From 68085ca8552fd6b79ada9b018e59053e81cbd1e5 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 27 Feb 2016 20:49:49 -0800 Subject: [PATCH] Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011 --- Marlin/Marlin_main.cpp | 230 ++++++++++++++++++++++------------------- Marlin/SanityCheck.h | 4 - 2 files changed, 125 insertions(+), 109 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index bd66e37238..8df5c2f08f 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -3642,6 +3642,7 @@ inline void gcode_M42() { * V = Verbose level (0-4, default=1) * E = Engage Z probe for each reading * L = Number of legs of movement before probe + * S = Schizoid (Or Star if you prefer) * * This function assumes the bed has been homed. Specifically, that a G28 command * as been issued prior to invoking the M48 Z probe repeatability measurement function. @@ -3651,7 +3652,7 @@ inline void gcode_M42() { inline void gcode_M48() { double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50]; - uint8_t verbose_level = 1, n_samples = 10, n_legs = 0; + uint8_t verbose_level = 1, n_samples = 10, n_legs = 0, schizoid_flag = 0; if (code_seen('V')) { verbose_level = code_value_short(); @@ -3672,50 +3673,57 @@ inline void gcode_M42() { } } - double X_current = st_get_axis_position_mm(X_AXIS), - Y_current = st_get_axis_position_mm(Y_AXIS), - Z_current = st_get_axis_position_mm(Z_AXIS), - E_current = st_get_axis_position_mm(E_AXIS), - X_probe_location = X_current, Y_probe_location = Y_current, + float X_current = current_position[X_AXIS], + Y_current = current_position[Y_AXIS], + Z_current = current_position[Z_AXIS], + X_probe_location = X_current + X_PROBE_OFFSET_FROM_EXTRUDER, + Y_probe_location = Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER, Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING; - bool deploy_probe_for_each_reading = code_seen('E'); if (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) { - out_of_range_error(PSTR("X")); - return; - } + X_probe_location = code_value(); + #if DISABLED(DELTA) + if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) { + out_of_range_error(PSTR("X")); + return; + } + #endif } if (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) { - out_of_range_error(PSTR("Y")); + Y_probe_location = code_value(); + #if DISABLED(DELTA) + if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) { + out_of_range_error(PSTR("Y")); + return; + } + #endif + } + + #if ENABLED(DELTA) + if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) { + SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n"); return; } - } + #endif + + bool seen_L = code_seen('L'); - if (code_seen('L')) { + if (seen_L) { n_legs = code_value_short(); - if (n_legs == 1) n_legs = 2; if (n_legs < 0 || n_legs > 15) { SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n"); return; } + if (n_legs == 1) n_legs = 2; } - // - // Do all the preliminary setup work. First raise the Z probe. - // - - st_synchronize(); - plan_bed_level_matrix.set_to_identity(); - plan_buffer_line(X_current, Y_current, Z_start_location, E_current, homing_feedrate[Z_AXIS] / 60, active_extruder); - st_synchronize(); + if (code_seen('S')) { + schizoid_flag++; + if (!seen_L) n_legs = 7; + } - // // 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. @@ -3723,90 +3731,112 @@ inline void gcode_M42() { if (verbose_level > 2) SERIAL_PROTOCOLPGM("Positioning the probe...\n"); - plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, - E_current, - homing_feedrate[X_AXIS] / 60, - active_extruder); - st_synchronize(); + #if ENABLED(DELTA) + reset_bed_level(); // we don't do bed level correction in M48 because we want the raw data when we probe + #else + plan_bed_level_matrix.set_to_identity(); // we don't do bed level correction in M48 because we wantthe raw data when we probe + #endif + + if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0) + do_blocking_move_to_z(Z_start_location); - current_position[X_AXIS] = X_current = st_get_axis_position_mm(X_AXIS); - current_position[Y_AXIS] = Y_current = st_get_axis_position_mm(Y_AXIS); - current_position[Z_AXIS] = Z_current = st_get_axis_position_mm(Z_AXIS); - current_position[E_AXIS] = E_current = st_get_axis_position_mm(E_AXIS); + do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER); // // OK, do the initial probe to get us close to the bed. // Then retrace the right amount and use that in subsequent probes // - - deploy_z_probe(); - setup_for_endstop_move(); - run_z_probe(); - Z_current = current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS); - Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING; + probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, + deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy, + verbose_level); - plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, - E_current, - homing_feedrate[X_AXIS] / 60, - active_extruder); - st_synchronize(); - Z_current = current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS); - - if (deploy_probe_for_each_reading) stow_z_probe(); + raise_z_after_probing(); for (uint8_t n = 0; n < n_samples; n++) { - // Make sure we are at the probe location - do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // this also updates current_position - + randomSeed(millis()); + delay(500); if (n_legs) { - millis_t ms = millis(); - double radius = ms % ((X_MAX_LENGTH) / 4), // limit how far out to go - theta = RADIANS(ms % 360L); - float dir = (ms & 0x0001) ? 1 : -1; // clockwise or counter clockwise + float radius, angle = random(0.0, 360.0); + int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise - //SERIAL_ECHOPAIR("starting radius: ",radius); - //SERIAL_ECHOPAIR(" theta: ",theta); - //SERIAL_ECHOPAIR(" direction: ",dir); - //SERIAL_EOL; + radius = random( + #if ENABLED(DELTA) + DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3 + #else + 5, X_MAX_LENGTH / 8 + #endif + ); + + if (verbose_level > 3) { + SERIAL_ECHOPAIR("Starting radius: ", radius); + SERIAL_ECHOPAIR(" angle: ", angle); + delay(100); + if (dir > 0) + SERIAL_ECHO(" Direction: Counter Clockwise \n"); + else + SERIAL_ECHO(" Direction: Clockwise \n"); + delay(100); + } for (uint8_t l = 0; l < n_legs - 1; l++) { - ms = millis(); - theta += RADIANS(dir * (ms % 20L)); - radius += (ms % 10L) - 5L; - if (radius < 0.0) radius = -radius; - - X_current = X_probe_location + cos(theta) * radius; - X_current = constrain(X_current, X_MIN_POS, X_MAX_POS); - Y_current = Y_probe_location + sin(theta) * radius; - Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS); - + double delta_angle; + if (schizoid_flag) + delta_angle = dir * 2.0 * 72.0; // The points of a 5 point star are 72 degrees apart. We need to + // skip a point and go to the next one on the star. + else + delta_angle = dir * (float) random(25, 45); // If we do this line, we are just trying to move further + // around the circle. + angle += delta_angle; + while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the + angle -= 360.0; // Arduino documentation says the trig functions should not be given values + while (angle < 0.0) // outside of this range. It looks like they behave correctly with + angle += 360.0; // numbers outside of the range, but just to be safe we clamp them. + X_current = X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER + cos(RADIANS(angle)) * radius; + Y_current = Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER + sin(RADIANS(angle)) * radius; + #if DISABLED(DELTA) + X_current = constrain(X_current, X_MIN_POS, X_MAX_POS); + Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS); + #else + // If we have gone out too far, we can do a simple fix and scale the numbers + // back in closer to the origin. + while (sqrt(X_current * X_current + Y_current * Y_current) > DELTA_PROBEABLE_RADIUS) { + X_current /= 1.25; + Y_current /= 1.25; + if (verbose_level > 3) { + SERIAL_ECHOPAIR("Pulling point towards center:", X_current); + SERIAL_ECHOPAIR(", ", Y_current); + SERIAL_EOL; + delay(50); + } + } + #endif if (verbose_level > 3) { + SERIAL_PROTOCOL("Going to:"); SERIAL_ECHOPAIR("x: ", X_current); SERIAL_ECHOPAIR("y: ", Y_current); + SERIAL_ECHOPAIR(" z: ", current_position[Z_AXIS]); SERIAL_EOL; + delay(55); } - - do_blocking_move_to(X_current, Y_current, Z_current); // this also updates current_position - + do_blocking_move_to_xy(X_current, Y_current); } // n_legs loop - - // Go back to the probe location - do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // this also updates current_position - } // n_legs - if (deploy_probe_for_each_reading) { - deploy_z_probe(); - delay(1000); + // We don't really have to do this move, but if we don't we can see a funny shift in the Z Height + // Because the user might not have the Z_RAISE_BEFORE_PROBING height identical to the + // Z_RAISE_BETWEEN_PROBING height. This gets us back to the probe location at the same height that + // we have been running around the circle at. + do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER); + if (deploy_probe_for_each_reading) + sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level); + else { + if (n == n_samples - 1) + sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStow, verbose_level); else + sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level); } - 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 // @@ -3824,13 +3854,13 @@ inline void gcode_M42() { sum += ss * ss; } sigma = sqrt(sum / (n + 1)); - if (verbose_level > 1) { SERIAL_PROTOCOL(n + 1); SERIAL_PROTOCOLPGM(" of "); SERIAL_PROTOCOL((int)n_samples); SERIAL_PROTOCOLPGM(" z: "); SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6); + delay(50); if (verbose_level > 2) { SERIAL_PROTOCOLPGM(" mean: "); SERIAL_PROTOCOL_F(mean, 6); @@ -3838,36 +3868,26 @@ inline void gcode_M42() { SERIAL_PROTOCOL_F(sigma, 6); } } - if (verbose_level > 0) SERIAL_EOL; + delay(50); + do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); + } // End of probe loop code - 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(); - - // Stow between - if (deploy_probe_for_each_reading) { - stow_z_probe(); - delay(1000); - } - } - - // Stow after - if (!deploy_probe_for_each_reading) { - stow_z_probe(); - delay(1000); - } - - clean_up_after_endstop_move(); + // raise_z_after_probing(); if (verbose_level > 0) { SERIAL_PROTOCOLPGM("Mean: "); SERIAL_PROTOCOL_F(mean, 6); SERIAL_EOL; + delay(25); } SERIAL_PROTOCOLPGM("Standard Deviation: "); SERIAL_PROTOCOL_F(sigma, 6); SERIAL_EOL; SERIAL_EOL; + delay(25); + + clean_up_after_endstop_move(); } #endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h index 91e5fc6e74..c6b9f0c737 100644 --- a/Marlin/SanityCheck.h +++ b/Marlin/SanityCheck.h @@ -231,10 +231,6 @@ #error You cannot use Z_PROBE_SLED with DELTA. #endif - #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) - #error Z_MIN_PROBE_REPEATABILITY_TEST is not supported with DELTA yet. - #endif - #endif #endif