{"action":"created","comment":{"url":"https://api.github.com/repos/MarlinFirmware/Marlin/pulls/comments/82325211","pull_request_review_id":3241259,"id":82325211,"diff_hunk":"@@ -1196,12 +1207,8 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co\n  *\n  * On CORE machines stepper ABC will be translated from the given XYZ.\n  */\n-void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {\n-\n-  #if PLANNER_LEVELING\n-    apply_leveling(lx, ly, lz);\n-  #endif\n \n+void Planner::_set_position_mm(const float &lx, const float& ly, const float& lz, const float& e) {","path":"Marlin/planner.cpp","position":96,"original_position":96,"commit_id":"66958a9f5cb4a0782a1f8fd610dc4046ec358617","original_commit_id":"66958a9f5cb4a0782a1f8fd610dc4046ec358617","user":{"login":"thinkyhead","id":698003,"avatar_url":"https://avatars.githubusercontent.com/u/698003?v=3","gravatar_id":"","url":"https://api.github.com/users/thinkyhead","html_url":"https://github.com/thinkyhead","followers_url":"https://api.github.com/users/thinkyhead/followers","following_url":"https://api.github.com/users/thinkyhead/following{/other_user}","gists_url":"https://api.github.com/users/thinkyhead/gists{/gist_id}","starred_url":"https://api.github.com/users/thinkyhead/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/thinkyhead/subscriptions","organizations_url":"https://api.github.com/users/thinkyhead/orgs","repos_url":"https://api.github.com/users/thinkyhead/repos","events_url":"https://api.github.com/users/thinkyhead/events{/privacy}","received_events_url":"https://api.github.com/users/thinkyhead/received_events","type":"User","site_admin":false},"body":"Minor point of style. Note that `&` and `*` should be tied to the variable name and not the storage type. So, `float &ly` and not `float& ly`.","created_at":"2016-10-07T03:46:34Z","updated_at":"2016-10-07T03:47:06Z","html_url":"https://github.com/MarlinFirmware/Marlin/pull/4962#discussion_r82325211","pull_request_url":"https://api.github.com/repos/MarlinFirmware/Marlin/pulls/4962","_links":{"self":{"href":"https://api.github.com/repos/MarlinFirmware/Marlin/pulls/comments/82325211"},"html":{"href":"https://github.com/MarlinFirmware/Marlin/pull/4962#discussion_r82325211"},"pull_request":{"href":"https://api.github.com/repos/MarlinFirmware/Marlin/pulls/4962"}}},"pull_request":{"url":"https://api.github.com/repos/MarlinFirmware/Marlin/pulls/4962","id":88283299,"html_url":"https://github.com/MarlinFirmware/Marlin/pull/4962","diff_url":"https://github.com/MarlinFirmware/Marlin/pull/4962.diff","patch_url":"https://github.com/MarlinFirmware/Marlin/pull/4962.patch","issue_url":"https://api.github.com/repos/MarlinFirmware/Marlin/issues/4962","number":4962,"state":"open","locked":false,"title":"Abl bugfix and delta endstop adjust","user":{"login":"josefpavlik","id":2845202,"avatar_url":"https://avatars.githubusercontent.com/u/2845202?v=3","gravatar_id":"","url":"https://api.github.com/users/josefpavlik","html_url":"https://github.com/josefpavlik","followers_url":"https://api.github.com/users/josefpavlik/followers","following_url":"https://api.github.com/users/josefpavlik/following{/other_user}","gists_url":"https://api.github.com/users/josefpavlik/gists{/gist_id}","starred_url":"https://api.github.com/users/josefpavlik/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/josefpavlik/subscriptions","organizations_url":"https://api.github.com/users/josefpavlik/orgs","repos_url":"https://api.github.com/users/josefpavlik/repos","events_url":"https://api.github.com/users/josefpavlik/events{/privacy}","received_events_url":"https://api.github.com/users/josefpavlik/received_events","type":"User","site_admin":false},"body":"Auto Bed Leveling  does not work properly on DELTA printer.\r\n\r\nThe bed level correction is made AFTER the translation to delta coordinates. The function that should correct Z axis adds the difference to all axis (that is correct on delta), but calculates the correction from position of A and B towers instead from X and Y coordinates. The cartesian coordinates are not known at point where the correction is calculated.\r\n\r\nSo I've fixed it. I've made functions `Planner::buffer_line_kinematic` and `Planner::set_position_mm_kinematic`. These functions gets the cartesian coordinates, first corrects the bed level (if enabled), after translates to delta coordinates (if is_kinematic) and call the original function.\r\n\r\nThis simplifies many parts of program avoiding many `#if IS_KINEMATIC`.\r\nAlso the functions `Planner::buffer_line` and `Planner::set_position_mm` are maintained, they are called when the kinematic should not be calculated (i.e. homing etc).\r\n\r\nThe bed level adjustment does not work with options `USE_RAW_KINEMATICS` and `USE_DELTA_IK_INTERPOLATION` as there the X/Y coordinates are unknown during the interpolation. So I've added the check to `SanityCheck.h` to raise error when ABL and one of this options are enabled together.\r\n\r\nI've also added possibility to adjust delta printer endstops.\r\nYou can add\r\n```cpp\r\n#define DELTA_ENDSTOP_ADJ_X -1.23 // in milimeters\r\n#define DELTA_ENDSTOP_ADJ_Y -2.34 // in milimeters\r\n#define DELTA_ENDSTOP_ADJ_Z -3.45 // in milimeters\r\n```\r\nto the `Configuration.h`\r\nWhen not defined, the zero is used.\r\nHowever I've not add anything to the Configuration.h\r\n\r\n","created_at":"2016-10-06T15:19:31Z","updated_at":"2016-10-07T03:47:06Z","closed_at":null,"merged_at":null,"merge_commit_sha":"f28a8bb6381637015824636be6f1c55992a8897f","assignee":null,"assignees":[],"milestone":null,"commits_url":"https://api.github.com/repos/MarlinFirmware/Marlin/pulls/4962/commits","review_comments_url":"https://api.github.com/repos/MarlinFirmware/Marlin/pulls/4962/comments","review_comment_url":"https://api.github.com/repos/MarlinFirmware/Marlin/pulls/comments{/number}","comments_url":"https://api.github.com/repos/MarlinFirmware/Marlin/issues/4962/comments","statuses_url":"https://api.github.com/repos/MarlinFirmware/Marlin/statuses/66958a9f5cb4a0782a1f8fd610dc4046ec358617","head":{"label":"josefpavlik:abl_bugfix","ref":"abl_bugfix","sha":"66958a9f5cb4a0782a1f8fd610dc4046ec358617","user":{"login":"josefpavlik","id":2845202,"avatar_url":"https://avatars.githubusercontent.com/u/2845202?v=3","gravatar_id":"","url":"https://api.github.com/users/josefpavlik","html_url":"https://github.com/josefpavlik","followers_url":"https://api.github.com/users/josefpavlik/followers","following_url":"https://api.github.com/users/josefpavlik/following{/other_user}","gists_url":"https://api.github.com/users/josefpavlik/gists{/gist_id}","starred_url":"https://api.github.com/users/josefpavlik/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/josefpavlik/subscriptions","organizations_url":"https://api.github.com/users/josefpavlik/orgs","repos_url":"https://api.github.com/users/josefpavlik/repos","events_url":"https://api.github.com/users/josefpavlik/events{/privacy}","received_events_url":"https://api.github.com/users/josefpavlik/received_events","type":"User","site_admin":false},"repo":{"id":16475871,"name":"Marlin_old","full_name":"josefpavlik/Marlin_old","owner":{"login":"josefpavlik","id":2845202,"avatar_url":"https://avatars.githubusercontent.com/u/2845202?v=3","gravatar_id":"","url":"https://api.github.com/users/josefpavlik","html_url":"https://github.com/josefpavlik","followers_url":"https://api.github.com/users/josefpavlik/followers","following_url":"https://api.github.com/users/josefpavlik/following{/other_user}","gists_url":"https://api.github.com/users/josefpavlik/gists{/gist_id}","starred_url":"https://api.github.com/users/josefpavlik/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/josefpavlik/subscriptions","organizations_url":"https://api.github.com/users/josefpavlik/orgs","repos_url":"https://api.github.com/users/josefpavlik/repos","events_url":"https://api.github.com/users/josefpavlik/events{/privacy}","received_events_url":"https://api.github.com/users/josefpavlik/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/josefpavlik/Marlin_old","description":"Reprap FW with look ahead. 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