andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge pull request #4096 from thinkyhead/rc_always_raise_servo 

Always raise Z (if needed) for servo deploy/stow
pull/1/head
Scott Lahteine 9 years ago
committed by GitHub
parent
9beb3f2f5e 7e9d4a68d4
commit
524f6d9bd6
2 changed files with 44 additions and 64 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 1
      Marlin/Conditionals.h
  2. 107
      Marlin/Marlin_main.cpp

1
Marlin/Conditionals.h
View File

@ -383,7 +383,6 @@
#endif
#define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
#define SERVO_LEVELING (ENABLED(AUTO_BED_LEVELING_FEATURE) && HAS_Z_SERVO_ENDSTOP)
/**
* Sled Options

107
Marlin/Marlin_main.cpp
View File

@ -750,9 +750,6 @@ void servo_init() {
#endif
#if HAS_Z_SERVO_ENDSTOP
endstops.enable_z_probe(false);
/**
* Set position of Z Servo Endstop
*
@ -763,8 +760,11 @@ void servo_init() {
*
*/
STOW_Z_SERVO();
#endif // HAS_Z_SERVO_ENDSTOP
#endif
#if HAS_BED_PROBE
endstops.enable_z_probe(false);
#endif
}
/**
@ -1661,6 +1661,29 @@ static void setup_for_endstop_move() {
#endif //HAS_BED_PROBE
#if HAS_Z_SERVO_ENDSTOP
/**
* Raise Z to a minimum height to make room for a servo to move
*
* zprobe_zoffset: Negative of the Z height where the probe engages
* z_dest: The before / after probing raise distance
*
* The zprobe_zoffset is negative for a switch below the nozzle, so
* multiply by Z_HOME_DIR (-1) to move enough away from the bed.
*/
void raise_z_for_servo(float z_dest) {
z_dest += home_offset[Z_AXIS];
if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
z_dest -= zprobe_zoffset;
if (z_dest > current_position[Z_AXIS])
do_blocking_move_to_z(z_dest); // also updates current_position
}
#endif
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(AUTO_BED_LEVELING_GRID)
@ -1861,6 +1884,9 @@ static void setup_for_endstop_move() {
#if HAS_Z_SERVO_ENDSTOP
// Make room for Z Servo
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
// Engage Z Servo endstop if enabled
DEPLOY_Z_SERVO();
@ -1941,17 +1967,14 @@ static void setup_for_endstop_move() {
#endif // Z_PROBE_ALLEN_KEY
#if ENABLED(FIX_MOUNTED_PROBE)
// Noting to be done. Just set endstops.z_probe_enabled
// Nothing to be done. Just enable_z_probe below...
#endif
endstops.enable_z_probe();
}
static void stow_z_probe(bool doRaise = true) {
#if !(HAS_Z_SERVO_ENDSTOP && (Z_RAISE_AFTER_PROBING > 0))
UNUSED(doRaise);
#endif
static void stow_z_probe() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
#endif
@ -1960,13 +1983,8 @@ static void setup_for_endstop_move() {
#if HAS_Z_SERVO_ENDSTOP
// Retract Z Servo endstop if enabled
#if Z_RAISE_AFTER_PROBING > 0
if (doRaise) {
raise_z_after_probing(); // this also updates current_position
stepper.synchronize();
}
#endif
// Make room for the servo
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
// Change the Z servo angle
STOW_Z_SERVO();
@ -2034,9 +2052,7 @@ static void setup_for_endstop_move() {
}
stop();
}
#endif // Z_PROBE_ALLEN_KEY
#if ENABLED(FIX_MOUNTED_PROBE)
#elif ENABLED(FIX_MOUNTED_PROBE)
// Nothing to do here. Just clear endstops.z_probe_enabled
#endif
@ -2195,29 +2211,6 @@ static void setup_for_endstop_move() {
#endif // AUTO_BED_LEVELING_FEATURE
#if HAS_Z_SERVO_ENDSTOP
/**
* Raise Z to a minimum height to make room for a servo to move
*
* zprobe_zoffset: Negative of the Z height where the probe engages
* z_dest: The before / after probing raise distance
*
* The zprobe_zoffset is negative for a switch below the nozzle, so
* multiply by Z_HOME_DIR (-1) to move enough away from the bed.
*/
void raise_z_for_servo(float z_dest) {
z_dest += home_offset[Z_AXIS];
if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
z_dest -= zprobe_zoffset;
if (z_dest > current_position[Z_AXIS])
do_blocking_move_to_z(z_dest); // also updates current_position
}
#endif
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
static void axis_unhomed_error(bool xyz=false) {
if (xyz) {
@ -2313,7 +2306,7 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(Z_PROBE_SLED)
#define _Z_DEPLOY (dock_sled(false))
#define _Z_STOW (dock_sled(true))
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
#elif ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_Z_SERVO_ENDSTOP || ENABLED(FIX_MOUNTED_PROBE))
#define _Z_DEPLOY (deploy_z_probe())
#define _Z_STOW (stow_z_probe())
#elif HAS_Z_SERVO_ENDSTOP
@ -2322,10 +2315,10 @@ static void homeaxis(AxisEnum axis) {
#endif
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_SERVO_ENDSTOP
#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY));
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_DEPLOY));
#endif
_Z_DEPLOY;
}
@ -2445,10 +2438,10 @@ static void homeaxis(AxisEnum axis) {
axis_homed[axis] = true;
// Put away the Z probe
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_SERVO_ENDSTOP
#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_STOW));
#endif
_Z_STOW;
}
@ -3474,7 +3467,7 @@ inline void gcode_G28() {
#if ENABLED(Z_PROBE_SLED)
dock_sled(false); // engage (un-dock) the Z probe
#elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && SERVO_LEVELING)
#elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && HAS_Z_SERVO_ENDSTOP)
deploy_z_probe();
#endif
@ -3727,7 +3720,7 @@ inline void gcode_G28() {
#if ENABLED(DELTA)
// Allen Key Probe for Delta
#if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
#if ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_ENDSTOP
stow_z_probe();
#else
raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
@ -3848,9 +3841,6 @@ inline void gcode_G28() {
* G30: Do a single Z probe at the current XY
*/
inline void gcode_G30() {
#if HAS_Z_SERVO_ENDSTOP
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
#endif
deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
stepper.synchronize();
@ -3869,10 +3859,7 @@ inline void gcode_G28() {
clean_up_after_endstop_move(); // Too early. must be done after the stowing.
#if HAS_Z_SERVO_ENDSTOP
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
#endif
stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
stow_z_probe(); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
report_current_position();
}
@ -5989,9 +5976,6 @@ inline void gcode_M400() { stepper.synchronize(); }
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() {
#if HAS_Z_SERVO_ENDSTOP
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
#endif
deploy_z_probe();
}
@ -5999,10 +5983,7 @@ inline void gcode_M400() { stepper.synchronize(); }
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() {
#if HAS_Z_SERVO_ENDSTOP
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
#endif
stow_z_probe(false);
stow_z_probe();
}
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_Z_SERVO_ENDSTOP || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED

Write Preview
Loading…
Cancel
Save