AXIS]=current_position[X_AXIS];
      destination[Y_AXIS]=current_position[Y_AXIS];
      destination[Z_AXIS]=current_position[Z_AXIS];
      destination[E_AXIS]=current_position[E_AXIS];
      current_position[Z_AXIS]+=retract_zlift;
#ifdef DELTA
      calculate_delta(current_position); // change cartesian kinematic  to  delta kinematic;
      plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#else
      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
      //prepare_move();
      if (swapretract) {
        current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder]; 
      } else {
        current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder]; 
      }
      plan_set_e_position(current_position[E_AXIS]);
      float oldFeedrate = feedrate;
      feedrate=retract_recover_feedrate*60;
      retracted[active_extruder]=false;
      prepare_move();
      feedrate = oldFeedrate;
    }
  } //retract
#endif //FWRETRACT

#ifdef Z_PROBE_SLED
//
// Method to dock/undock a sled designed by Charles Bell.
//
// dock[in]     If true, move to MAX_X and engage the electromagnet
// offset[in]   The additional distance to move to adjust docking location
//
static void dock_sled(bool dock, int offset=0) {
 int z_loc;
 
 if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
   LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
   SERIAL_ECHO_START;
   SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
   return;
 }

 if (dock) {
   do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
                       current_position[Y_AXIS],
                       current_position[Z_AXIS]);
   // turn off magnet
   digitalWrite(SERVO0_PIN, LOW);
 } else {
   if (current_position[Z_AXIS] < (Z_RAISE_BEFORE_PROBING + 5))
     z_loc = Z_RAISE_BEFORE_PROBING;
   else
     z_loc = current_position[Z_AXIS];
   do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
                       Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
   // turn on magnet
   digitalWrite(SERVO0_PIN, HIGH);
 }
}
#endif

void process_commands()
{
  unsigned long codenum; //throw away variable
  char *starpos = NULL;
#ifdef ENABLE_AUTO_BED_LEVELING
  float x_tmp, y_tmp, z_tmp, real_z;
#endif
  if(code_seen('G'))
  {
    switch((int)code_value())
    {
    case 0: // G0 -> G1
    case 1: // G1
      if(Stopped == false) {
        get_coordinates(); // For X Y Z E F
          #ifdef FWRETRACT
            if(autoretract_enabled)
            if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
              float echange=destination[E_AXIS]-current_position[E_AXIS];
              if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
                  current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
                  plan_set_e_position(current_position[E_AXIS]); //AND from the planner
                  retract(!retracted);
                  return;
              }
            }
          #endif //FWRETRACT
        prepare_move();
        //ClearToSend();
      }
      break;
#ifndef SCARA //disable arc support
    case 2: // G2  - CW ARC
      if(Stopped == false) {
        get_arc_coordinates();
        prepare_arc_move(true);
      }
      break;
    case 3: // G3  - CCW ARC
      if(Stopped == false) {
        get_arc_coordinates();
        prepare_arc_move(false);
      }
      break;
#endif
    case 4: // G4 dwell
      LCD_MESSAGEPGM(MSG_DWELL);
      codenum = 0;
      if(code_seen('P')) codenum = code_value(); // milliseconds to wait
      if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait

      st_synchronize();
      codenum += millis();  // keep track of when we started waiting
      previous_millis_cmd = millis();
      while(millis() < codenum) {
        manage_heater();
        manage_inactivity();
        lcd_update();
      }
      break;
      
    case 5: // G5这个是我自定义的指令，作用是把输入的指令换一种方式移动
      { 
	      int num1=0;//中间变量，用来存放码垛物品的个数

		  //运动到初始位置 
	      pinMode(32, INPUT);
	      pinMode(29, OUTPUT);
	      pinMode(31, OUTPUT);
	      moveto(moveto0);
	      servoto(0,85);
	      servoto(1,angle-10);
	      
	      //运动给定次数次
	      for(int8_t i=0; i < stack_time; i++)
		  	{
	      while(digitalRead(32)==1);//检测限位
	            stacking(num1);
	      num1++;
	      //运动完毕在串口输出颜色信息
	      SERIAL_PROTOCOLPGM("color1:");
	      SERIAL_PROTOCOL(num1);
      	    }
      }
      break;
      case 6: // 这个是我加上的实验指令
             {
                 int servo6_index = -1;
                 int servo6_position = 0;
                  pinMode(29, OUTPUT);
                  pinMode(31, OUTPUT);
                  if (code_seen('P'))
                  servo6_index = code_value();
                  if (code_seen('S')) 
                  servo6_position = code_value();
                 servoto(servo6_index,servo6_position);
             }

    
      break;
	  case 12://目的是输入初始点末位点的坐标
	  		{
		  		if (code_seen('X'))
	            moveto31[0] = code_value();
	            if (code_seen('Y')) 
	            moveto31[1] = code_value();
				if (code_seen('A'))
	            moveto32[0] = code_value();
	            if (code_seen('B')) 
	            moveto32[1] = code_value();
              SERIAL_PROTOCOLPGM("X:");
              SERIAL_PROTOCOL(moveto31[0]);
              SERIAL_PROTOCOLPGM(" Y:");
              SERIAL_PROTOCOL(moveto31[1]);
              SERIAL_PROTOCOLPGM(" A:");
              SERIAL_PROTOCOL(moveto32[0]);
              SERIAL_PROTOCOLPGM(" B:");
              SERIAL_PROTOCOL(moveto32[1]);
				}
	  break;
      case 7: // 这个是我加上输入指令，输入物品的宽长高，初始位置，速度，操作位置,循环次数
            {
              //物品长宽高
              if (code_seen('W'))
              wlh[0] = code_value();
              if (code_seen('L')) 
              wlh[1] = code_value();
              if (code_seen('H'))
              wlh[2] = code_value();
              //操作位置
              if (code_seen('X'))
              moveto1[0] = code_value();
              if (code_seen('Y')) 
              moveto1[1] = code_value();
              if (code_seen('Z'))
              moveto1[2] = code_value();
              //设定速度
              if(code_seen('F')) {
              next_feedrate = code_value();
              if(next_feedrate > 0.0) feedrate = next_feedrate;
              }
              //舵机夹角
              if (code_seen('A'))
              angle = code_value();
			        //循环次数
			        if (code_seen('T'))
              stack_time = code_value();
              //码垛模式
              if (code_seen('M'))
              stack_mode = code_value();

              //显示长宽高 
              SERIAL_PROTOCOLPGM("W:");
              SERIAL_PROTOCOL(wlh[0]);
              SERIAL_PROTOCOLPGM(" L:");
              SERIAL_PROTOCOL(wlh[1]);
              SERIAL_PROTOCOLPGM(" H:");
              SERIAL_PROTOCOL(wlh[2]);
              //显示工作位置以及速度
              SERIAL_PROTOCOLPGM(" X:");
              SERIAL_PROTOCOL(moveto1[0]);
              SERIAL_PROTOCOLPGM(" Y:");
              SERIAL_PROTOCOL(moveto1[1]);
              SERIAL_PROTOCOLPGM(" Z:");
              SERIAL_PROTOCOL(moveto1[2]);
              SERIAL_PROTOCOLPGM(" F:");
              SERIAL_PROTOCOL(feedrate);
              //显示舵机夹角
              SERIAL_PROTOCOLPGM(" A:");
              SERIAL_PROTOCOL(angle);
              //显示循环次数
              SERIAL_PROTOCOLPGM(" Time");
              SERIAL_PROTOCOL(stack_time);
              //显示码垛模式
              SERIAL_PROTOCOLPGM(" Mode:");
              SERIAL_PROTOCOL(stack_mode);
              }
      break;

      case 8://这个指令是颜色传感器的初始化指令，以及标定程序，用这个程序实现存储不同码垛物品的颜色的任务。
              {       
              if (code_seen('I'))
              initial();
              if (code_seen('A')){
              rgb_value();
              for(int8_t i=0; i < 3; i++)
                  color_goods1[i]=g_array1[i];//存放A物品的颜色信息
              }
              if (code_seen('B')){
              rgb_value();
              for(int8_t i=0; i < 3; i++)
                  color_goods2[i]=g_array1[i];//存放B物品的颜色信息                
              }
              if (code_seen('C')){
              rgb_value();
              for(int8_t i=0; i < 3; i++)
                  color_goods3[i]=g_array1[i];//存放B物品的颜色信息                
              }
              if (code_seen('D')){
              rgb_value();
              for(int8_t i=0; i < 3; i++)
                  color_goods4[i]=g_array1[i];//存放B物品的颜色信息                
              }
              }
      break;
      case 9://测试指令,目前存放着摆放物品堆的指令
              {       
                   //定义局部变量
                  int stack_color=0;
                  
                  pinMode(32, INPUT);
                  pinMode(29, OUTPUT);
                  pinMode(31, OUTPUT);
                  moveto(moveto0);
                  servoto(0,85);
                  servoto(1,angle-10);
				  
                  for(int8_t i=0; i < 5; i++){
                  //开始调用运动函数
                  while(digitalRead(32)==1);//检测限位
                  stack_color=-1;
                  rgb_value();             
                  if(rgb_compare(g_array1,color_goods1))
                  stack_color=0;
                  else if(rgb_compare(g_array1,color_goods2))
                  stack_color=1;
                  else if(rgb_compare(g_array1,color_goods3))
                  stack_color=2;
                  else if(rgb_compare(g_array1,color_goods4))
                  stack_color=3;
                  if(i==4)
                  stack_color=4;
                  stacking1(stack_color);
                  }
              }
      break;
      case 13://示教功能
        {
          if (code_seen('T')){
            //输入示教时间
             teach_time= code_value();
             if(teach_time>25)
             teach_time=25;
             if(teach_time<0)
             teach_time=10;
             SERIAL_PROTOCOLPGM("teach_time:");
             SERIAL_PROTOCOL(teach_time);
          }
          if (code_seen('L')){
            //输入循环时间
            teach_loop= code_value();
            SERIAL_PROTOCOLPGM("teach_loop:");
            SERIAL_PROTOCOL(teach_time);
          }
          
          if (code_seen('I'))//初始化mpu6050
          {
            teach_number=0;//
            teach_flag=0;//
            teach_timecushion=10;
            teach_interval=1000;
            //开始的初始化过程
            pinMode(smallarm,OUTPUT);
            pinMode(bigarm,OUTPUT);
            pinMode(foundation,OUTPUT);//用来控制传感器地址
            digitalWrite(foundation,1);
            digitalWrite(smallarm,1);
            digitalWrite(bigarm,0);//允许大臂初始化
            delay(500);//延时使io口输出稳定，使地址稳定
            initialmpu();
            if(dmpReady==false)
            break;//如果初始化失败跳出初始化程序
            mpu.setXGyroOffset(111);
            mpu.setYGyroOffset(10);
            mpu.setZGyroOffset(57);
            mpu.setXAccelOffset(-4132);
            mpu.setYAccelOffset(-286);
            mpu.setZAccelOffset(780);//每个传感器的偏移量不同，所以初始化程序中不设定偏移量，在此处设定，下同
            
            digitalWrite(foundation,1);
            digitalWrite(smallarm,0);
            digitalWrite(bigarm,1);//允许小臂初始化
            delay(500);
            initialmpu();
            if(dmpReady==false)
            break;
            mpu.setXGyroOffset(45);//
            mpu.setYGyroOffset(127);
            mpu.setZGyroOffset(52.5);//
            mpu.setXAccelOffset(-352);//
            mpu.setYAccelOffset(895);
            mpu.setZAccelOffset(2676);
            
            digitalWrite(foundation,0);
            digitalWrite(smallarm,1);
            digitalWrite(bigarm,1);//允许底座初始化
            delay(500);
            initialmpu();
            if(dmpReady==false)
            break;
            mpu.setXGyroOffset(-7);//
            mpu.setYGyroOffset(227);
            mpu.setZGyroOffset(10);//
            mpu.setXAccelOffset(1220);//
            mpu.setYAccelOffset(100);
            mpu.setZAccelOffset(1300);
                      
            
            FlexiTimer2::set(teach_interval,teach_timeshowing);//中断程序在最下面，到下面看
            FlexiTimer2::start();//使用定时器来生成1S的延时，以在上位机上面显示倒计时
            while(teach_time>0)
            {
              //如果示教时间减少到0，停止采集数据
              //该段程序的功能室采集数据，把最新的数据放到teach_buffer[i]数组中
              digitalWrite(foundation,1);
              digitalWrite(smallarm,1);
              digitalWrite(bigarm,0);//允许大臂度数
              getconner();
              teach_buffer[0]=ypr[2]* 180/M_PI;//180/M_PI代表角度弧度转换的因子
                
              
              digitalWrite(foundation,1);
              digitalWrite(smallarm,0);
              digitalWrite(bigarm,1);//允许小臂度数
              getconner();
              teach_buffer[1]=ypr[2]* 180/M_PI;
              
              
              
              digitalWrite(foundation,0);
              digitalWrite(smallarm,1);
              digitalWrite(bigarm,1);//允许底座读数
              getconner();
              teach_buffer[2]=-ypr[0]* 180/M_PI; 
            }
            FlexiTimer2::stop();
          }
          
          if (code_seen('S')) 
          {           
            //该部分功能为根据采样的到的数组运动
            //下面这部分为告知机械臂目前的坐标，因为手动控制机械臂运动后机械臂并不知道当前的坐标是多少。
            for(int8_t i=0;i<3;i++){
                teach_coordinate[i]=teach_angle[i][teach_number];//把最后时刻采集到的角度数据赋给teach_coordinate[i]
            }
            moveto93(teach_coordinate);//通过指令设定当前的坐标
            moveto95();
            relative_mode = false;//调整运动模式为角度运动模式，绝对位置运动模式
            //下面为循环运动部分
            for(int8_t i=0;i<3;i++){
            teach_coordinate[i]=teach_angle[i][0];
            }
            for(int8_t k=0;k<teach_loop;k++){
            moveto(teach_coordinate);
            delay1(2);//首先回到初始运动点，延时2S。
            SERIAL_PROTOCOLPGM("begin");
            for(int8_t i=1;i<=teach_number;i++){
                for(int8_t j=0;j<3;j++){
                     teach_coordinate[j]=teach_angle[j][i];
                }
                float teach_x=teach_angle[0][i]-teach_angle[0][i-1];
                float teach_y=teach_angle[1][i]-teach_angle[1][i-1];
                float teach_z=teach_angle[2][i]-teach_angle[2][i-1];
                float teach_distance=sqrt(teach_x*teach_x+teach_y*teach_y+teach_z*teach_z);
                if(teach_distance<4)//判断是否动作 1.5代表每分钟走200度
                {
                  delay1(teach_sample/1000.0);//如果判定没有动作
                }//该部分通过判断  对应点的坐标与上一点坐标的差值的平方和在开方的值 与4的关系来判断机械臂是否运动，如果发现没有运动就延时teach_sample/1000.0秒
                else{
                  for(int8_t j=0;j<3;j++)//确定速度
                    teach_velocity[j]=(abs(teach_angle[i][j]-teach_angle[i-1][j]))/(teach_sample/1000);
                  teach_maxv=teach_velocity[0];
                  for(int8_t j=0;j<3;j++){
                  if(teach_velocity[j]>=teach_maxv)
                  teach_maxv=teach_velocity[j];
                  moveto(teach_coordinate);
                  next_feedrate=240*teach_maxv;//找到最大速度并让运动速度等于个坐标轴中运动速度最大的
                  }
                }
            }
            SERIAL_PROTOCOLPGM("STOP");
            }  
          }
        }
    break;
      case 14:
      {
        eyestack();
        
       
      }
      
      
      #ifdef FWRETRACT
      case 10: // G10 retract
       #if EXTRUDERS > 1
        retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
        retract(true,retracted_swap[active_extruder]);
       #else
        retract(true);
       #endif
      break;
      case 11: // G11 retract_recover
       #if EXTRUDERS > 1
        retract(false,retracted_swap[active_extruder]);
       #else
        retract(false);
       #endif 
      break;
      #endif //FWRETRACT
    case 28: //G28 Home all Axis one at a time
#ifdef ENABLE_AUTO_BED_LEVELING
      plan_bed_level_matrix.set_to_identity();  //Reset the plane ("erase" all leveling data)
#endif //ENABLE_AUTO_BED_LEVELING

      saved_feedrate = feedrate;
      saved_feedmultiply = feedmultiply;
      feedmultiply = 100;
      previous_millis_cmd = millis();

      enable_endstops(true);

      for(int8_t i=0; i < NUM_AXIS; i++) {
        destination[i] = current_position[i];
      }
      feedrate = 0.0;

#ifdef DELTA
          // A delta can only safely home all axis at the same time
          // all axis have to home at the same time

          // Move all carriages up together until the first endstop is hit.
          current_position[X_AXIS] = 0;
          current_position[Y_AXIS] = 0;
          current_position[Z_AXIS] = 0;
          plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);

          destination[X_AXIS] = 3 * Z_MAX_LENGTH;
          destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
          destination[Z_AXIS] = 3 * Z_MAX_LENGTH;
          feedrate = 1.732 * homing_feedrate[X_AXIS];
          plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
          st_synchronize();
          endstops_hit_on_purpose();

          current_position[X_AXIS] = destination[X_AXIS];
          current_position[Y_AXIS] = destination[Y_AXIS];
          current_position[Z_AXIS] = destination[Z_AXIS];

          // take care of back off and rehome now we are all at the top
          HOMEAXIS(X);
          HOMEAXIS(Y);
          HOMEAXIS(Z);

          calculate_delta(current_position);
          plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);

#else// NOT DELTA
          #ifdef SCARA 
		//current_position[X_AXIS] = 0;
		//current_position[Y_AXIS] = 0;
		//current_position[Z_AXIS] = 0;
		//plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
		float TempDeltaZ;
		
		TempDeltaZ = delta[Z_AXIS];
		HOMEAXIS(Y);
		HOMEAXIS(X);
		
		delta[X_AXIS]=ManualHomePos[X_AXIS];
		delta[Y_AXIS]=ManualHomePos[Y_AXIS];
		//delta[Z_AXIS]=ManualHomePos[Z_AXIS];
		
		calculate_SCARA_forward_Transform(ManualHomePos);
		for(int8_t i=0; i < 3; i++)
		{
			destination[i]=current_position[i]=delta[i];
			delta[i]=ManualHomePos[i];
		}
		if(TempDeltaZ!=0)
		{
			plan_set_position(delta[X_AXIS], delta[Y_AXIS], TempDeltaZ, current_position[E_AXIS]);
			delta[Z_AXIS]=ManualHomePos[Z_AXIS];
			feedrate = homing_feedrate[Z_AXIS];
			plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
			st_synchronize();
		}
		else
		{
			delta[Z_AXIS]=ManualHomePos[Z_AXIS];
			plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
		}	

	#else
		  home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));

		  #if Z_HOME_DIR > 0                      // If homing away from BED do Z first
		  if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
			HOMEAXIS(Z);
		  }
		  #endif

		  #ifdef QUICK_HOME
		  if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) )  //first diagonal move
		  {
			current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;

		   #ifndef DUAL_X_CARRIAGE
			int x_axis_home_dir = home_dir(X_AXIS);
		   #else
			int x_axis_home_dir = x_home_dir(active_extruder);
			extruder_duplication_enabled = false;
		   #endif

			plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
			destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
			feedrate = homing_feedrate[X_AXIS];
			if(homing_feedrate[Y_AXIS]<feedrate)
			  feedrate = homing_feedrate[Y_AXIS];
			if (max_length(X_AXIS) > max_length(Y_AXIS)) {
			  feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
			} else {
			  feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
			}
			plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
			st_synchronize();

			axis_is_at_home(X_AXIS);
			axis_is_at_home(Y_AXIS);
			plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
			destination[X_AXIS] = current_position[X_AXIS];
			destination[Y_AXIS] = current_position[Y_AXIS];
			plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
			feedrate = 0.0;
			st_synchronize();
			endstops_hit_on_purpose();

			current_position[X_AXIS] = destination[X_AXIS];
			current_position[Y_AXIS] = destination[Y_AXIS];
			#ifndef SCARA
			current_position[Z_AXIS] = destination[Z_AXIS];
			#endif
		  }
		  #endif

		  if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
		  {
		  #ifdef DUAL_X_CARRIAGE
			int tmp_extruder = active_extruder;
			extruder_duplication_enabled = false;
			active_extruder = !active_extruder;
			HOMEAXIS(X);
			inactive_extruder_x_pos = current_position[X_AXIS];
			active_extruder = tmp_extruder;
			HOMEAXIS(X);
			// reset state used by the different modes
			memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
			delayed_move_time = 0;
			active_extruder_parked = true;
		  #else
			HOMEAXIS(X);
		  #endif
		  }

		  if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
			HOMEAXIS(Y);
		  }

		  if(code_seen(axis_codes[X_AXIS]))
		  {
			if(code_value_long() != 0) {
			#ifdef SCARA
			   current_position[X_AXIS]=code_value();
			#else
			   current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
			#endif
			}
		  }

		  if(code_seen(axis_codes[Y_AXIS])) {
			if(code_value_long() != 0) {
			 #ifdef SCARA
			   current_position[Y_AXIS]=code_value();
			#else
			   current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
			#endif
			}
		  }

		  #if Z_HOME_DIR < 0                      // If homing towards BED do Z last
			#ifndef Z_SAFE_HOMING
			  if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
				#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
				  destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1);    // Set destination away from bed
				  feedrate = max_feedrate[Z_AXIS];
				  plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
				  st_synchronize();
				#endif
				HOMEAXIS(Z);
			  }
			#else                      // Z Safe mode activated.
			  if(home_all_axis) {
				destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
				destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
				destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1);    // Set destination away from bed
				feedrate = XY_TRAVEL_SPEED/60;
				current_position[Z_AXIS] = 0;

				plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
				plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
				st_synchronize();
				current_position[X_AXIS] = destination[X_AXIS];
				current_position[Y_AXIS] = destination[Y_AXIS];

				HOMEAXIS(Z);
			  }
													// Let's see if X and Y are homed and probe is inside bed area.
			  if(code_seen(axis_codes[Z_AXIS])) {
				if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
				  && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
				  && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
				  && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
				  && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {

				  current_position[Z_AXIS] = 0;
				  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
				  destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1);    // Set destination away from bed
				  feedrate = max_feedrate[Z_AXIS];
				  plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
				  st_synchronize();

				  HOMEAXIS(Z);
				} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
					LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
					SERIAL_ECHO_START;
					SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
				} else {
					LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
					SERIAL_ECHO_START;
					SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
				}
			  }
			#endif
		  #endif

		  if(code_seen(axis_codes[Z_AXIS])) {
			if(code_value_long() != 0) {
			  current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
			}
		  }
		  #ifdef ENABLE_AUTO_BED_LEVELING
			if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
			  current_position[Z_AXIS] += zprobe_zoffset;  //Add Z_Probe offset (the distance is negative)
			}
		  #endif
		  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
	#endif // else SCARA
#endif //else DELTA
/*
#ifdef SCARA
	  calculate_delta(current_position);
      plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#endif // SCARA
*/

      #ifdef ENDSTOPS_ONLY_FOR_HOMING
        enable_endstops(false);
      #endif

      feedrate = saved_feedrate;
      feedmultiply = saved_feedmultiply;
      previous_millis_cmd = millis();
      //endstops_hit_on_purpose();
      break;

#ifdef ENABLE_AUTO_BED_LEVELING
    case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
        {
            #if Z_MIN_PIN == -1
            #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
            #endif

            // Prevent user from running a G29 without first homing in X and Y
            if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
            {
                LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
                SERIAL_ECHO_START;
                SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
                break; // abort G29, since we don't know where we are
            }

#ifdef Z_PROBE_SLED
            dock_sled(false);
#endif // Z_PROBE_SLED
            st_synchronize();
            // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
            //vector_3 corrected_position = plan_get_position_mm();
            //corrected_position.debug("position before G29");
            plan_bed_level_matrix.set_to_identity();
            vector_3 uncorrected_position = plan_get_position();
            //uncorrected_position.debug("position durring G29");
            current_position[X_AXIS] = uncorrected_position.x;
            current_position[Y_AXIS] = uncorrected_position.y;
            current_position[Z_AXIS] = uncorrected_position.z;
            plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
            setup_for_endstop_move();

            feedrate = homing_feedrate[Z_AXIS];
#ifdef AUTO_BED_LEVELING_GRID
            // probe at the points of a lattice grid

            int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
            int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);


            // solve the plane equation ax + by + d = z
            // A is the matrix with rows [x y 1] for all the probed points
            // B is the vector of the Z positions
            // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
            // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z

            // "A" matrix of the linear system of equations
            double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
            // "B" vector of Z points
            double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];


            int probePointCounter = 0;
            bool zig = true;

            for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
            {
              int xProbe, xInc;
              if (zig)
              {
                xProbe = LEFT_PROBE_BED_POSITION;
                //xEnd = RIGHT_PROBE_BED_POSITION;
                xInc = xGridSpacing;
                zig = false;
              } else // zag
              {
                xProbe = RIGHT_PROBE_BED_POSITION;
                //xEnd = LEFT_PROBE_BED_POSITION;
                xInc = -xGridSpacing;
                zig = true;
              }

              for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
              {
                float z_before;
                if (probePointCounter == 0)
                {
                  // raise before probing
                  z_before = Z_RAISE_BEFORE_PROBING;
                } else
                {
                  // raise extruder
                  z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
                }

                float measured_z = probe_pt(xProbe, yProbe, z_before);

                eqnBVector[probePointCounter] = measured_z;

                eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
                eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
                eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
                probePointCounter++;
                xProbe += xInc;
              }
            }
            clean_up_after_endstop_move();

            // solve lsq problem
            double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);

            SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
            SERIAL_PROTOCOL(plane_equation_coefficients[0]);
            SERIAL_PROTOCOLPGM(" b: ");
            SERIAL_PROTOCOL(plane_equation_coefficients[1]);
            SERIAL_PROTOCOLPGM(" d: ");
            SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);


            set_bed_level_equation_lsq(plane_equation_coefficients);

            free(plane_equation_coefficients);

#else // AUTO_BED_LEVELING_GRID not defined

            // Probe at 3 arbitrary points
            // probe 1
            float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);

            // probe 2
            float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);

            // probe 3
            float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);

            clean_up_after_endstop_move();

            set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);


#endif // AUTO_BED_LEVELING_GRID
            st_synchronize();

            // The following code correct the Z height difference from z-probe position and hotend tip position.
            // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
            // When the bed is uneven, this height must be corrected.
            real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS];  //get the real Z (since the auto bed leveling is already correcting the plane)
            x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
            y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
            z_tmp = current_position[Z_AXIS];

            apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);         //Apply the correction sending the probe offset
            current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS];   //The difference is added to current position and sent to planner.
            plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef Z_PROBE_SLED
            dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel.
#endif // Z_PROBE_SLED
        }
        break;
#ifndef Z_PROBE_SLED
    case 30: // G30 Single Z Probe
        {
            engage_z_probe(); // Engage Z Servo endstop if available
            st_synchronize();
            // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
            setup_for_endstop_move();

            feedrate = homing_feedrate[Z_AXIS];

            run_z_probe();
            SERIAL_PROTOCOLPGM(MSG_BED);
            SERIAL_PROTOCOLPGM(" X: ");
            SERIAL_PROTOCOL(current_position[X_AXIS]);
            SERIAL_PROTOCOLPGM(" Y: ");
            SERIAL_PROTOCOL(current_position[Y_AXIS]);
            SERIAL_PROTOCOLPGM(" Z: ");
            SERIAL_PROTOCOL(current_position[Z_AXIS]);
            SERIAL_PROTOCOLPGM("\n");

            clean_up_after_endstop_move();
            retract_z_probe(); // Retract Z Servo endstop if available
        }
        break;
#else
    case 31: // dock the sled
        dock_sled(true);
        break;
    case 32: // undock the sled
        dock_sled(false);
        break;
#endif // Z_PROBE_SLED
#endif // ENABLE_AUTO_BED_LEVELING
    case 90: // G90
      relative_mode = false;
      break;
    case 91: // G91
      relative_mode = true;
      break;
    case 92: // G92
		if(!code_seen(axis_codes[E_AXIS]))
			st_synchronize();
		for(int8_t i=0; i < NUM_AXIS; i++) 
		{
			if(code_seen(axis_codes[i])) 
			{
				if(i == E_AXIS) 
				{
					current_position[i] = code_value();
					plan_set_e_position(current_position[E_AXIS]);
				}
				else
				{
					#ifdef SCARA
					if (i == X_AXIS || i == Y_AXIS) 
					{
						current_position[i] = code_value();  
					}
					else
					{
						current_position[i] = code_value()+add_homing[i];  
					}  
					#else
					current_position[i] = code_value()+add_homing[i];
					#endif
					#ifdef SCARA
						calculate_delta(current_position);
						plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
					#else
						plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
					#endif
					
				}
			}
		}
		break;
	case 93:
		for(int8_t i=0; i < 3; i++)
		{
			if(code_seen(axis_codes[i]))
			{
				delta[i] = code_value(); 
				TempDelta[i]=delta[i];
			}
		}
		plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
		calculate_SCARA_forward_Transform(delta);
		for(int8_t i=0; i < 3; i++)
		{
			current_position[i]=destination[i]=delta[i];
			delta[i]=TempDelta[i];
		}
		break;
	case 94:
		angle_mode = false;
		relative_mode = false;
		for(int8_t i=0; i < 3; i++)
		{
			TempDelta[i]=current_position[i];
		}
		calculate_SCARA_forward_Transform(current_position);
		for(int8_t i=0; i < 3; i++)
		{
			current_position[i]=destination[i]=delta[i];
			delta[i]=TempDelta[i];
		}
		break;
	case 95:
		angle_mode = true;
		relative_mode = true;
		for(int8_t i=0; i < 3; i++)
		{
			current_position[i]=destination[i]=delta[i];
		}
		break;
    }
  }

  else if(code_seen('M'))
  {
    switch( (int)code_value() )
    {
#ifdef ULTIPANEL
    case 0: // M0 - Unconditional stop - Wait for user button press on LCD
    case 1: // M1 - Conditional stop - Wait for user button press on LCD
    {
      char *src = strchr_pointer + 2;

      codenum = 0;

      bool hasP = false, hasS = false;
      if (code_seen('P')) {
        codenum = code_value(); // milliseconds to wait
        hasP = codenum > 0;
      }
      if (code_seen('S')) {
        codenum = code_value() * 1000; // seconds to wait
        hasS = codenum > 0;
      }
      starpos = strchr(src, '*');
      if (starpos != NULL) *(starpos) = '\0';
      while (*src == ' ') ++src;
      if (!hasP && !hasS && *src != '\0') {
        lcd_setstatus(src);
      } else {
        LCD_MESSAGEPGM(MSG_USERWAIT);
      }

      lcd_ignore_click();
      st_synchronize();
      previous_millis_cmd = millis();
      if (codenum > 0){
        codenum += millis();  // keep track of when we started waiting
        while(millis() < codenum && !lcd_clicked()){
          manage_heater();
          manage_inactivity();
          lcd_update();
        }
        lcd_ignore_click(false);
      }else{
          if (!lcd_detected())
            break;
        while(!lcd_clicked()){
          manage_heater();
          manage_inactivity();
          lcd_update();
        }
      }
      if (IS_SD_PRINTING)
        LCD_MESSAGEPGM(MSG_RESUMING);
      else
        LCD_MESSAGEPGM(WELCOME_MSG);
    }
    break;
#endif
    case 17:
        LCD_MESSAGEPGM(MSG_NO_MOVE);
        enable_x();
        enable_y();
        enable_z();
        enable_e0();
        enable_e1();
        enable_e2();
      break;

#ifdef SDSUPPORT
    case 20: // M20 - list SD card
      SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
      card.ls();
      SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
      break;
    case 21: // M21 - init SD card

      card.initsd();

      break;
    case 22: //M22 - release SD card
      card.release();

      break;
    case 23: //M23 - Select file
      starpos = (strchr(strchr_pointer + 4,'*'));
      if(starpos!=NULL)
        *(starpos)='\0';
      card.openFile(strchr_pointer + 4,true);
      break;
    case 24: //M24 - Start SD print
      card.startFileprint();
      starttime=millis();
      break;
    case 25: //M25 - Pause SD print
      card.pauseSDPrint();
      break;
    case 26: //M26 - Set SD index
      if(card.cardOK && code_seen('S')) {
        card.setIndex(code_value_long());
      }
      break;
    case 27: //M27 - Get SD status
      card.getStatus();
      break;
    case 28: //M28 - Start SD write
      starpos = (strchr(strchr_pointer + 4,'*'));
      if(starpos != NULL){
        char* npos = strchr(cmdbuffer[bufindr], 'N');
        strchr_pointer = strchr(npos,' ') + 1;
        *(starpos) = '\0';
      }
      card.openFile(strchr_pointer+4,false);
      break;
    case 29: //M29 - Stop SD write
      //processed in write to file routine above
      //card,saving = false;
      break;
    case 30: //M30 <filename> Delete File
      if (card.cardOK){
        card.closefile();
        starpos = (strchr(strchr_pointer + 4,'*'));
        if(starpos != NULL){
          char* npos = strchr(cmdbuffer[bufindr], 'N');
          strchr_pointer = strchr(npos,' ') + 1;
          *(starpos) = '\0';
        }
        card.removeFile(strchr_pointer + 4);
      }
      break;
    case 32: //M32 - Select file and start SD print
    {
      if(card.sdprinting) {
        st_synchronize();

      }
      starpos = (strchr(strchr_pointer + 4,'*'));

      char* namestartpos = (strchr(strchr_pointer + 4,'!'));   //find ! to indicate filename string start.
      if(namestartpos==NULL)
      {
        namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
      }
      else
        namestartpos++; //to skip the '!'

      if(starpos!=NULL)
        *(starpos)='\0';

      bool call_procedure=(code_seen('P'));

      if(strchr_pointer>namestartpos)
        call_procedure=false;  //false alert, 'P' found within filename

      if( card.cardOK )
      {
        card.openFile(namestartpos,true,!call_procedure);
        if(code_seen('S'))
          if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
            card.setIndex(code_value_long());
        card.startFileprint();
        if(!call_procedure)
          starttime=millis(); //procedure calls count as normal print time.
      }
    } break;
    case 928: //M928 - Start SD write
      starpos = (strchr(strchr_pointer + 5,'*'));
      if(starpos != NULL){
        char* npos = strchr(cmdbuffer[bufindr], 'N');
        strchr_pointer = strchr(npos,' ') + 1;
        *(starpos) = '\0';
      }
      card.openLogFile(strchr_pointer+5);
      break;

#endif //SDSUPPORT

    case 31: //M31 take time since the start of the SD print or an M109 command
      {
      stoptime=millis();
      char time[30];
      unsigned long t=(stoptime-starttime)/1000;
      int sec,min;
      min=t/60;
      sec=t%60;
      sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
      SERIAL_ECHO_START;
      SERIAL_ECHOLN(time);
      lcd_setstatus(time);
      autotempShutdown();
      }
      break;
    case 42: //M42 -Change pin status via gcode
      if (code_seen('S'))
      {
        int pin_status = code_value();
        int pin_number = LED_PIN;
        if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
          pin_number = code_value();
        for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
        {
          if (sensitive_pins[i] == pin_number)
          {
            pin_number = -1;
            break;
          }
        }
      #if defined(FAN_PIN) && FAN_PIN > -1
        if (pin_number == FAN_PIN)
          fanSpeed = pin_status;
      #endif
        if (pin_number > -1)
        {
          pinMode(pin_number, OUTPUT);
          digitalWrite(pin_number, pin_status);
          analogWrite(pin_number, pin_status);
        }
      }
     break;

// M48 Z-Probe repeatability measurement function.
//
// Usage:   M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
//	
// This function assumes the bed has been homed.  Specificaly, that a G28 command
// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
// Any information generated by a prior G29 Bed leveling command will be lost and need to be
// regenerated.
//
// The number of samples will default to 10 if not specified.  You can use upper or lower case
// letters for any of the options EXCEPT n.  n must be in lower case because Marlin uses a capital
// N for its communication protocol and will get horribly confused if you send it a capital N.
//

#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef Z_PROBE_REPEATABILITY_TEST 

    case 48: // M48 Z-Probe repeatability
        {
            #if Z_MIN_PIN == -1
            #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
            #endif

	double sum=0.0; 
	double mean=0.0; 
	double sigma=0.0;
	double sample_set[50];
	int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ;
	double X_current, Y_current, Z_current;
	double X_probe_location, Y_probe_location, Z_start_location, ext_position;
	
	if (code_seen('V') || code_seen('v')) {
        	verbose_level = code_value();
		if (verbose_level<0 || verbose_level>4 ) {
			SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
			goto Sigma_Exit;
		}
	}

	if (verbose_level > 0)   {
		SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test.   Version 2.00\n");
		SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
	}

	if (code_seen('n')) {
        	n_samples = code_value();
		if (n_samples<4 || n_samples>50 ) {
			SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
			goto Sigma_Exit;
		}
	}

	X_current = X_probe_location = st_get_position_mm(X_AXIS);
	Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
	Z_current = st_get_position_mm(Z_AXIS);
	Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
	ext_position	 = st_get_position_mm(E_AXIS);

	if (code_seen('E') || code_seen('e') ) 
		engage_probe_for_each_reading++;

	if (code_seen('X') || code_seen('x') ) {
        	X_probe_location = code_value() -  X_PROBE_OFFSET_FROM_EXTRUDER;
		if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
			SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
			goto Sigma_Exit;
		}
	}

	if (code_seen('Y') || code_seen('y') ) {
        	Y_probe_location = code_value() -  Y_PROBE_OFFSET_FROM_EXTRUDER;
		if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
			SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
			goto Sigma_Exit;
		}
	}

	if (code_seen('L') || code_seen('l') ) {
        	n_legs = code_value();
		if ( n_legs==1 ) 
			n_legs = 2;
		if ( n_legs<0 || n_legs>15 ) {
			SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
			goto Sigma_Exit;
		}
	}

//
// Do all the preliminary setup work.   First raise the probe.
//

        st_synchronize();
        plan_bed_level_matrix.set_to_identity();
	plan_buffer_line( X_current, Y_current, Z_start_location,
			ext_position,
    			homing_feedrate[Z_AXIS]/60,
			active_extruder);
        st_synchronize();

//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed.  If the Z-Axis is far from the bed, we don't want to 
// use that as a starting point for each probe.
//
	if (verbose_level > 2) 
		SERIAL_PROTOCOL("Positioning probe for the test.\n");

	plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
			ext_position,
    			homing_feedrate[X_AXIS]/60,
			active_extruder);
        st_synchronize();

	current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
	current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
	current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
	current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);

// 
// OK, do the inital probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//

        engage_z_probe();	

	setup_for_endstop_move();
	run_z_probe();

	current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
	Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;

	plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
			ext_position,
    			homing_feedrate[X_AXIS]/60,
			active_extruder);
        st_synchronize();
	current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);

	if (engage_probe_for_each_reading)
        	retract_z_probe();

        for( n=0; n<n_samples; n++) {

		do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location

		if ( n_legs)  {
		double radius=0.0, theta=0.0, x_sweep, y_sweep;
		int rotational_direction, l;

			rotational_direction = (unsigned long) millis() & 0x0001;			// clockwise or counter clockwise
			radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); 			// limit how far out to go 
			theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926));	// turn into radians

//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR("   theta: ",theta);
//SERIAL_ECHOPAIR("   direction: ",rotational_direction);
//SERIAL_PROTOCOLLNPGM("");

			for( l=0; l<n_legs-1; l++) {
				if (rotational_direction==1)
					theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
				else
					theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians

				radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
				if ( radius<0.0 )
					radius = -radius;

				X_current = X_probe_location + cos(theta) * radius;
				Y_current = Y_probe_location + sin(theta) * radius;

				if ( X_current<X_MIN_POS)		// Make sure our X & Y are sane
					 X_current = X_MIN_POS;
				if ( X_current>X_MAX_POS)
					 X_current = X_MAX_POS;

				if ( Y_current<Y_MIN_POS)		// Make sure our X & Y are sane
					 Y_current = Y_MIN_POS;
				if ( Y_current>Y_MAX_POS)
					 Y_current = Y_MAX_POS;

				if (verbose_level>3 ) {
					SERIAL_ECHOPAIR("x: ", X_current);
					SERIAL_ECHOPAIR("y: ", Y_current);
					SERIAL_PROTOCOLLNPGM("");
				}

				do_blocking_move_to( X_current, Y_current, Z_current );
			}
			do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
		}

		if (engage_probe_for_each_reading)  {
        		engage_z_probe();	
          		delay(1000);
		}

		setup_for_endstop_move();
                run_z_probe();

		sample_set[n] = current_position[Z_AXIS];

//
// Get the current mean for the data points we have so far
//
		sum=0.0; 
		for( j=0; j<=n; j++) {
			sum = sum + sample_set[j];
		}
		mean = sum / (double (n+1));
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//

		sum=0.0; 
		for( j=0; j<=n; j++) {
			sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
		}
		sigma = sqrt( sum / (double (n+1)) );

		if (verbose_level > 1) {
			SERIAL_PROTOCOL(n+1);
			SERIAL_PROTOCOL(" of ");
			SERIAL_PROTOCOL(n_samples);
			SERIAL_PROTOCOLPGM("   z: ");
			SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
		}

		if (verbose_level > 2) {
			SERIAL_PROTOCOL(" mean: ");
			SERIAL_PROTOCOL_F(mean,6);

			SERIAL_PROTOCOL("   sigma: ");
			SERIAL_PROTOCOL_F(sigma,6);
		}

		if (verbose_level > 0) 
			SERIAL_PROTOCOLPGM("\n");

		plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location, 
				  current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
        	st_synchronize();

		if (engage_probe_for_each_reading)  {
        		retract_z_probe();	
          		delay(1000);
		}
	}

        retract_z_probe();
	delay(1000);

        clean_up_after_endstop_move();

//      enable_endstops(true);

	if (verbose_level > 0) {
		SERIAL_PROTOCOLPGM("Mean: ");
		SERIAL_PROTOCOL_F(mean, 6);
		SERIAL_PROTOCOLPGM("\n");
	}

SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM("\n\n");

Sigma_Exit:
        break;
	}
#endif		// Z_PROBE_REPEATABILITY_TEST 
#endif		// ENABLE_AUTO_BED_LEVELING

    case 104: // M104
      if(setTargetedHotend(104)){
        break;
      }
      if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
      if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
        setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
      setWatch();
      break;
    case 112: //  M112 -Emergency Stop
      kill();
      break;
    case 140: // M140 set bed temp
      if (code_seen('S')) setTargetBed(code_value());
      break;
    case 105 : // M105
      if(setTargetedHotend(105)){
        break;
        }
      #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
        SERIAL_PROTOCOLPGM("ok T:");
        SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
        SERIAL_PROTOCOLPGM(" /");
        SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
        #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
          SERIAL_PROTOCOLPGM(" B:");
          SERIAL_PROTOCOL_F(degBed(),1);
          SERIAL_PROTOCOLPGM(" /");
          SERIAL_PROTOCOL_F(degTargetBed(),1);
        #endif //TEMP_BED_PIN
        for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
          SERIAL_PROTOCOLPGM(" T");
          SERIAL_PROTOCOL(cur_extruder);
          SERIAL_PROTOCOLPGM(":");
          SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
          SERIAL_PROTOCOLPGM(" /");
          SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
        }
      #else
        SERIAL_ERROR_START;
        SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
      #endif

        SERIAL_PROTOCOLPGM(" @:");
      #ifdef EXTRUDER_WATTS
        SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
        SERIAL_PROTOCOLPGM("W");
      #else
        SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
      #endif

        SERIAL_PROTOCOLPGM(" B@:");
      #ifdef BED_WATTS
        SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
        SERIAL_PROTOCOLPGM("W");
      #else
        SERIAL_PROTOCOL(getHeaterPower(-1));
      #endif

        #ifdef SHOW_TEMP_ADC_VALUES
          #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
            SERIAL_PROTOCOLPGM("    ADC B:");
            SERIAL_PROTOCOL_F(degBed(),1);
            SERIAL_PROTOCOLPGM("C->");
            SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0);
          #endif
          for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
            SERIAL_PROTOCOLPGM("  T");
            SERIAL_PROTOCOL(cur_extruder);
            SERIAL_PROTOCOLPGM(":");
            SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
            SERIAL_PROTOCOLPGM("C->");
            SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
          }
        #endif

        SERIAL_PROTOCOLLN("");
      return;
      break;
    case 109:
    {// M109 - Wait for extruder heater to reach target.
      if(setTargetedHotend(109)){
        break;
      }
      LCD_MESSAGEPGM(MSG_HEATING);
      #ifdef AUTOTEMP
        autotemp_enabled=false;
      #endif
      if (code_seen('S')) {
        setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
        if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
          setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
        CooldownNoWait = true;
      } else if (code_seen('R')) {
        setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
        if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
          setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
        CooldownNoWait = false;
      }
      #ifdef AUTOTEMP
        if (code_seen('S')) autotemp_min=code_value();
        if (code_seen('B')) autotemp_max=code_value();
        if (code_seen('F'))
        {
          autotemp_factor=code_value();
          autotemp_enabled=true;
        }
      #endif

      setWatch();
      codenum = millis();

      /* See if we are heating up or cooling down */
      target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling

      cancel_heatup = false;

      #ifdef TEMP_RESIDENCY_TIME
        long residencyStart;
        residencyStart = -1;
        /* continue to loop until we have reached the target temp
          _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
        while((!cancel_heatup)&&((residencyStart == -1) ||
              (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) {
      #else
        while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
      #endif //TEMP_RESIDENCY_TIME
          if( (millis() - codenum) > 1000UL )
          { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
            SERIAL_PROTOCOLPGM("T:");
            SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
            SERIAL_PROTOCOLPGM(" E:");
            SERIAL_PROTOCOL((int)tmp_extruder);
            #ifdef TEMP_RESIDENCY_TIME
              SERIAL_PROTOCOLPGM(" W:");
              if(residencyStart > -1)
              {
                 codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
                 SERIAL_PROTOCOLLN( codenum );
              }
              else
              {
                 SERIAL_PROTOCOLLN( "?" );
              }
            #else
              SERIAL_PROTOCOLLN("");
            #endif
            codenum = millis();
          }
          manage_heater();
          manage_inactivity();
          lcd_update();
        #ifdef TEMP_RESIDENCY_TIME
            /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
              or when current temp falls outside the hysteresis after target temp was reached */
          if ((residencyStart == -1 &&  target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
              (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
              (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
          {
            residencyStart = millis();
          }
        #endif //TEMP_RESIDENCY_TIME
        }
        LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
        starttime=millis();
        previous_millis_cmd = millis();
      }
      break;
    case 190: // M190 - Wait for bed heater to reach target.
    #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
        LCD_MESSAGEPGM(MSG_BED_HEATING);
        if (code_seen('S')) {
          setTargetBed(code_value());
          CooldownNoWait = true;
        } else if (code_seen('R')) {
          setTargetBed(code_value());
          CooldownNoWait = false;
        }
        codenum = millis();
        
        cancel_heatup = false;
        target_direction = isHeatingBed(); // true if heating, false if cooling

        while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
        {
          if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
          {
            float tt=degHotend(active_extruder);
            SERIAL_PROTOCOLPGM("T:");
            SERIAL_PROTOCOL(tt);
            SERIAL_PROTOCOLPGM(" E:");
            SERIAL_PROTOCOL((int)active_extruder);
            SERIAL_PROTOCOLPGM(" B:");
            SERIAL_PROTOCOL_F(degBed(),1);
            SERIAL_PROTOCOLLN("");
            codenum = millis();
          }
          manage_heater();
          manage_inactivity();
          lcd_update();
        }
        LCD_MESSAGEPGM(MSG_BED_DONE);
        previous_millis_cmd = millis();
    #endif
        break;

    #if defined(FAN_PIN) && FAN_PIN > -1
      case 106: //M106 Fan On
		#ifdef SUPPORT_LASER
			st_synchronize();
		#endif
        if (code_seen('S')){
           fanSpeed=constrain(code_value(),0,255);
        }
        else {
          fanSpeed=255;
        }
        break;
      case 107: //M107 Fan Off
		#ifdef SUPPORT_LASER
			st_synchronize();
		#endif
			fanSpeed = 0;
		
        break;
    #endif //FAN_PIN
    #ifdef BARICUDA
      // PWM for HEATER_1_PIN
      #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
        case 126: //M126 valve open
          if (code_seen('S')){
             ValvePressure=constrain(code_value(),0,255);
          }
          else {
            ValvePressure=255;
          }
          break;
        case 127: //M127 valve closed
          ValvePressure = 0;
          break;
      #endif //HEATER_1_PIN

      // PWM for HEATER_2_PIN
      #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
        case 128: //M128 valve open
          if (code_seen('S')){
             EtoPPressure=constrain(code_value(),0,255);
          }
          else {
            EtoPPressure=255;
          }
          break;
        case 129: //M129 valve closed
          EtoPPressure = 0;
          break;
      #endif //HEATER_2_PIN
    #endif

    #if defined(PS_ON_PIN) && PS_ON_PIN > -1
      case 80: // M80 - Turn on Power Supply
        SET_OUTPUT(PS_ON_PIN); //GND
        WRITE(PS_ON_PIN, PS_ON_AWAKE);

        // If you have a switch on suicide pin, this is useful
        // if you want to start another print with suicide feature after
        // a print without suicide...
        #if defined SUICIDE_PIN && SUICIDE_PIN > -1
            SET_OUTPUT(SUICIDE_PIN);
            WRITE(SUICIDE_PIN, HIGH);
        #endif

        #ifdef ULTIPANEL
          powersupply = true;
          LCD_MESSAGEPGM(WELCOME_MSG);
          lcd_update();
        #endif
        break;
      #endif

      case 81: // M81 - Turn off Power Supply
        disable_heater();
        st_synchronize();
        disable_e0();
        disable_e1();
        disable_e2();
        finishAndDisableSteppers();
        fanSpeed = 0;
        delay(1000); // Wait a little before to switch off
      #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
        st_synchronize();
        suicide();
      #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
        SET_OUTPUT(PS_ON_PIN);
        WRITE(PS_ON_PIN, PS_ON_ASLEEP);
      #endif
      #ifdef ULTIPANEL
        powersupply = false;
        LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
        lcd_update();
      #endif
	  break;

    case 82:
      axis_relative_modes[3] = false;
      break;
    case 83:
      axis_relative_modes[3] = true;
      break;
    case 18: //compatibility
    case 84: // M84
      if(code_seen('S')){
        stepper_inactive_time = code_value() * 1000;
      }
      else
      {
        bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
        if(all_axis)
        {
          st_synchronize();
          disable_e0();
          disable_e1();
          disable_e2();
          finishAndDisableSteppers();
        }
        else
        {
          st_synchronize();
          if(code_seen('X')) disable_x();
          if(code_seen('Y')) disable_y();
          if(code_seen('Z')) disable_z();
          #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
            if(code_seen('E')) {
              disable_e0();
              disable_e1();
              disable_e2();
            }
          #endif
        }
      }
      break;
    case 85: // M85
      if(code_seen('S')) {
        max_inactive_time = code_value() * 1000;
      }
      break;
    case 92: // M92
      for(int8_t i=0; i < NUM_AXIS; i++)
      {
        if(code_seen(axis_codes[i]))
        {
          if(i == 3) { // E
            float value = code_value();
            if(value < 20.0) {
              float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
              max_e_jerk *= factor;
              max_feedrate[i] *= factor;
              axis_steps_per_sqr_second[i] *= factor;
            }
            axis_steps_per_unit[i] = value;
          }
          else {
            axis_steps_per_unit[i] = code_value();
          }
        }
      }
      break;
    case 115: // M115
      SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
      break;
    case 117: // M117 display message
      starpos = (strchr(strchr_pointer + 5,'*'));
      if(starpos!=NULL)
        *(starpos)='\0';
      lcd_setstatus(strchr_pointer + 5);
      break;
    case 114: // M114
      SERIAL_PROTOCOLPGM("X:");
      SERIAL_PROTOCOL(current_position[X_AXIS]);
      SERIAL_PROTOCOLPGM(" Y:");
      SERIAL_PROTOCOL(current_position[Y_AXIS]);
      SERIAL_PROTOCOLPGM(" Z:");
      SERIAL_PROTOCOL(current_position[Z_AXIS]);
      SERIAL_PROTOCOLPGM(" E:");
      SERIAL_PROTOCOL(current_position[E_AXIS]);

      SERIAL_PROTOCOLPGM(MSG_COUNT_X);
      SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
      SERIAL_PROTOCOLPGM(" Y:");
      SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
      SERIAL_PROTOCOLPGM(" Z:");
      SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
	  
      SERIAL_PROTOCOLLN("");
#ifdef SCARA
		SERIAL_PROTOCOLPGM("Big Arm:");
		SERIAL_PROTOCOL(delta[X_AXIS]);
		SERIAL_PROTOCOLPGM(" Small Arm:");
		SERIAL_PROTOCOL(delta[Y_AXIS]);
		SERIAL_PROTOCOLPGM(" Rotation Arm");
		SERIAL_PROTOCOLLN(delta[Z_AXIS]);
		
		//SERIAL_PROTOCOLPGM("Big Angle:");
		//SERIAL_PROTOCOL((float)(1023-analogRead(3))/1024*60);
		//SERIAL_PROTOCOL((float)analogRead(3)/19);
		/*
		SERIAL_PROTOCOLPGM(" Small Angle:");
		SERIAL_PROTOCOL((float)analogRead(2)/1024*60-16.31);
		SERIAL_PROTOCOLPGM(" Rotation Angle");
		SERIAL_PROTOCOL((float)analogRead(3)/1024*60);
                */
	  /*
	  SERIAL_PROTOCOLPGM("SCARA Theta:");
      SERIAL_PROTOCOL(delta[X_AXIS]);
      SERIAL_PROTOCOLPGM("   Psi+Theta:");
      SERIAL_PROTOCOL(delta[Y_AXIS]);
      SERIAL_PROTOCOLLN("");
      
      SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
      SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
      SERIAL_PROTOCOLPGM("   Psi+Theta (90):");
      SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
      SERIAL_PROTOCOLLN("");
      
      SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
      SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
      SERIAL_PROTOCOLPGM("   Psi+Theta:");
      SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
      SERIAL_PROTOCOLLN("");
      SERIAL_PROTOCOLLN("");
	  */
#endif
      break;
    case 120: // M120
      enable_endstops(false) ;
      break;
    case 121: // M121
      enable_endstops(true) ;
      break;
    case 119: // M119
    SERIAL_PROTOCOLLN(MSG_M119_REPORT);
      #if defined(X_MIN_PIN) && X_MIN_PIN > -1
        SERIAL_PROTOCOLPGM(MSG_X_MIN);
        SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
      #endif
      #if defined(X_MAX_PIN) && X_MAX_PIN > -1
        SERIAL_PROTOCOLPGM(MSG_X_MAX);
        SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
      #endif
      #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
        SERIAL_PROTOCOLPGM(MSG_Y_MIN);
        SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
      #endif
      #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
        SERIAL_PROTOCOLPGM(MSG_Y_MAX);
        SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
      #endif
      #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
        SERIAL_PROTOCOLPGM(MSG_Z_MIN);
        SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
      #endif
      #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
        SERIAL_PROTOCOLPGM(MSG_Z_MAX);
        SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
      #endif
      break;
      //TODO: update for all axis, use for loop
    #ifdef BLINKM
    case 150: // M150
      {
        byte red;
        byte grn;
        byte blu;

        if(code_seen('R')) red = code_value();
        if(code_seen('U')) grn = code_value();
        if(code_seen('B')) blu = code_value();

        SendColors(red,grn,blu);
      }
      break;
    #endif //BLINKM
    case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
      {

        tmp_extruder = active_extruder;
        if(code_seen('T')) {
          tmp_extruder = code_value();
          if(tmp_extruder >= EXTRUDERS) {
            SERIAL_ECHO_START;
            SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
            break;
          }
        }

        float area = .0;
        if(code_seen('D')) {
		  float diameter = (float)code_value();
		  if (diameter == 0.0) {
			// setting any extruder filament size disables volumetric on the assumption that
			// slicers either generate in extruder values as cubic mm or as as filament feeds
			// for all extruders
		    volumetric_enabled = false;
		  } else {
            filament_size[tmp_extruder] = (float)code_value();
			// make sure all extruders have some sane value for the filament size
			filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
            #if EXTRUDERS > 1
			filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
            #if EXTRUDERS > 2
			filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
            #endif
            #endif
			volumetric_enabled = true;
		  }
        } else {
          //reserved for setting filament diameter via UFID or filament measuring device
          break;
        }
		calculate_volumetric_multipliers();
      }
      break;
    case 201: // M201
      for(int8_t i=0; i < NUM_AXIS; i++)
      {
        if(code_seen(axis_codes[i]))
        {
          max_acceleration_units_per_sq_second[i] = code_value();
        }
      }
      // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
      reset_acceleration_rates();
      break;
    #if 0 // Not used for Sprinter/grbl gen6
    case 202: // M202
      for(int8_t i=0; i < NUM_AXIS; i++) {
        if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
      }
      break;
    #endif
    case 203: // M203 max feedrate mm/sec
      for(int8_t i=0; i < NUM_AXIS; i++) {
        if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
      }
      break;
    case 204: // M204 acclereration S normal moves T filmanent only moves
      {
        if(code_seen('S')) acceleration = code_value() ;
        if(code_seen('T')) retract_acceleration = code_value() ;
      }
      break;
    case 205: //M205 advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
    {
      if(code_seen('S')) minimumfeedrate = code_value();
      if(code_seen('T')) mintravelfeedrate = code_value();
      if(code_seen('B')) minsegmenttime = code_value() ;
      if(code_seen('X')) max_xy_jerk = code_value() ;
      if(code_seen('Z')) max_z_jerk = code_value() ;
      if(code_seen('E')) max_e_jerk = code_value() ;
    }
    break;
    case 206: // M206 additional homing offset
      for(int8_t i=0; i < 3; i++)
      {
        if(code_seen(axis_codes[i])) add_homing[i] = code_value();
      }
	  #ifdef SCARA
	   if(code_seen('T'))       // Theta
      {
        add_homing[X_AXIS] = code_value() ;
      }
      if(code_seen('P'))       // Psi
      {
        add_homing[Y_AXIS] = code_value() ;
      }
	  #endif
      break;
    #ifdef DELTA
	case 664:
      SERIAL_PROTOCOL(delta_tower1_x);
      SERIAL_PROTOCOLPGM(",");
      SERIAL_PROTOCOL(delta_tower1_y);
      SERIAL_PROTOCOLPGM(",");
      SERIAL_PROTOCOL(delta_tower2_x);
      SERIAL_PROTOCOLPGM(",");
      SERIAL_PROTOCOL(delta_tower2_y);
	  SERIAL_PROTOCOLPGM(",");
	  SERIAL_PROTOCOL(delta_tower3_x);
      SERIAL_PROTOCOLPGM(",");
      SERIAL_PROTOCOL(delta_tower3_y);
	  SERIAL_PROTOCOLPGM(",");
      SERIAL_PROTOCOL(delta_radius);
	  SERIAL_PROTOCOLPGM(",");
      SERIAL_PROTOCOL(delta_diagonal_rod);
	  SERIAL_PROTOCOLPGM(",");
      SERIAL_PROTOCOL(delta_diagonal_rod_2);
	  

      SERIAL_PROTOCOLLN("");
	case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
		if(code_seen('L')) {
			delta_diagonal_rod= code_value();
		}
		if(code_seen('R')) {
			delta_radius= code_value();
		}
		if(code_seen('S')) {
			delta_segments_per_second= code_value();
		}
		
		recalc_delta_settings(delta_radius, delta_diagonal_rod);
		break;
    case 666: // M666 set delta endstop adjustemnt
      for(int8_t i=0; i < 3; i++)
      {
        if(code_seen(axis_codes[i])) endstop_adj[i] = code_value();
      }
      break;
    #endif
    #ifdef FWRETRACT
    case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
    {
      if(code_seen('S'))
      {
        retract_length = code_value() ;
      }
      if(code_seen('F'))
      {
        retract_feedrate = code_value()/60 ;
      }
      if(code_seen('Z'))
      {
        retract_zlift = code_value() ;
      }
    }break;
    case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
    {
      if(code_seen('S'))
      {
        retract_recover_length = code_value() ;
      }
      if(code_seen('F'))
      {
        retract_recover_feedrate = code_value()/60 ;
      }
    }break;
    case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
    {
      if(code_seen('S'))
      {
        int t= code_value() ;
        switch(t)
        {
          case 0: 
          {
            autoretract_enabled=false;
            retracted[0]=false;
            #if EXTRUDERS > 1
              retracted[1]=false;
            #endif
            #if EXTRUDERS > 2
              retracted[2]=false;
            #endif
          }break;
          case 1: 
          {
            autoretract_enabled=true;
            retracted[0]=false;
            #if EXTRUDERS > 1
              retracted[1]=false;
            #endif
            #if EXTRUDERS > 2
              retracted[2]=false;
            #endif
          }break;
          default:
            SERIAL_ECHO_START;
            SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
            SERIAL_ECHO(cmdbuffer[bufindr]);
            SERIAL_ECHOLNPGM("\"");
        }
      }

    }break;
    #endif // FWRETRACT
    #if EXTRUDERS > 1
    case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
    {
      if(setTargetedHotend(218)){
        break;
      }
      if(code_seen('X'))
      {
        extruder_offset[X_AXIS][tmp_extruder] = code_value();
      }
      if(code_seen('Y'))
      {
        extruder_offset[Y_AXIS][tmp_extruder] = code_value();
      }
      #ifdef DUAL_X_CARRIAGE
      if(code_seen('Z'))
      {
        extruder_offset[Z_AXIS][tmp_extruder] = code_value();
      }
      #endif
      SERIAL_ECHO_START;
      SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
      for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
      {
         SERIAL_ECHO(" ");
         SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
         SERIAL_ECHO(",");
         SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
      #ifdef DUAL_X_CARRIAGE
         SERIAL_ECHO(",");
         SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
      #endif
      }
      SERIAL_ECHOLN("");
    }break;
    #endif
    case 220: // M220 S<factor in percent>- set speed factor override percentage
    {
      if(code_seen('S'))
      {
        feedmultiply = code_value() ;
      }
    }
    break;
    case 221: // M221 S<factor in percent>- set extrude factor override percentage
    {
      if(code_seen('S'))
      {
        int tmp_code = code_value();
        if (code_seen('T'))
        {
          if(setTargetedHotend(221)){
            break;
          }
          extruder_multiply[tmp_extruder] = tmp_code;
        }
        else
        {
          extrudemultiply = tmp_code ;
        }
      }
    }
    break;

	case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
	{
      if(code_seen('P')){
        int pin_number = code_value(); // pin number
        int pin_state = -1; // required pin state - default is inverted

        if(code_seen('S')) pin_state = code_value(); // required pin state

        if(pin_state >= -1 && pin_state <= 1){

          for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
          {
            if (sensitive_pins[i] == pin_number)
            {
              pin_number = -1;
              break;
            }
          }

          if (pin_number > -1)
          {
            int target = LOW;

            st_synchronize();

            pinMode(pin_number, INPUT);

            switch(pin_state){
            case 1:
              target = HIGH;
              break;

            case 0:
              target = LOW;
              break;

            case -1:
              target = !digitalRead(pin_number);
              break;
            }

            while(digitalRead(pin_number) != target){
              manage_heater();
              manage_inactivity();
              lcd_update();
            }
          }
        }
      }
    }
    break;

    #if NUM_SERVOS > 0
    case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
      {
        int servo_index = -1;
        int servo_position = 0;
        if (code_seen('P'))
          servo_index = code_value();
        if (code_seen('S')) {
          servo_position = code_value();
          if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
		      servos[servo_index].attach(0);
#endif
            servos[servo_index].write(servo_position);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
              delay(PROBE_SERVO_DEACTIVATION_DELAY);
              servos[servo_index].detach();
#endif
          }
          else {
            SERIAL_ECHO_START;
            SERIAL_ECHO("Servo ");
            SERIAL_ECHO(servo_index);
            SERIAL_ECHOLN(" out of range");
          }
        }
        else if (servo_index >= 0) {
          SERIAL_PROTOCOL(MSG_OK);
          SERIAL_PROTOCOL(" Servo ");
          SERIAL_PROTOCOL(servo_index);
          SERIAL_PROTOCOL(": ");
          SERIAL_PROTOCOL(servos[servo_index].read());
          SERIAL_PROTOCOLLN("");
        }
      }
      break;
    #endif // NUM_SERVOS > 0

    #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
    case 300: // M300
    {
      int beepS = code_seen('S') ? code_value() : 110;
      int beepP = code_seen('P') ? code_value() : 1000;
      if (beepS > 0)
      {
        #if BEEPER > 0
          tone(BEEPER, beepS);
          delay(beepP);
          noTone(BEEPER);
        #elif defined(ULTRALCD)
		  lcd_buzz(beepS, beepP);
		#elif defined(LCD_USE_I2C_BUZZER)
		  lcd_buzz(beepP, beepS);
        #endif
      }
      else
      {
        delay(beepP);
      }
    }
    break;
    #endif // M300

    #ifdef PIDTEMP
    case 301: // M301
      {
        if(code_seen('P')) Kp = code_value();
        if(code_seen('I')) Ki = scalePID_i(code_value());
        if(code_seen('D')) Kd = scalePID_d(code_value());

        #ifdef PID_ADD_EXTRUSION_RATE
        if(code_seen('C')) Kc = code_value();
        #endif

        updatePID();
        SERIAL_PROTOCOL(MSG_OK);
        SERIAL_PROTOCOL(" p:");
        SERIAL_PROTOCOL(Kp);
        SERIAL_PROTOCOL(" i:");
        SERIAL_PROTOCOL(unscalePID_i(Ki));
        SERIAL_PROTOCOL(" d:");
        SERIAL_PROTOCOL(unscalePID_d(Kd));
        #ifdef PID_ADD_EXTRUSION_RATE
        SERIAL_PROTOCOL(" c:");
        //Kc does not have scaling applied above, or in resetting defaults
        SERIAL_PROTOCOL(Kc);
        #endif
        SERIAL_PROTOCOLLN("");
      }
      break;
    #endif //PIDTEMP
    #ifdef PIDTEMPBED
    case 304: // M304
      {
        if(code_seen('P')) bedKp = code_value();
        if(code_seen('I')) bedKi = scalePID_i(code_value());
        if(code_seen('D')) bedKd = scalePID_d(code_value());

        updatePID();
        SERIAL_PROTOCOL(MSG_OK);
        SERIAL_PROTOCOL(" p:");
        SERIAL_PROTOCOL(bedKp);
        SERIAL_PROTOCOL(" i:");
        SERIAL_PROTOCOL(unscalePID_i(bedKi));
        SERIAL_PROTOCOL(" d:");
        SERIAL_PROTOCOL(unscalePID_d(bedKd));
        SERIAL_PROTOCOLLN("");
      }
      break;
    #endif //PIDTEMP
    case 240: // M240  Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
     {
     	#ifdef CHDK
       
         SET_OUTPUT(CHDK);
         WRITE(CHDK, HIGH);
         chdkHigh = millis();
         chdkActive = true;
       
       #else
     	
      	#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
	const uint8_t NUM_PULSES=16;
	const float PULSE_LENGTH=0.01524;
	for(int i=0; i < NUM_PULSES; i++) {
        WRITE(PHOTOGRAPH_PIN, HIGH);
        _delay_ms(PULSE_LENGTH);
        WRITE(PHOTOGRAPH_PIN, LOW);
        _delay_ms(PULSE_LENGTH);
        }
        delay(7.33);
        for(int i=0; i < NUM_PULSES; i++) {
        WRITE(PHOTOGRAPH_PIN, HIGH);
        _delay_ms(PULSE_LENGTH);
        WRITE(PHOTOGRAPH_PIN, LOW);
        _delay_ms(PULSE_LENGTH);
        }
      	#endif
      #endif //chdk end if
     }
    break;
#ifdef DOGLCD
    case 250: // M250  Set LCD contrast value: C<value> (value 0..63)
     {
	  if (code_seen('C')) {
	   lcd_setcontrast( ((int)code_value())&63 );
          }
          SERIAL_PROTOCOLPGM("lcd contrast value: ");
          SERIAL_PROTOCOL(lcd_contrast);
          SERIAL_PROTOCOLLN("");
     }
    break;
#endif
    #ifdef PREVENT_DANGEROUS_EXTRUDE
    case 302: // allow cold extrudes, or set the minimum extrude temperature
    {
	  float temp = .0;
	  if (code_seen('S')) temp=code_value();
      set_extrude_min_temp(temp);
    }
    break;
	#endif
    case 303: // M303 PID autotune
    {
      float temp = 150.0;
      int e=0;
      int c=5;
      if (code_seen('E')) e=code_value();
        if (e<0)
          temp=70;
      if (code_seen('S')) temp=code_value();
      if (code_seen('C')) c=code_value();
      PID_autotune(temp, e, c);
    }
    break;
	#ifdef SCARA
	/*
	case 360:  // M360 SCARA Theta pos1
      SERIAL_ECHOLN(" Cal: Theta 0 ");
      //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
      //SERIAL_ECHOLN(" Soft endstops disabled ");
      if(Stopped == false) {
        //get_coordinates(); // For X Y Z E F
        delta[X_AXIS] = 0;
        delta[Y_AXIS] = 120;
        calculate_SCARA_forward_Transform(delta);
        destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
        destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
        
        prepare_move();
        //ClearToSend();
        return;
      }
    break;

    case 361:  // SCARA Theta pos2
      SERIAL_ECHOLN(" Cal: Theta 90 ");
      //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
      //SERIAL_ECHOLN(" Soft endstops disabled ");
      if(Stopped == false) {
        //get_coordinates(); // For X Y Z E F
        delta[X_AXIS] = 90;
        delta[Y_AXIS] = 130;
        calculate_SCARA_forward_Transform(delta);
        destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
        destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
        
        prepare_move();
        //ClearToSend();
        return;
      }
    break;
    case 362:  // SCARA Psi pos1
      SERIAL_ECHOLN(" Cal: Psi 0 ");
      //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
      //SERIAL_ECHOLN(" Soft endstops disabled ");
      if(Stopped == false) {
        //get_coordinates(); // For X Y Z E F
        delta[X_AXIS] = 60;
        delta[Y_AXIS] = 180;
        calculate_SCARA_forward_Transform(delta);
        destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
        destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
        
        prepare_move();
        //ClearToSend();
        return;
      }
    break;
    case 363:  // SCARA Psi pos2
      SERIAL_ECHOLN(" Cal: Psi 90 ");
      //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
      //SERIAL_ECHOLN(" Soft endstops disabled ");
      if(Stopped == false) {
        //get_coordinates(); // For X Y Z E F
        delta[X_AXIS] = 50;
        delta[Y_AXIS] = 90;
        calculate_SCARA_forward_Transform(delta);
        destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
        destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
        
        prepare_move();
        //ClearToSend();
        return;
      }
    break;
    case 364:  // SCARA Psi pos3 (90 deg to Theta)
      SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
     // SoftEndsEnabled = false;              // Ignore soft endstops during calibration
      //SERIAL_ECHOLN(" Soft endstops disabled ");
      if(Stopped == false) {
        //get_coordinates(); // For X Y Z E F
        delta[X_AXIS] = 45;
        delta[Y_AXIS] = 135;
        calculate_SCARA_forward_Transform(delta);
        destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
        destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; 
        
        prepare_move();
        //ClearToSend();
        return;
      }
    break;
    case 365: // M365  Set SCARA scaling for X Y Z
		for(int8_t i=0; i < 3; i++) 
		{
			if(code_seen(axis_codes[i])) 
			{
				axis_scaling[i] = code_value();
			}
		}
		break;
	*/
	case 366:
		if(code_seen('B')) {
			Linkage_1= code_value();
		}
		if(code_seen('S')) {
			Linkage_2= code_value();
		}
		if(code_seen('C')) {
			CencerOffset= code_value();
		}
		if(code_seen('H')) {
			HeadOffset= code_value();
		}
		break;
	case 367:
		float TempValue;
		for(int8_t i=0; i < 3; i++)
		{
			if(code_seen(axis_codes[i])) 
			{
				TempValue = code_value();
				current_position[i]=current_position[i]+SCARA_offset[i]-TempValue;
				SCARA_offset[i] = TempValue;
			}
		}
		break;
	case 368:
		for(int8_t i=0; i < 3; i++)
		{
			if(code_seen(axis_codes[i])) 
			{
				ManualHomePos[i] = code_value();
			}
		}
		break;
	#endif
	
    case 400: // M400 finish all moves
    {
      st_synchronize();
    }
    break;
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
    case 401:
    {
        engage_z_probe();    // Engage Z Servo endstop if available
    }
    break;

    case 402:
    {
        retract_z_probe();    // Retract Z Servo endstop if enabled
    }
    break;
#endif

#ifdef FILAMENT_SENSOR
case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width 
    {
    #if (FILWIDTH_PIN > -1) 
    if(code_seen('N')) filament_width_nominal=code_value();
    else{
    SERIAL_PROTOCOLPGM("Filament dia (nominal mm):"); 
    SERIAL_PROTOCOLLN(filament_width_nominal); 
    }
    #endif
    }
    break; 
    
    case 405:  //M405 Turn on filament sensor for control 
    {
    
    
    if(code_seen('D')) meas_delay_cm=code_value();
       
       if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
       	meas_delay_cm = MAX_MEASUREMENT_DELAY;
    
       if(delay_index2 == -1)  //initialize the ring buffer if it has not been done since startup
    	   {
    	   int temp_ratio = widthFil_to_size_ratio(); 
       	    
       	    for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
       	              measurement_delay[delay_index1]=temp_ratio-100;  //subtract 100 to scale within a signed byte
       	        }
       	    delay_index1=0;
       	    delay_index2=0;	
    	   }
    
    filament_sensor = true ; 
    
    //SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); 
    //SERIAL_PROTOCOL(filament_width_meas); 
    //SERIAL_PROTOCOLPGM("Extrusion ratio(%):"); 
    //SERIAL_PROTOCOL(extrudemultiply); 
    } 
    break; 
    
    case 406:  //M406 Turn off filament sensor for control 
    {      
    filament_sensor = false ; 
    } 
    break; 
  
    case 407:   //M407 Display measured filament diameter 
    { 
     
    
    
    SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); 
    SERIAL_PROTOCOLLN(filament_width_meas);   
    } 
    break; 
    #endif
    




    case 500: // M500 Store settings in EEPROM
    {
        Config_StoreSettings();
    }
    break;
    case 501: // M501 Read settings from EEPROM
    {
        Config_RetrieveSettings();
    }
    break;
    case 502: // M502 Revert to default settings
    {
        Config_ResetDefault();
    }
    break;
    case 503: // M503 print settings currently in memory
    {
        Config_PrintSettings();
    }
    break;
    #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
    case 540:
    {
        if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
    }
    break;
    #endif

    #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
    case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
    {
      float value;
      if (code_seen('Z'))
      {
        value = code_value();
        if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
        {
          zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
          SERIAL_ECHO_START;
          SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
          SERIAL_PROTOCOLLN("");
        }
        else
        {
          SERIAL_ECHO_START;
          SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
          SERIAL_ECHOPGM(MSG_Z_MIN);
          SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
          SERIAL_ECHOPGM(MSG_Z_MAX);
          SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
          SERIAL_PROTOCOLLN("");
        }
      }
      else
      {
          SERIAL_ECHO_START;
          SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
          SERIAL_ECHO(-zprobe_zoffset);
          SERIAL_PROTOCOLLN("");
      }
      break;
    }
    #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET

    #ifdef FILAMENTCHANGEENABLE
    case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
    {
        float target[4];
        float lastpos[4];
        target[X_AXIS]=current_position[X_AXIS];
        target[Y_AXIS]=current_position[Y_AXIS];
        target[Z_AXIS]=current_position[Z_AXIS];
        target[E_AXIS]=current_position[E_AXIS];
        lastpos[X_AXIS]=current_position[X_AXIS];
        lastpos[Y_AXIS]=current_position[Y_AXIS];
        lastpos[Z_AXIS]=current_position[Z_AXIS];
        lastpos[E_AXIS]=current_position[E_AXIS];
        //retract by E
        if(code_seen('E'))
        {
          target[E_AXIS]+= code_value();
        }
        else
        {
          #ifdef FILAMENTCHANGE_FIRSTRETRACT
            target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
          #endif
        }
        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);

        //lift Z
        if(code_seen('Z'))
        {
          target[Z_AXIS]+= code_value();
        }
        else
        {
          #ifdef FILAMENTCHANGE_ZADD
            target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
          #endif
        }
        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);

        //move xy
        if(code_seen('X'))
        {
          target[X_AXIS]+= code_value();
        }
        else
        {
          #ifdef FILAMENTCHANGE_XPOS
            target[X_AXIS]= FILAMENTCHANGE_XPOS ;
          #endif
        }
        if(code_seen('Y'))
        {
          target[Y_AXIS]= code_value();
        }
        else
        {
          #ifdef FILAMENTCHANGE_YPOS
            target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
          #endif
        }

        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);

        if(code_seen('L'))
        {
          target[E_AXIS]+= code_value();
        }
        else
        {
          #ifdef FILAMENTCHANGE_FINALRETRACT
            target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
          #endif
        }

        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);

        //finish moves
        st_synchronize();
        //disable extruder steppers so filament can be removed
        disable_e0();
        disable_e1();
        disable_e2();
        delay(100);
        LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
        uint8_t cnt=0;
        while(!lcd_clicked()){
          cnt++;
          manage_heater();
          manage_inactivity(true);
          lcd_update();
          if(cnt==0)
          {
          #if BEEPER > 0
            SET_OUTPUT(BEEPER);

            WRITE(BEEPER,HIGH);
            delay(3);
            WRITE(BEEPER,LOW);
            delay(3);
          #else
			#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
              lcd_buzz(1000/6,100);
			#else
			  lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
			#endif
          #endif
          }
        }

        //return to normal
        if(code_seen('L'))
        {
          target[E_AXIS]+= -code_value();
        }
        else
        {
          #ifdef FILAMENTCHANGE_FINALRETRACT
            target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
          #endif
        }
        current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
        plan_set_e_position(current_position[E_AXIS]);
        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //should do nothing
        plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move xy back
        plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move z back
        plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
    }
    break;
    #endif //FILAMENTCHANGEENABLE
    #ifdef DUAL_X_CARRIAGE
    case 605: // Set dual x-carriage movement mode:
              //    M605 S0: Full control mode. The slicer has full control over x-carriage movement
              //    M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
              //    M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
              //                         millimeters x-offset and an optional differential hotend temperature of
              //                         mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
              //                         the first with a spacing of 100mm in the x direction and 2 degrees hotter.
              //
              //    Note: the X axis should be homed after changing dual x-carriage mode.
    {
        st_synchronize();

        if (code_seen('S'))
          dual_x_carriage_mode = code_value();

        if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
        {
          if (code_seen('X'))
            duplicate_extruder_x_offset = max(code_value(),X2_MIN_POS - x_home_pos(0));

          if (code_seen('R'))
            duplicate_extruder_temp_offset = code_value();

          SERIAL_ECHO_START;
          SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
          SERIAL_ECHO(" ");
          SERIAL_ECHO(extruder_offset[X_AXIS][0]);
          SERIAL_ECHO(",");
          SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
          SERIAL_ECHO(" ");
          SERIAL_ECHO(duplicate_extruder_x_offset);
          SERIAL_ECHO(",");
          SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
        }
        else if (dual_x_carriage_mode != DXC_FULL_CONTROL_MODE && dual_x_carriage_mode != DXC_AUTO_PARK_MODE)
        {
          dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
        }

        active_extruder_parked = false;
        extruder_duplication_enabled = false;
        delayed_move_time = 0;
    }
    break;
    #endif //DUAL_X_CARRIAGE

    case 907: // M907 Set digital trimpot motor current using axis codes.
    {
      #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
        for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
        if(code_seen('B')) digipot_current(4,code_value());
        if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
      #endif
      #ifdef MOTOR_CURRENT_PWM_XY_PIN
        if(code_seen('X')) digipot_current(0, code_value());
      #endif
      #ifdef MOTOR_CURRENT_PWM_Z_PIN
        if(code_seen('Z')) digipot_current(1, code_value());
      #endif
      #ifdef MOTOR_CURRENT_PWM_E_PIN
        if(code_seen('E')) digipot_current(2, code_value());
      #endif
      #ifdef DIGIPOT_I2C
        // this one uses actual amps in floating point
        for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
        // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
        for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
      #endif
    }
    break;
    case 908: // M908 Control digital trimpot directly.
    {
      #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
        uint8_t channel,current;
        if(code_seen('P')) channel=code_value();
        if(code_seen('S')) current=code_value();
        digitalPotWrite(channel, current);
      #endif
    }
    break;
    case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
    {
      #if defined(X_MS1_PIN) && X_MS1_PIN > -1
        if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
        for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
        if(code_seen('B')) microstep_mode(4,code_value());
        microstep_readings();
      #endif
    }
    break;
    case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
    {
      #if defined(X_MS1_PIN) && X_MS1_PIN > -1
      if(code_seen('S')) switch((int)code_value())
      {
        case 1:
          for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
          if(code_seen('B')) microstep_ms(4,code_value(),-1);
          break;
        case 2:
          for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
          if(code_seen('B')) microstep_ms(4,-1,code_value());
          break;
      }
      microstep_readings();
      #endif
    }
    break;
    case 999: // M999: Restart after being stopped
      Stopped = false;
      lcd_reset_alert_level();
      gcode_LastN = Stopped_gcode_LastN;
      FlushSerialRequestResend();
    break;
    }
  }

  else if(code_seen('T'))
  {
    tmp_extruder = code_value();
    if(tmp_extruder >= EXTRUDERS) {
      SERIAL_ECHO_START;
      SERIAL_ECHO("T");
      SERIAL_ECHO(tmp_extruder);
      SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
    }
    else {
      boolean make_move = false;
      if(code_seen('F')) {
        make_move = true;
        next_feedrate = code_value();
        if(next_feedrate > 0.0) {
          feedrate = next_feedrate;
        }
      }
      #if EXTRUDERS > 1
      if(tmp_extruder != active_extruder) {
        // Save current position to return to after applying extruder offset
        memcpy(destination, current_position, sizeof(destination));
      #ifdef DUAL_X_CARRIAGE
        if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
            (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder)))
        {
          // Park old head: 1) raise 2) move to park position 3) lower
          plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
                current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
          plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
                current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
          plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
                current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
          st_synchronize();
        }

        // apply Y & Z extruder offset (x offset is already used in determining home pos)
        current_position[Y_AXIS] = current_position[Y_AXIS] -
                     extruder_offset[Y_AXIS][active_extruder] +
                     extruder_offset[Y_AXIS][tmp_extruder];
        current_position[Z_AXIS] = current_position[Z_AXIS] -
                     extruder_offset[Z_AXIS][active_extruder] +
                     extruder_offset[Z_AXIS][tmp_extruder];

        active_extruder = tmp_extruder;

        // This function resets the max/min values - the current position may be overwritten below.
        axis_is_at_home(X_AXIS);

        if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE)
        {
          current_position[X_AXIS] = inactive_extruder_x_pos;
          inactive_extruder_x_pos = destination[X_AXIS];
        }
        else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
        {
          active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
          if (active_extruder == 0 || active_extruder_parked)
            current_position[X_AXIS] = inactive_extruder_x_pos;
          else
            current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
          inactive_extruder_x_pos = destination[X_AXIS];
          extruder_duplication_enabled = false;
        }
        else
        {
          // record raised toolhead position for use by unpark
          memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
          raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
          active_extruder_parked = true;
          delayed_move_time = 0;
        }
      #else
        // Offset extruder (only by XY)
        int i;
        for(i = 0; i < 2; i++) {
           current_position[i] = current_position[i] -
                                 extruder_offset[i][active_extruder] +
                                 extruder_offset[i][tmp_extruder];
        }
        // Set the new active extruder and position
        active_extruder = tmp_extruder;
      #endif //else DUAL_X_CARRIAGE
#ifdef DELTA 

  calculate_delta(current_position); // change cartesian kinematic  to  delta kinematic;
   //sent position to plan_set_position();
  plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
            
#else
        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);

#endif
        // Move to the old position if 'F' was in the parameters
        if(make_move && Stopped == false) {
           prepare_move();
        }
      }
      #endif
      SERIAL_ECHO_START;
      SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
      SERIAL_PROTOCOLLN((int)active_extruder);
    }
  }

  else
  {
    SERIAL_ECHO_START;
    SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
    SERIAL_ECHO(cmdbuffer[bufindr]);
    SERIAL_ECHOLNPGM("\"");
  }

  ClearToSend();
}

void FlushSerialRequestResend()
{
  //char cmdbuffer[bufindr][100]="Resend:";
  MYSERIAL.flush();
  SERIAL_PROTOCOLPGM(MSG_RESEND);
  SERIAL_PROTOCOLLN(gcode_LastN + 1);
  ClearToSend();
}

void ClearToSend()
{
  previous_millis_cmd = millis();
  #ifdef SDSUPPORT
  if(fromsd[bufindr])
    return;
  #endif //SDSUPPORT
  SERIAL_PROTOCOLLNPGM(MSG_OK);
}

void get_coordinates()
{
	bool seen[4]={false,false,false,false};
	for(int8_t i=0; i < NUM_AXIS; i++) {
		if(code_seen(axis_codes[i]))
		{
			destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
			seen[i]=true;
		}
		else destination[i] = current_position[i]; //Are these else lines really needed?
	}
	if(code_seen('F')) {
		next_feedrate = code_value();
		if(next_feedrate > 0.0) feedrate = next_feedrate;
	}
	/*
	#ifdef SCARA
	if(angle_mode==true)
	{
		for(int8_t i=0; i < 3; i++) {
			if(code_seen(axis_codes[i]))
			{
				delta[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*(float)st_get_position(i)/axis_steps_per_unit[i];
				seen[i]=true;
			}
			else delta[i] = (float)st_get_position(i)/axis_steps_per_unit[i]; //Are these else lines really needed?
		}
	}
	#endif
	*/
}

void get_arc_coordinates()
{
#ifdef SF_ARC_FIX
   bool relative_mode_backup = relative_mode;
   relative_mode = true;
#endif
   get_coordinates();
#ifdef SF_ARC_FIX
   relative_mode=relative_mode_backup;
#endif

   if(code_seen('I')) {
     offset[0] = code_value();
   }
   else {
     offset[0] = 0.0;
   }
   if(code_seen('J')) {
     offset[1] = code_value();
   }
   else {
     offset[1] = 0.0;
   }
}

#ifdef SCARA
void clamp_to_software_angle_endstop(float target[3])
{
	if(min_software_angle_endstops)
	{
		if(target[X_AXIS] < min_angle[X_AXIS]) target[X_AXIS] = min_angle[X_AXIS];
		if(target[Y_AXIS] < min_angle[Y_AXIS]) target[Y_AXIS] = min_angle[Y_AXIS];
	}
	
	if(max_software_angle_endstops)
	{
		if (target[X_AXIS] > max_angle[X_AXIS]) target[X_AXIS] = max_angle[X_AXIS];
		if (target[Y_AXIS] > max_angle[Y_AXIS]) target[Y_AXIS] = max_angle[Y_AXIS];
	}
}
#endif

void clamp_to_software_endstops(float target[3])
{
	#ifdef SCARA
	float TempXY;
	if(min_software_endstops || max_software_endstops)
	{
		TempXY=sqrt(pow((target[X_AXIS]-SCARA_offset[X_AXIS]),2)+pow((target[Y_AXIS]-SCARA_offset[Y_AXIS]),2));
		if(TempXY<PRINTABLE_RADIUS_MIN || TempXY>PRINTABLE_RADIUS_MAX)
		{
			target[X_AXIS]=current_position[X_AXIS];
			target[Y_AXIS]=current_position[Y_AXIS];
		}
		if(target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
		if(target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
	}
	#else
	if(min_software_endstops) 
	{
		if(target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
		if(target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];

		float negative_z_offset = 0;
		#ifdef ENABLE_AUTO_BED_LEVELING
		if(Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
		if(add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
		#endif

		if(target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
	}

	if(max_software_endstops) 
	{
		if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
		if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
		if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
	}	
	#endif
  
}

#ifdef DELTA
void recalc_delta_settings(float radius, float diagonal_rod)
{
	 delta_tower1_x= -SIN_60*radius; // front left tower
	 delta_tower1_y= -COS_60*radius;	   
	 delta_tower2_x=  SIN_60*radius; // front right tower
	 delta_tower2_y= -COS_60*radius;	   
	 delta_tower3_x= 0.0;                  // back middle tower
	 delta_tower3_y= radius;
	 delta_diagonal_rod_2= sq(diagonal_rod);
}

void calculate_delta(float cartesian[3])
{
  delta[X_AXIS] = sqrt(delta_diagonal_rod_2
                       - sq(delta_tower1_x-cartesian[X_AXIS])
                       - sq(delta_tower1_y-cartesian[Y_AXIS])
                       ) + cartesian[Z_AXIS];
  delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
                       - sq(delta_tower2_x-cartesian[X_AXIS])
                       - sq(delta_tower2_y-cartesian[Y_AXIS])
                       ) + cartesian[Z_AXIS];
  delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
                       - sq(delta_tower3_x-cartesian[X_AXIS])
                       - sq(delta_tower3_y-cartesian[Y_AXIS])
                       ) + cartesian[Z_AXIS];
  /*
  SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);

  SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  */
}
#endif

void prepare_move()
{
  clamp_to_software_endstops(destination);
  previous_millis_cmd = millis();
  
  #ifdef SCARA //for now same as delta-code
	if(angle_mode == false)
	{
		float difference[NUM_AXIS];
		for (int8_t i=0; i < NUM_AXIS; i++) {
			difference[i] = destination[i] - current_position[i];
		}

		float cartesian_mm = sqrt(	sq(difference[X_AXIS]) +
									sq(difference[Y_AXIS]) +
									sq(difference[Z_AXIS]));
		if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
		if (cartesian_mm < 0.000001) { return; }
		float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
		int steps = max(1, int(scara_segments_per_second * seconds));
		 //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
		 //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
		 //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
		for (int s = 1; s <= steps; s++) {
			float fraction = float(s) / float(steps);
			for(int8_t i=0; i < NUM_AXIS; i++) {
				destination[i] = current_position[i] + difference[i] * fraction;
			}

			
			calculate_delta(destination);
                                 /*
				 SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
				 SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
				 SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
				 SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
				 SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
				 SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
                                */
			clamp_to_software_angle_endstop(delta);
			plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
			destination[E_AXIS], feedrate*feedmultiply/60/100.0,
			active_extruder);

		}
	}
	else
	{
		clamp_to_software_angle_endstop(destination);
		plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
	}

#endif // SCARA
  
#ifdef DELTA
  float difference[NUM_AXIS];
  for (int8_t i=0; i < NUM_AXIS; i++) {
    difference[i] = destination[i] - current_position[i];
  }
  float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
                            sq(difference[Y_AXIS]) +
                            sq(difference[Z_AXIS]));
  if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
  if (cartesian_mm < 0.000001) { return; }
  float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
  int steps = max(1, int(delta_segments_per_second * seconds));
  // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  for (int s = 1; s <= steps; s++) {
    float fraction = float(s) / float(steps);
    for(int8_t i=0; i < NUM_AXIS; i++) {
      destination[i] = current_position[i] + difference[i] * fraction;
    }
    calculate_delta(destination);
    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
                     destination[E_AXIS], feedrate*feedmultiply/60/100.0,
                     active_extruder);
  }
  
#endif // DELTA

#ifdef DUAL_X_CARRIAGE
  if (active_extruder_parked)
  {
    if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0)
    {
      // move duplicate extruder into correct duplication position.
      plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
      plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
          current_position[E_AXIS], max_feedrate[X_AXIS], 1);
      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
      st_synchronize();
      extruder_duplication_enabled = true;
      active_extruder_parked = false;
    }
    else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) // handle unparking of head
    {
      if (current_position[E_AXIS] == destination[E_AXIS])
      {
        // this is a travel move - skit it but keep track of current position (so that it can later
        // be used as start of first non-travel move)
        if (delayed_move_time != 0xFFFFFFFFUL)
        {
          memcpy(current_position, destination, sizeof(current_position));
          if (destination[Z_AXIS] > raised_parked_position[Z_AXIS])
            raised_parked_position[Z_AXIS] = destination[Z_AXIS];
          delayed_move_time = millis();
          return;
        }
      }
      delayed_move_time = 0;
      // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
      plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS],    current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
      plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS],
          current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder);
      plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
          current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
      active_extruder_parked = false;
    }
  }
#endif //DUAL_X_CARRIAGE

#if ! (defined DELTA || defined SCARA)
  // Do not use feedmultiply for E or Z only moves
  if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
      plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  }
  else {
    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
  }
#endif // !(DELTA || SCARA)

	for(int8_t i=0; i < NUM_AXIS; i++) 
	{
		current_position[i] = destination[i];
	}
  
}

void prepare_arc_move(char isclockwise) {
  float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc

  // Trace the arc
  mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);

  // As far as the parser is concerned, the position is now == target. In reality the
  // motion control system might still be processing the action and the real tool position
  // in any intermediate location.
  for(int8_t i=0; i < NUM_AXIS; i++) {
    current_position[i] = destination[i];
  }
  previous_millis_cmd = millis();
}

#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1

#if defined(FAN_PIN)
  #if CONTROLLERFAN_PIN == FAN_PIN
    #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  #endif
#endif

unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
unsigned long lastMotorCheck = 0;

void controllerFan()
{
  if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  {
    lastMotorCheck = millis();

    if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
    #if EXTRUDERS > 2
       || !READ(E2_ENABLE_PIN)
    #endif
    #if EXTRUDER > 1
      #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
       || !READ(X2_ENABLE_PIN)
      #endif
       || !READ(E1_ENABLE_PIN)
    #endif
       || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
    {
      lastMotor = millis(); //... set time to NOW so the fan will turn on
    }

    if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
    {
        digitalWrite(CONTROLLERFAN_PIN, 0);
        analogWrite(CONTROLLERFAN_PIN, 0);
    }
    else
    {
        // allows digital or PWM fan output to be used (see M42 handling)
        digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
        analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
    }
  }
}
#endif

#ifdef SCARA
void calculate_SCARA_forward_Transform(float f_scara[3])
{
  // Perform forward kinematics, and place results in delta[3]
  // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  
  float x_sin, x_cos, y_sin, y_cos;
  float arm_xy;
  
    //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
    //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
  
    x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
    x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
    y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
    y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
	
	arm_xy = x_cos + y_cos + CencerOffset + HeadOffset;
   
  //  SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
  //  SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
  //  SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
  //  SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
  
	delta[X_AXIS] = arm_xy * cos(f_scara[Z_AXIS]/SCARA_RAD2DEG) - SCARA_offset[X_AXIS];
	delta[Y_AXIS] = arm_xy * sin(f_scara[Z_AXIS]/SCARA_RAD2DEG) - SCARA_offset[Y_AXIS];
	delta[Z_AXIS] = x_sin + y_sin - SCARA_offset[Z_AXIS];
	
    //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
    //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}  

void calculate_delta(float cartesian[3]){
  //reverse kinematics.
  // Perform reversed kinematics, and place results in delta[3]
  // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  
  float SCARA_pos[2];
  static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; 
  static float ARM_XYZ, ARM_XY;
  float TempDelta;
  
  SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] + SCARA_offset[X_AXIS];  //Translate SCARA to standard X Y
  SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] + SCARA_offset[Y_AXIS];  // With scaling factor.
  SCARA_pos[Z_AXIS] = cartesian[Z_AXIS] * axis_scaling[Z_AXIS] + SCARA_offset[Z_AXIS];
  
  ARM_XY = sqrt(pow(SCARA_pos[X_AXIS],2) + pow(SCARA_pos[Y_AXIS],2)) - CencerOffset - HeadOffset;
  ARM_XYZ = sqrt(pow(ARM_XY,2) + pow(SCARA_pos[Z_AXIS],2));
  
  SCARA_C2 = (pow(ARM_XYZ,2) - pow(Linkage_1,2) - pow(Linkage_2,2))/(2 * Linkage_1 * Linkage_2);
  
  SCARA_S2 = sqrt( 1 - pow(SCARA_C2,2) );
  
  SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
  SCARA_K2 = Linkage_2 * SCARA_S2;
  
  SCARA_theta = (atan2(SCARA_pos[Z_AXIS],ARM_XY)+atan2(SCARA_K2, SCARA_K1));
  SCARA_psi   =  atan2(SCARA_S2, SCARA_C2);
  
  delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG;  // Multiply by 180/Pi  -  theta is support arm angle
  delta[Y_AXIS] = (SCARA_theta - SCARA_psi) * SCARA_RAD2DEG;  //       -  equal to sub arm angle (inverted motor)
  delta[Z_AXIS] = atan2(SCARA_pos[Y_AXIS],SCARA_pos[X_AXIS]) * SCARA_RAD2DEG;
  
  /*
  SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  
  SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
  SERIAL_ECHOPGM(" y="); SERIAL_ECHO(SCARA_pos[Y_AXIS]);
  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(SCARA_pos[Z_AXIS]);
  
  SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  
  SERIAL_ECHOPGM("ARM_XY="); SERIAL_ECHO(ARM_XY);
  SERIAL_ECHOPGM("ARM_XYZ="); SERIAL_ECHO(ARM_XYZ);
  SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
  SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
  SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
  SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
  SERIAL_ECHOLN(" ");
  */
}
void calculate_delta1(float cartesian[3]){
  //这是我为了实现运动反解而写出的，借鉴 QHARLEY的运动反解方程。
  
  float SCARA_pos[2];
  static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; 
  static float ARM_XYZ, ARM_XY;
  float TempDelta;
  
  SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] + SCARA_offset[X_AXIS];  //Translate SCARA to standard X Y
  SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] + SCARA_offset[Y_AXIS];  // With scaling factor.
  SCARA_pos[Z_AXIS] = cartesian[Z_AXIS] * axis_scaling[Z_AXIS] + SCARA_offset[Z_AXIS];
  
  ARM_XY = sqrt(pow(SCARA_pos[X_AXIS],2) + pow(SCARA_pos[Y_AXIS],2)) - CencerOffset - HeadOffset;
  ARM_XYZ = sqrt(pow(ARM_XY,2) + pow(SCARA_pos[Z_AXIS],2));
  
  SCARA_C2 = (pow(ARM_XYZ,2) - pow(Linkage_1,2) - pow(Linkage_2,2))/(2 * Linkage_1 * Linkage_2);
  
  SCARA_S2 = sqrt( 1 - pow(SCARA_C2,2) );
  
  SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
  SCARA_K2 = Linkage_2 * SCARA_S2;
  
  SCARA_theta = (atan2(SCARA_pos[Z_AXIS],ARM_XY)+atan2(SCARA_K2, SCARA_K1));
  SCARA_psi   =  atan2(SCARA_S2, SCARA_C2);
  
  delta1[X_AXIS] = SCARA_theta * SCARA_RAD2DEG;  // Multiply by 180/Pi  -  theta is support arm angle
  delta1[Y_AXIS] = (SCARA_theta - SCARA_psi) * SCARA_RAD2DEG;  //       -  equal to sub arm angle (inverted motor)
  delta1[Z_AXIS] = atan2(SCARA_pos[Y_AXIS],SCARA_pos[X_AXIS]) * SCARA_RAD2DEG;
 }

#endif

#ifdef TEMP_STAT_LEDS
static bool blue_led = false;
static bool red_led = false;
static uint32_t stat_update = 0;

void handle_status_leds(void) {
  float max_temp = 0.0;
  if(millis() > stat_update) {
    stat_update += 500; // Update every 0.5s
    for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
       max_temp = max(max_temp, degHotend(cur_extruder));
       max_temp = max(max_temp, degTargetHotend(cur_extruder));
    }
    #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
      max_temp = max(max_temp, degTargetBed());
      max_temp = max(max_temp, degBed());
    #endif
    if((max_temp > 55.0) && (red_led == false)) {
      digitalWrite(STAT_LED_RED, 1);
      digitalWrite(STAT_LED_BLUE, 0);
      red_led = true;
      blue_led = false;
    }
    if((max_temp < 54.0) && (blue_led == false)) {
      digitalWrite(STAT_LED_RED, 0);
      digitalWrite(STAT_LED_BLUE, 1);
      red_led = false;
      blue_led = true;
    }
  }
}
#endif

void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
{
	
#if defined(KILL_PIN) && KILL_PIN > -1
	static int killCount = 0;   // make the inactivity button a bit less responsive
   const int KILL_DELAY = 10000;
#endif

#if defined(HOME_PIN) && HOME_PIN > -1
   static int homeDebounceCount = 0;   // poor man's debouncing count
   const int HOME_DEBOUNCE_DELAY = 10000;
#endif
   
	
  if(buflen < (BUFSIZE-1))//这个是看缓存块有没有剩余，如果有，取一条指令
    get_command();

  if( (millis() - previous_millis_cmd) >  max_inactive_time )
    if(max_inactive_time)
      kill();//正常情况下不会做这个检查，目的是看两个指令执行间隔是否正确。如果不正确，停止所有动作。
  if(stepper_inactive_time)  {
    if( (millis() - previous_millis_cmd) >  stepper_inactive_time )
    {
      if(blocks_queued() == false && ignore_stepper_queue == false) {
        disable_x();
        disable_y();
        disable_z();
        disable_e0();
        disable_e1();
        disable_e2();
      }
    }
  }//如果两个指令驱动步进电机时间大于一分钟，同时队列中没有指令了，就让所有电机disable
  
  #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
    if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
    {
      chdkActive = false;
      WRITE(CHDK, LOW);
    }
  #endif
  
  #if defined(KILL_PIN) && KILL_PIN > -1
    
    // Check if the kill button was pressed and wait just in case it was an accidental
    // key kill key press
    // -------------------------------------------------------------------------------
    if( 0 == READ(KILL_PIN) )
    {
       killCount++;
    }
    else if (killCount > 0)
    {
       killCount--;
    }
    // Exceeded threshold and we can confirm that it was not accidental
    // KILL the machine
    // ----------------------------------------------------------------
    if ( killCount >= KILL_DELAY)
    {
       kill();
    }
  #endif

#if defined(HOME_PIN) && HOME_PIN > -1
    // Check to see if we have to home, use poor man's debouncer
    // ---------------------------------------------------------
    if ( 0 == READ(HOME_PIN) )
    {
       if (homeDebounceCount == 0)
       {
          enquecommand_P((PSTR("G28")));
          homeDebounceCount++;
          LCD_ALERTMESSAGEPGM(MSG_AUTO_HOME);
       }
       else if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
       {
          homeDebounceCount++;
       }
       else
       {
          homeDebounceCount = 0;
       }
    }
#endif
    
  #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
    controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  #endif
  #ifdef EXTRUDER_RUNOUT_PREVENT
    if( (millis() - previous_millis_cmd) >  EXTRUDER_RUNOUT_SECONDS*1000 )
    if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
    {
     bool oldstatus=READ(E0_ENABLE_PIN);
     enable_e0();
     float oldepos=current_position[E_AXIS];
     float oldedes=destination[E_AXIS];
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
                      destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
                      EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
     current_position[E_AXIS]=oldepos;
     destination[E_AXIS]=oldedes;
     plan_set_e_position(oldepos);
     previous_millis_cmd=millis();
     st_synchronize();
     WRITE(E0_ENABLE_PIN,oldstatus);
    }
  #endif//这个应该是对挤出头的保护，不用管
  #if defined(DUAL_X_CARRIAGE)
    // handle delayed move timeout
    if (delayed_move_time != 0 && (millis() - delayed_move_time) > 1000 && Stopped == false)
    {
      // travel moves have been received so enact them
      delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
      memcpy(destination,current_position,sizeof(destination));
      prepare_move();
    }
  #endif
  #ifdef TEMP_STAT_LEDS
      handle_status_leds();
  #endif
  check_axes_activity();//检查步进马达的状态。
}

void kill()
{
  cli(); // Stop interrupts
  disable_heater();

  disable_x();
  disable_y();
  disable_z();
  disable_e0();
  disable_e1();
  disable_e2();

#if defined(PS_ON_PIN) && PS_ON_PIN > -1
  pinMode(PS_ON_PIN,INPUT);
#endif
  SERIAL_ERROR_START;
  SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  LCD_ALERTMESSAGEPGM(MSG_KILLED);
  
  // FMC small patch to update the LCD before ending
  sei();   // enable interrupts
  for ( int i=5; i--; lcd_update())
  {
     delay(200);	
  }
  cli();   // disable interrupts
  suicide();
  while(1) { /* Intentionally left empty */ } // Wait for reset
}

void Stop()
{
  disable_heater();
  if(Stopped == false) {
    Stopped = true;
    Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
    SERIAL_ERROR_START;
    SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
    LCD_MESSAGEPGM(MSG_STOPPED);
  }
}

bool IsStopped() { return Stopped; };

#ifdef FAST_PWM_FAN
void setPwmFrequency(uint8_t pin, int val)
{
  val &= 0x07;
  switch(digitalPinToTimer(pin))
  {

    #if defined(TCCR0A)
    case TIMER0A:
    case TIMER0B:
//         TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
//         TCCR0B |= val;
         break;
    #endif

    #if defined(TCCR1A)
    case TIMER1A:
    case TIMER1B:
//         TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
//         TCCR1B |= val;
         break;
    #endif

    #if defined(TCCR2)
    case TIMER2:
    case TIMER2:
         TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
         TCCR2 |= val;
         break;
    #endif

    #if defined(TCCR2A)
    case TIMER2A:
    case TIMER2B:
         TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
         TCCR2B |= val;
         break;
    #endif

    #if defined(TCCR3A)
    case TIMER3A:
    case TIMER3B:
    case TIMER3C:
         TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
         TCCR3B |= val;
         break;
    #endif

    #if defined(TCCR4A)
    case TIMER4A:
    case TIMER4B:
    case TIMER4C:
         TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
         TCCR4B |= val;
         break;
   #endif

    #if defined(TCCR5A)
    case TIMER5A:
    case TIMER5B:
    case TIMER5C:
         TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
         TCCR5B |= val;
         break;
   #endif

  }
}
#endif //FAST_PWM_FAN

bool setTargetedHotend(int code){
  tmp_extruder = active_extruder;
  if(code_seen('T')) {
    tmp_extruder = code_value();
    if(tmp_extruder >= EXTRUDERS) {
      SERIAL_ECHO_START;
      switch(code){
        case 104:
          SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
          break;
        case 105:
          SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
          break;
        case 109:
          SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
          break;
        case 218:
          SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
          break;
        case 221:
          SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
          break;
      }
      SERIAL_ECHOLN(tmp_extruder);
      return true;
    }
  }
  return false;
}


float calculate_volumetric_multiplier(float diameter) {
	float area = .0;
	float radius = .0;

	radius = diameter * .5;
	if (! volumetric_enabled || radius == 0) {
		area = 1;
	}
	else {
		area = M_PI * pow(radius, 2);
	}

	return 1.0 / area;
}

void calculate_volumetric_multipliers() {
	volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]);
#if EXTRUDERS > 1
	volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]);
#if EXTRUDERS > 2
	volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]);
#endif
#endif
}

void moveto(float givevalue[3]){ 
  
//自己加的函数，相当于G1
  if(Stopped == false) {
    bool seen[4]={false,false,false,false};
    for(int8_t i=0; i < 3; i++) {
      destination[i] = givevalue[i] + (axis_relative_modes[i] || relative_mode)*current_position[i];
      seen[i]=true;
      }
    prepare_move();
  }   
}
void moveto94(){
  //自己加上的函数，相当于G94
    angle_mode = false;
    relative_mode = false;
    for(int8_t i=0; i < 3; i++)
    {
      TempDelta[i]=current_position[i];
    }
    calculate_SCARA_forward_Transform(current_position);
    for(int8_t i=0; i < 3; i++)
    {
      current_position[i]=destination[i]=delta[i];
      delta[i]=TempDelta[i];
    }
    }
void moveto95(){
//自己加上的函数，相当于G95
    angle_mode = true;
    relative_mode = true;
    for(int8_t i=0; i < 3; i++)
    {
      current_position[i]=destination[i]=delta[i];
    }
}
void moveto93(float coordinate[3]){
  for(int8_t i=0; i < 3; i++)
    {
      
        delta[i] = coordinate[i]; 
        TempDelta[i]=delta[i];
      
    }
    plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
    calculate_SCARA_forward_Transform(delta);
    for(int8_t i=0; i < 3; i++)
    {
      current_position[i]=destination[i]=delta[i];
      delta[i]=TempDelta[i];
    }
}

void servoto(int servo_index,int servo_position ){
  //自己加上的函数，相当于M280,在这个里面可以控制舵机的引脚，以及对应的舵机号码
  int servospin=0;
  if (servo_index==0)
    servospin=29;
  else servospin=31;//规定对应0以及1使用的口
  if(servo_position>182)//目的是放置舵机运动过范围，如果运动过范围就让他反向运行180度。
  	servo_position-=180;//这样一来，所有角度都可以运行到了。
  else if(servo_position<-2)
  	servo_position+=180;
    servopulse(servo_position,servospin);
}
void delay1(float a){
 LCD_MESSAGEPGM(MSG_DWELL);
      unsigned long codenum=0; //throw away variable
      codenum = a * 1000; // seconds to wait
      st_synchronize();
      codenum += millis();  // keep track of when we started waiting
      previous_millis_cmd = millis();
      while(millis() < codenum) {
        manage_heater();
        manage_inactivity();
        lcd_update();
      } 
}

void stacking(int num){
  //num指的是第几号物品
  float moved[3];//局部变量，存放要去到的位置
  float moved1[3];//局部变量，存放要去到的位置的正上方的距离，用来先到达正上方的距离再到达目的地，这样路径规划就比较方便。
  float moveto01[3];//局部变量，用来存放在初始夹住物品之后，上升到的位置
  float a=0;//中间变量

  //下面的程序是对于下一步未知的准备工作的赋值，一个是赋值因子，一个是赋值
  setstacking(num);

  //下一步开始求出真正位置
  moved[2]=moveto31[2]+stack_point[2]*stack_sizez;
  moved[1]=moveto31[1]+stack_point[1]*stack_sizey[1];
  moved[0]=moveto31[0]+stack_point[1]*stack_sizey[0];//moved存在的价值是作为一个可以改变的局部变量存在，存放每次目的地的地址。

  for(int8_t i1=0; i1 < 3; i1++){
  moved1[i1]=moved[i1];
  moveto01[i1]=moveto0[i1];
  }
  moved1[2]+=(wlh[2]+20);
  moveto01[2]=moved1[2];
     
  //下一步要首先向上运动到moveto0,然后转相应的角度，然后在放下去，然后在升起来，然后再回来，然后再回到初始位置。
  calculate_delta1(moved);//为了使每次舵机0的转角可以使物品正向摆放，此处使用反解函数来求转角来解决问题
  moveto21[2]=delta1[2];
  moveto22[2]=-delta1[2];
  a=85+delta1[2]+angle1;
  moveto(moveto1);
  for(int8_t i1=0; i1 < 10; i1++)
  servoto(1,angle);//直接作用5遍，我看你加不加的紧
  moveto(moveto01);
  for(int8_t i1=0; i1 < 10; i1++)
  servoto(0,a);
  moveto95();
  moveto(moveto21);
  moveto94();
  moveto(moved1);
  moveto(moved);
  delay1(0.2);
  for(int8_t i1=0; i1 < 5; i1++)
  servoto(1,angle-10);
  delay1(0.2);
  moveto(moved1);
  moveto95();
  moveto(moveto22);
  moveto94();
  moveto(moveto0);
  for(int8_t i1=0; i1 < 10; i1++)
  servoto(0,85);//这段程序我写的好的地方在于把能放的量都放在变量之中的，所以说移植这个过程很顺利。
}


void servopulse(int angle,int servopin)//自己定义的舵机的 PWM波输出函数，使用了micros的读的时间的函数来实现时间的控制。
{
  unsigned long codenum=0;
  for(int8_t i=0; i < 5; i++){
  codenum=(angle*11)+500;  //将角度转化为500-2480的脉宽值，每多转1度，对应高电平多11us
  codenum += micros();
  digitalWrite(servopin,HIGH);    //将舵机接口电平至高
  while(micros() < codenum);  //延时脉宽值的微秒数
  codenum=20000-codenum;
  codenum += micros();
  digitalWrite(servopin,LOW);     //将舵机接口电平至低
  while(micros() < codenum);   
  }
}


void stacking1(int direc){
  
  float moved[3];//局部变量，存放要去到的位置
     
  if (direc==0)//代表颜色传感器检测到颜色1，要向0方向运动。
  {
     moved[0]=-240;//
     moved[1]=-300;//
     moved[2]=0;//
  }
  if (direc==1)
  {
     moved[0]=0;//
     moved[1]=-300;//
     moved[2]=0;//
   }
  if (direc==2)//代表颜色传感器检测到颜色1，要向0方向运动。
  {
     moved[0]=-240;//
     moved[1]=300;//
     moved[2]=0;//
  
  }
  if (direc==3)
  {
     moved[0]=0;//
     moved[1]=300;//
     moved[2]=0;//
      
  }
  if (direc==4)
  {
     moved[0]=-240;//
     moved[1]=-300;//
     moved[2]=30;//
      
  }
  if (direc==-1)
  {
     SERIAL_PROTOCOLPGM("ERROR");
     return; 
  }
 
stackto(moved);



}

void setstacking(int num){
	//把初始坐标以及末端坐标搞定到码垛因子以及码垛尺寸以及码垛物品数量和码垛补充角度中
	float stack_wlh[3]={0,0,0};
	float a=moveto32[0]-moveto31[0];
	float b=moveto32[1]-moveto31[1];
	float l=sqrt(a*a+b*b);
	stacking_num=(int)(l/wlh[1-stack_mode]);//这里是求出Y方向可以码垛的物品减一的数值，首先Y方向放满物品
	stack_sizey[1]=b/stacking_num;
	stack_sizey[0]=a/stacking_num;
	stack_sizez=wlh[2];
	angle1=(-atan2(b,a)-3.1415926/2)*SCARA_RAD2DEG+stack_mode*90;
	stacking_num++;//让他加一之后成为真正一排放的物品数目。
	num=num%(2*stacking_num);//使用求出的物品参数来决定该编号物品的位置。
    stack_point[2]=num/stacking_num;//存放Z的步数因子
    stack_point[1]=num%stacking_num;//存放Y的步数因子
    //stack_point[0]=stack_a%2;//存放x的步数因子
}
int rgb_compare(int rgb_1[3],int rgb_2[3]){
  int rgb_flag=0;
  for(int8_t i=0;i<3;i++){
    if(abs(rgb_1[i]-rgb_2[i])<20)
      rgb_flag++;
  }
  if(rgb_flag==3)
  return 1;
  else return 0;
}

void stackto(float moved[3])
{
  //这个是把一个物品码垛到指定坐标，同时会适当移动，防止碰到其他物品。
  float a=0;
  float moved1[3];//局部变量，存放要去到的位置的正上方的距离，用来先到达正上方的距离再到达目的地，这样路径规划就比较方便。
  float moveto01[3];//局部变量，用来存放在初始夹住物品之后，上升到的位置
  
  for(int8_t i1=0; i1 < 3; i1++){
     moved1[i1]=moved[i1];
     moveto01[i1]=moveto0[i1];
  }
  moved1[2]+=(wlh[2]+10);
  moveto01[2]=moved1[2];
  
//下一步要首先向上运动到moveto0,然后转相应的角度，然后在放下去，然后在升起来，然后再回来，然后再回到初始位置。
  calculate_delta1(moved);//为了使每次舵机0的转角可以使物品正向摆放，此处使用反解函数来求转角来解决问题
  moveto21[2]=delta1[2];
  moveto22[2]=-delta1[2];
  a=85+delta1[2]+angle1;
  moveto(moveto1);
  for(int8_t i1=0; i1 < 10; i1++)
  servoto(1,angle);//直接作用5遍，我看你加不加的紧
  moveto(moveto01);
  for(int8_t i1=0; i1 < 10; i1++)
  servoto(0,a);
  moveto95();
  moveto(moveto21);
  moveto94();
  moveto(moved1);
  moveto(moved);
  delay1(0.2);
  for(int8_t i1=0; i1 < 5; i1++)
  servoto(1,angle-10);
  delay1(0.2);
  moveto(moved1);
  moveto95();
  moveto(moveto22);
  moveto94();
  moveto(moveto0);
  for(int8_t i1=0; i1 < 10; i1++)
  servoto(0,85);//这段程序我写的好的地方在于把能放的量都放在变量之中的，所以说移植这个过程很顺利。
}



//下面四个是mpu对应的初始化函数以及读取角度函数
void initialmpu(){
    dmpReady = false;//开始给0值，等到成功初始化给1，用来判断是否正常初始化。
    Wire.begin();
    TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
    
    //Serial.println(F("Initializing I2C devices..."));
    SERIAL_PROTOCOLPGM("Initializing I2C devices...");
	  SERIAL_PROTOCOLLN("");
    mpu.initialize();
    // verify connection
    //Serial.println(F("Testing device connections..."));
    //Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    //load and configure the DMP
    //Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();
    
    //supply your own gyro offsets here, scaled for min sensitivity
    //mpu.setXGyroOffset(45);//220 76 -85
    //mpu.setYGyroOffset(127);
    //mpu.setZGyroOffset(52.5);//比例大概是4
    //mpu.setXAccelOffset(-352);//
    //mpu.setYAccelOffset(895);
    //mpu.setZAccelOffset(2676);

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        //Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        //Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        //Serial.println(F("DMP ready! Waiting for first interrupt..."));
		    SERIAL_PROTOCOLPGM("DMP ready!");
		    SERIAL_PROTOCOLLN("");
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();  
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
        //Serial.print(F("DMP Initialization failed (code "));
        //Serial.print(devStatus);
        //Serial.println(F(")"));
		SERIAL_PROTOCOLPGM("DMP Initialization failed ");
		SERIAL_PROTOCOLLN("");
    }
}

void getconner(){
  // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ( fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        //Serial.println(F("FIFO overflow!"));
		SERIAL_PROTOCOLPGM("FIFO overflow!");
		SERIAL_PROTOCOLLN("");
		delay(100);
    }
    // get current FIFO count
    fifoCount = mpu.getFIFOCount();
    
    // check for overflow (this should never happen unless our code is too inefficient)
    if ( fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        //Serial.println(F("FIFO overflow!"));
        SERIAL_PROTOCOLPGM("FIFO overflow!");
		    SERIAL_PROTOCOLLN("");
        // wait for correct available data length, should be a VERY short wait
        delay(100);
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        
        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

        // display Euler angles in degrees
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
        
        
        // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } 
    else  {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        
        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

        // display Euler angles in degrees
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
        
    }
}

void teach_timeshowing(){
  teach_timecushion-=1;//每经过一次中断程序，时间减少1。
  SERIAL_PROTOCOLPGM("TIME:");
  SERIAL_PROTOCOL(teach_timecushion);
  SERIAL_PROTOCOLLN("");//打印出相应的时间
  if(teach_timecushion<=0){
    //如果计时小于等于零，需要设定下面采样的计时器
    FlexiTimer2::set(teach_sample,teach_sampling);
    FlexiTimer2::start();
    for(int8_t i=0;i<3;i++){
      //设定偏执值        teach_buffer[i]存放对应的最后一次测到的角度值
      teach_offset[i]=delta[i]-teach_buffer[i];//设置偏执设置之后 ypr[2] * 180/M_PI=delta[Y_AXIS]+teach_offset
      teach_angle[i][teach_number]=teach_buffer[i]+teach_offset[i];
    }
    SERIAL_PROTOCOLPGM("ACTION");
    SERIAL_PROTOCOLLN("");//打印action，表示可以开始操作
  }
}

void teach_sampling(){
  teach_number++;
  for(int8_t i=0;i<3;i++){
    teach_angle[i][teach_number]=teach_buffer[i]+teach_offset[i];
  }
  
  teach_flag--;
  //SERIAL_PROTOCOL(teach_angle[teach_number]);
  if(teach_flag%(1000/teach_sample)==0)
  {
  --teach_time;
  SERIAL_PROTOCOLPGM("TIME:");
  SERIAL_PROTOCOL(teach_time);
  teach_flag=1000.0/teach_sample;
  }
}


  
  



