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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_BED_PROBE
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../module/probe.h"
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#include "../../feature/bedlevel/bedlevel.h"
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/**
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* G30: Do a single Z probe at the current XY
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*
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* Parameters:
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*
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* X Probe X position (default current X)
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* Y Probe Y position (default current Y)
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* E Engage the probe for each probe (default 1)
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*/
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void GcodeSuite::G30() {
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const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset.x),
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parser.linearval('Y', current_position.y + probe_offset.y) };
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if (!position_is_reachable_by_probe(pos)) return;
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// Disable leveling so the planner won't mess with us
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#if HAS_LEVELING
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set_bed_leveling_enabled(false);
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#endif
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remember_feedrate_scaling_off();
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const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
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const float measured_z = probe_at_point(pos, raise_after, 1);
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if (!isnan(measured_z))
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SERIAL_ECHOLNPAIR("Bed X: ", FIXFLOAT(pos.x), " Y: ", FIXFLOAT(pos.y), " Z: ", FIXFLOAT(measured_z));
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restore_feedrate_and_scaling();
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#ifdef Z_AFTER_PROBING
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if (raise_after == PROBE_PT_STOW) move_z_after_probing();
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#endif
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report_current_position();
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}
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#endif // HAS_BED_PROBE
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