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@ -203,7 +203,8 @@ |
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float homing_feedrate[] = HOMING_FEEDRATE; |
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#ifdef ENABLE_AUTO_BED_LEVELING |
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int xy_travel_speed = XY_TRAVEL_SPEED; |
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int xy_travel_speed = XY_TRAVEL_SPEED; |
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float zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER; |
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#endif |
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int homing_bump_divisor[] = HOMING_BUMP_DIVISOR; |
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bool axis_relative_modes[] = AXIS_RELATIVE_MODES; |
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@ -255,7 +256,6 @@ float home_offset[3] = { 0, 0, 0 }; |
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float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; |
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float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; |
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bool axis_known_position[3] = { false, false, false }; |
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float zprobe_zoffset; |
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// Extruder offset
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#if EXTRUDERS > 1 |
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@ -1097,9 +1097,6 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients) |
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current_position[Y_AXIS] = corrected_position.y; |
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current_position[Z_AXIS] = corrected_position.z; |
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// put the bed at 0 so we don't go below it.
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current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); |
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} |
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#endif |
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@ -1113,11 +1110,13 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float |
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vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1); |
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vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2); |
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vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3); |
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vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal(); |
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vector_3 from_2_to_1 = (pt1 - pt2).get_normal(); |
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vector_3 from_2_to_3 = (pt3 - pt2).get_normal(); |
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vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal(); |
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planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z)); |
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if (planeNormal.z < 0) { |
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planeNormal.x = -planeNormal.x; |
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planeNormal.y = -planeNormal.y; |
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planeNormal.z = -planeNormal.z; |
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} |
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plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal); |
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@ -1126,11 +1125,7 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float |
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current_position[Y_AXIS] = corrected_position.y; |
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current_position[Z_AXIS] = corrected_position.z; |
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// put the bed at 0 so we don't go below it.
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current_position[Z_AXIS] = zprobe_zoffset; |
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); |
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} |
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#endif // AUTO_BED_LEVELING_GRID
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@ -2017,8 +2012,19 @@ inline void gcode_G28() { |
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endstops_hit_on_purpose(); |
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} |
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#if defined(MESH_BED_LEVELING) |
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#ifdef MESH_BED_LEVELING |
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/**
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* G29: Mesh-based Z-Probe, probes a grid and produces a |
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* mesh to compensate for variable bed height |
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* |
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* Parameters With MESH_BED_LEVELING: |
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* |
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* S0 Produce a mesh report |
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* S1 Start probing mesh points |
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* S2 Probe the next mesh point |
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* |
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*/ |
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inline void gcode_G29() { |
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static int probe_point = -1; |
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int state = 0; |
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@ -2060,7 +2066,7 @@ inline void gcode_G28() { |
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} else if (state == 2) { // Goto next point
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if (probe_point < 0) { |
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SERIAL_PROTOCOLPGM("Mesh probing not started.\n"); |
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SERIAL_PROTOCOLPGM("Start mesh probing with \"G29 S1\" first.\n"); |
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return; |
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} |
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int ix, iy; |
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@ -2070,16 +2076,14 @@ inline void gcode_G28() { |
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} else { |
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ix = (probe_point-1) % MESH_NUM_X_POINTS; |
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iy = (probe_point-1) / MESH_NUM_X_POINTS; |
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if (iy&1) { // Zig zag
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ix = (MESH_NUM_X_POINTS - 1) - ix; |
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} |
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if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
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mbl.set_z(ix, iy, current_position[Z_AXIS]); |
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current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; |
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder); |
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st_synchronize(); |
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} |
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if (probe_point == MESH_NUM_X_POINTS*MESH_NUM_Y_POINTS) { |
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SERIAL_PROTOCOLPGM("Mesh done.\n"); |
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if (probe_point == MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) { |
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SERIAL_PROTOCOLPGM("Mesh probing done.\n"); |
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probe_point = -1; |
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mbl.active = 1; |
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enquecommands_P(PSTR("G28")); |
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@ -2087,9 +2091,7 @@ inline void gcode_G28() { |
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} |
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ix = probe_point % MESH_NUM_X_POINTS; |
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iy = probe_point / MESH_NUM_X_POINTS; |
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if (iy&1) { // Zig zag
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ix = (MESH_NUM_X_POINTS - 1) - ix; |
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} |
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if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
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current_position[X_AXIS] = mbl.get_x(ix); |
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current_position[Y_AXIS] = mbl.get_y(iy); |
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder); |
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@ -2098,9 +2100,7 @@ inline void gcode_G28() { |
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} |
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} |
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#endif |
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#ifdef ENABLE_AUTO_BED_LEVELING |
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#elif defined(ENABLE_AUTO_BED_LEVELING) |
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/**
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* G29: Detailed Z-Probe, probes the bed at 3 or more points. |
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@ -2116,8 +2116,9 @@ inline void gcode_G28() { |
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* |
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* S Set the XY travel speed between probe points (in mm/min) |
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* |
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* D Dry-Run mode. Just evaluate the bed Topology - It does not apply or clean the rotation Matrix |
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* Useful to check the topology after a first run of G29. |
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* D Dry-Run mode. Just evaluate the bed Topology - Don't apply |
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* or clean the rotation Matrix. Useful to check the topology |
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* after a first run of G29. |
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* |
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* V Set the verbose level (0-4). Example: "G29 V3" |
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* |
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@ -2224,7 +2225,7 @@ inline void gcode_G28() { |
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#ifdef Z_PROBE_SLED |
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dock_sled(false); // engage (un-dock) the probe
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#elif defined(Z_PROBE_ALLEN_KEY) |
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#elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
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engage_z_probe(); |
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#endif |
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@ -2234,15 +2235,14 @@ inline void gcode_G28() { |
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{ |
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#ifdef DELTA |
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reset_bed_level(); |
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#else |
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#else //!DELTA
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// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
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//vector_3 corrected_position = plan_get_position_mm();
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//corrected_position.debug("position before G29");
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plan_bed_level_matrix.set_to_identity(); |
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vector_3 uncorrected_position = plan_get_position(); |
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// uncorrected_position.debug("position during G29");
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//uncorrected_position.debug("position during G29");
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current_position[X_AXIS] = uncorrected_position.x; |
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current_position[Y_AXIS] = uncorrected_position.y; |
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current_position[Z_AXIS] = uncorrected_position.z; |
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@ -2261,7 +2261,12 @@ inline void gcode_G28() { |
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const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1); |
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const int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1); |
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#ifndef DELTA |
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#ifdef DELTA |
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delta_grid_spacing[0] = xGridSpacing; |
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delta_grid_spacing[1] = yGridSpacing; |
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float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER; |
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if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value(); |
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#else // !DELTA
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// solve the plane equation ax + by + d = z
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// A is the matrix with rows [x y 1] for all the probed points
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// B is the vector of the Z positions
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@ -2273,14 +2278,7 @@ inline void gcode_G28() { |
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double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
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eqnBVector[abl2], // "B" vector of Z points
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mean = 0.0; |
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#else |
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delta_grid_spacing[0] = xGridSpacing; |
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delta_grid_spacing[1] = yGridSpacing; |
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float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER; |
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if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value(); |
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#endif |
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#endif // !DELTA
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int probePointCounter = 0; |
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bool zig = true; |
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@ -2352,7 +2350,13 @@ inline void gcode_G28() { |
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clean_up_after_endstop_move(); |
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#ifndef DELTA |
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#ifdef DELTA |
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if (!dryrun) extrapolate_unprobed_bed_level(); |
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print_bed_level(); |
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#else // !DELTA
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// solve lsq problem
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double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector); |
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@ -2402,10 +2406,8 @@ inline void gcode_G28() { |
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if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients); |
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free(plane_equation_coefficients); |
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#else //Delta
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if (!dryrun) extrapolate_unprobed_bed_level(); |
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print_bed_level(); |
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#endif //Delta
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#endif //!DELTA
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#else // !AUTO_BED_LEVELING_GRID
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@ -2429,7 +2431,8 @@ inline void gcode_G28() { |
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#endif // !AUTO_BED_LEVELING_GRID
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#ifndef DELTA |
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if (verbose_level > 0) plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); |
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if (verbose_level > 0) |
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plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); |
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// Correct the Z height difference from z-probe position and hotend tip position.
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// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
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@ -2445,11 +2448,11 @@ inline void gcode_G28() { |
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current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); |
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} |
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#endif |
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#endif // !DELTA
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#ifdef Z_PROBE_SLED |
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dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
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#elif defined(Z_PROBE_ALLEN_KEY) |
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#elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
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retract_z_probe(); |
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#endif |
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@ -2919,7 +2922,7 @@ inline void gcode_M42() { |
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do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
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if (n_legs) { |
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double radius=0.0, theta=0.0, x_sweep, y_sweep; |
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double radius=0.0, theta=0.0; |
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int l; |
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int rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
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radius = (unsigned long)millis() % (long)(X_MAX_LENGTH / 4); // limit how far out to go
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@ -3545,7 +3548,6 @@ inline void gcode_M200() { |
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} |
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} |
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float area = .0; |
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if (code_seen('D')) { |
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float diameter = code_value(); |
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// setting any extruder filament size disables volumetric on the assumption that
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@ -4283,7 +4285,7 @@ inline void gcode_M502() { |
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* M503: print settings currently in memory |
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*/ |
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inline void gcode_M503() { |
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Config_PrintSettings(code_seen('S') && code_value == 0); |
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Config_PrintSettings(code_seen('S') && code_value() == 0); |
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} |
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#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED |
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@ -4580,9 +4582,14 @@ inline void gcode_T() { |
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SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); |
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} |
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else { |
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boolean make_move = false; |
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#if EXTRUDERS > 1 |
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bool make_move = false; |
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#endif |
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if (code_seen('F')) { |
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#if EXTRUDERS > 1 |
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make_move = true; |
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#endif |
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next_feedrate = code_value(); |
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if (next_feedrate > 0.0) feedrate = next_feedrate; |
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} |
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@ -5179,20 +5186,22 @@ void ClearToSend() |
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SERIAL_PROTOCOLLNPGM(MSG_OK); |
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} |
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void get_coordinates() |
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{ |
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bool seen[4]={false,false,false,false}; |
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for(int8_t i=0; i < NUM_AXIS; i++) { |
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if(code_seen(axis_codes[i])) |
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{ |
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destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i]; |
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seen[i]=true; |
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void get_coordinates() { |
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for (int i = 0; i < NUM_AXIS; i++) { |
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float dest; |
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if (code_seen(axis_codes[i])) { |
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dest = code_value(); |
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if (axis_relative_modes[i] || relative_mode) |
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dest += current_position[i]; |
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} |
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else destination[i] = current_position[i]; //Are these else lines really needed?
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else |
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dest = current_position[i]; |
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destination[i] = dest; |
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} |
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if(code_seen('F')) { |
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if (code_seen('F')) { |
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next_feedrate = code_value(); |
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if(next_feedrate > 0.0) feedrate = next_feedrate; |
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if (next_feedrate > 0.0) feedrate = next_feedrate; |
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} |
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} |
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Scott Lahteine
10 years ago