|
|
@ -21,7 +21,7 @@ |
|
|
*/ |
|
|
*/ |
|
|
|
|
|
|
|
|
/**
|
|
|
/**
|
|
|
* probe.cpp |
|
|
* module/probe.cpp |
|
|
*/ |
|
|
*/ |
|
|
|
|
|
|
|
|
#include "../inc/MarlinConfig.h" |
|
|
#include "../inc/MarlinConfig.h" |
|
|
@ -84,14 +84,14 @@ |
|
|
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) |
|
|
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) |
|
|
#include "../core/debug_out.h" |
|
|
#include "../core/debug_out.h" |
|
|
|
|
|
|
|
|
|
|
|
Probe probe; |
|
|
|
|
|
|
|
|
xyz_pos_t probe_offset; // Initialized by settings.load()
|
|
|
xyz_pos_t Probe::offset; // Initialized by settings.load()
|
|
|
|
|
|
|
|
|
#if HAS_PROBE_XY_OFFSET |
|
|
#if HAS_PROBE_XY_OFFSET |
|
|
xyz_pos_t &probe_offset_xy = probe_offset; |
|
|
const xyz_pos_t &Probe::offset_xy = probe.offset; |
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(Z_PROBE_SLED) |
|
|
#if ENABLED(Z_PROBE_SLED) |
|
|
|
|
|
|
|
|
#ifndef SLED_DOCKING_OFFSET |
|
|
#ifndef SLED_DOCKING_OFFSET |
|
|
@ -104,7 +104,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load() |
|
|
* stow[in] If false, move to MAX_X and engage the solenoid |
|
|
* stow[in] If false, move to MAX_X and engage the solenoid |
|
|
* If true, move to MAX_X and release the solenoid |
|
|
* If true, move to MAX_X and release the solenoid |
|
|
*/ |
|
|
*/ |
|
|
static void dock_sled(bool stow) { |
|
|
static void dock_sled(const bool stow) { |
|
|
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("dock_sled(", stow, ")"); |
|
|
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("dock_sled(", stow, ")"); |
|
|
|
|
|
|
|
|
// Dock sled a bit closer to ensure proper capturing
|
|
|
// Dock sled a bit closer to ensure proper capturing
|
|
|
@ -118,7 +118,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load() |
|
|
#elif ENABLED(TOUCH_MI_PROBE) |
|
|
#elif ENABLED(TOUCH_MI_PROBE) |
|
|
|
|
|
|
|
|
// Move to the magnet to unlock the probe
|
|
|
// Move to the magnet to unlock the probe
|
|
|
void run_deploy_moves_script() { |
|
|
inline void run_deploy_moves_script() { |
|
|
#ifndef TOUCH_MI_DEPLOY_XPOS |
|
|
#ifndef TOUCH_MI_DEPLOY_XPOS |
|
|
#define TOUCH_MI_DEPLOY_XPOS X_MIN_POS |
|
|
#define TOUCH_MI_DEPLOY_XPOS X_MIN_POS |
|
|
#elif TOUCH_MI_DEPLOY_XPOS > X_MAX_BED |
|
|
#elif TOUCH_MI_DEPLOY_XPOS > X_MAX_BED |
|
|
@ -153,7 +153,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load() |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
// Move down to the bed to stow the probe
|
|
|
// Move down to the bed to stow the probe
|
|
|
void run_stow_moves_script() { |
|
|
inline void run_stow_moves_script() { |
|
|
const xyz_pos_t oldpos = current_position; |
|
|
const xyz_pos_t oldpos = current_position; |
|
|
endstops.enable_z_probe(false); |
|
|
endstops.enable_z_probe(false); |
|
|
do_blocking_move_to_z(TOUCH_MI_RETRACT_Z, MMM_TO_MMS(HOMING_FEEDRATE_Z)); |
|
|
do_blocking_move_to_z(TOUCH_MI_RETRACT_Z, MMM_TO_MMS(HOMING_FEEDRATE_Z)); |
|
|
@ -162,7 +162,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load() |
|
|
|
|
|
|
|
|
#elif ENABLED(Z_PROBE_ALLEN_KEY) |
|
|
#elif ENABLED(Z_PROBE_ALLEN_KEY) |
|
|
|
|
|
|
|
|
void run_deploy_moves_script() { |
|
|
inline void run_deploy_moves_script() { |
|
|
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_1 |
|
|
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_1 |
|
|
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE |
|
|
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE |
|
|
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0 |
|
|
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0 |
|
|
@ -200,7 +200,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load() |
|
|
#endif |
|
|
#endif |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
void run_stow_moves_script() { |
|
|
inline void run_stow_moves_script() { |
|
|
#ifdef Z_PROBE_ALLEN_KEY_STOW_1 |
|
|
#ifdef Z_PROBE_ALLEN_KEY_STOW_1 |
|
|
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE |
|
|
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE |
|
|
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0 |
|
|
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0 |
|
|
@ -241,7 +241,8 @@ xyz_pos_t probe_offset; // Initialized by settings.load() |
|
|
#endif // Z_PROBE_ALLEN_KEY
|
|
|
#endif // Z_PROBE_ALLEN_KEY
|
|
|
|
|
|
|
|
|
#if QUIET_PROBING |
|
|
#if QUIET_PROBING |
|
|
void probing_pause(const bool p) { |
|
|
|
|
|
|
|
|
void Probe::set_probing_paused(const bool p) { |
|
|
#if ENABLED(PROBING_HEATERS_OFF) |
|
|
#if ENABLED(PROBING_HEATERS_OFF) |
|
|
thermalManager.pause(p); |
|
|
thermalManager.pause(p); |
|
|
#endif |
|
|
#endif |
|
|
@ -262,16 +263,17 @@ xyz_pos_t probe_offset; // Initialized by settings.load() |
|
|
#endif |
|
|
#endif |
|
|
); |
|
|
); |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
#endif // QUIET_PROBING
|
|
|
#endif // QUIET_PROBING
|
|
|
|
|
|
|
|
|
/**
|
|
|
/**
|
|
|
* Raise Z to a minimum height to make room for a probe to move |
|
|
* Raise Z to a minimum height to make room for a probe to move |
|
|
*/ |
|
|
*/ |
|
|
inline void do_probe_raise(const float z_raise) { |
|
|
void Probe::do_z_raise(const float z_raise) { |
|
|
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("do_probe_raise(", z_raise, ")"); |
|
|
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probe::move_z(", z_raise, ")"); |
|
|
|
|
|
|
|
|
float z_dest = z_raise; |
|
|
float z_dest = z_raise; |
|
|
if (probe_offset.z < 0) z_dest -= probe_offset.z; |
|
|
if (offset.z < 0) z_dest -= offset.z; |
|
|
|
|
|
|
|
|
NOMORE(z_dest, Z_MAX_POS); |
|
|
NOMORE(z_dest, Z_MAX_POS); |
|
|
|
|
|
|
|
|
@ -351,11 +353,15 @@ FORCE_INLINE void probe_specific_action(const bool deploy) { |
|
|
#endif |
|
|
#endif |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
// returns false for ok and true for failure
|
|
|
/**
|
|
|
bool set_probe_deployed(const bool deploy) { |
|
|
* Attempt to deploy or stow the probe |
|
|
|
|
|
* |
|
|
|
|
|
* Return TRUE if the probe could not be deployed/stowed |
|
|
|
|
|
*/ |
|
|
|
|
|
bool Probe::set_deployed(const bool deploy) { |
|
|
|
|
|
|
|
|
if (DEBUGGING(LEVELING)) { |
|
|
if (DEBUGGING(LEVELING)) { |
|
|
DEBUG_POS("set_probe_deployed", current_position); |
|
|
DEBUG_POS("Probe::set_deployed", current_position); |
|
|
DEBUG_ECHOLNPAIR("deploy: ", deploy); |
|
|
DEBUG_ECHOLNPAIR("deploy: ", deploy); |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
@ -378,7 +384,7 @@ bool set_probe_deployed(const bool deploy) { |
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
if (deploy_stow_condition && unknown_condition) |
|
|
if (deploy_stow_condition && unknown_condition) |
|
|
do_probe_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE)); |
|
|
do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE)); |
|
|
|
|
|
|
|
|
#if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY) |
|
|
#if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY) |
|
|
if (axis_unhomed_error( |
|
|
if (axis_unhomed_error( |
|
|
@ -433,7 +439,7 @@ bool set_probe_deployed(const bool deploy) { |
|
|
|
|
|
|
|
|
#ifdef Z_AFTER_PROBING |
|
|
#ifdef Z_AFTER_PROBING |
|
|
// After probing move to a preferred Z position
|
|
|
// After probing move to a preferred Z position
|
|
|
void move_z_after_probing() { |
|
|
void Probe::move_z_after_probing() { |
|
|
if (current_position.z != Z_AFTER_PROBING) { |
|
|
if (current_position.z != Z_AFTER_PROBING) { |
|
|
do_blocking_move_to_z(Z_AFTER_PROBING); |
|
|
do_blocking_move_to_z(Z_AFTER_PROBING); |
|
|
current_position.z = Z_AFTER_PROBING; |
|
|
current_position.z = Z_AFTER_PROBING; |
|
|
@ -450,11 +456,11 @@ bool set_probe_deployed(const bool deploy) { |
|
|
*/ |
|
|
*/ |
|
|
|
|
|
|
|
|
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER) |
|
|
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER) |
|
|
const char msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n"; |
|
|
PGM_P Probe::msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n"; |
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
static bool do_probe_move(const float z, const feedRate_t fr_mm_s) { |
|
|
bool Probe::move_to_z(const float z, const feedRate_t fr_mm_s) { |
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position); |
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::move_to_z", current_position); |
|
|
|
|
|
|
|
|
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER) |
|
|
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER) |
|
|
// Wait for bed to heat back up between probing points
|
|
|
// Wait for bed to heat back up between probing points
|
|
|
@ -482,7 +488,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) { |
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
#if QUIET_PROBING |
|
|
#if QUIET_PROBING |
|
|
probing_pause(true); |
|
|
set_probing_paused(true); |
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
// Move down until the probe is triggered
|
|
|
// Move down until the probe is triggered
|
|
|
@ -504,7 +510,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) { |
|
|
; |
|
|
; |
|
|
|
|
|
|
|
|
#if QUIET_PROBING |
|
|
#if QUIET_PROBING |
|
|
probing_pause(false); |
|
|
set_probing_paused(false); |
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
// Re-enable stealthChop if used. Disable diag1 pin on driver.
|
|
|
// Re-enable stealthChop if used. Disable diag1 pin on driver.
|
|
|
@ -530,7 +536,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) { |
|
|
// Tell the planner where we actually are
|
|
|
// Tell the planner where we actually are
|
|
|
sync_plan_position(); |
|
|
sync_plan_position(); |
|
|
|
|
|
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position); |
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< Probe::move_to_z", current_position); |
|
|
|
|
|
|
|
|
return !probe_triggered; |
|
|
return !probe_triggered; |
|
|
} |
|
|
} |
|
|
@ -543,19 +549,19 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) { |
|
|
* |
|
|
* |
|
|
* @return The Z position of the bed at the current XY or NAN on error. |
|
|
* @return The Z position of the bed at the current XY or NAN on error. |
|
|
*/ |
|
|
*/ |
|
|
static float run_z_probe() { |
|
|
float Probe::run_z_probe() { |
|
|
|
|
|
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position); |
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::run_z_probe", current_position); |
|
|
|
|
|
|
|
|
// Stop the probe before it goes too low to prevent damage.
|
|
|
// Stop the probe before it goes too low to prevent damage.
|
|
|
// If Z isn't known then probe to -10mm.
|
|
|
// If Z isn't known then probe to -10mm.
|
|
|
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -probe_offset.z + Z_PROBE_LOW_POINT : -10.0; |
|
|
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -offset.z + Z_PROBE_LOW_POINT : -10.0; |
|
|
|
|
|
|
|
|
// Double-probing does a fast probe followed by a slow probe
|
|
|
// Double-probing does a fast probe followed by a slow probe
|
|
|
#if TOTAL_PROBING == 2 |
|
|
#if TOTAL_PROBING == 2 |
|
|
|
|
|
|
|
|
// Do a first probe at the fast speed
|
|
|
// Do a first probe at the fast speed
|
|
|
if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) { |
|
|
if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) { |
|
|
if (DEBUGGING(LEVELING)) { |
|
|
if (DEBUGGING(LEVELING)) { |
|
|
DEBUG_ECHOLNPGM("FAST Probe fail!"); |
|
|
DEBUG_ECHOLNPGM("FAST Probe fail!"); |
|
|
DEBUG_POS("<<< run_z_probe", current_position); |
|
|
DEBUG_POS("<<< run_z_probe", current_position); |
|
|
@ -574,10 +580,10 @@ static float run_z_probe() { |
|
|
|
|
|
|
|
|
// If the nozzle is well over the travel height then
|
|
|
// If the nozzle is well over the travel height then
|
|
|
// move down quickly before doing the slow probe
|
|
|
// move down quickly before doing the slow probe
|
|
|
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (probe_offset.z < 0 ? -probe_offset.z : 0); |
|
|
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (offset.z < 0 ? -offset.z : 0); |
|
|
if (current_position.z > z) { |
|
|
if (current_position.z > z) { |
|
|
// Probe down fast. If the probe never triggered, raise for probe clearance
|
|
|
// Probe down fast. If the probe never triggered, raise for probe clearance
|
|
|
if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) |
|
|
if (!move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) |
|
|
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); |
|
|
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); |
|
|
} |
|
|
} |
|
|
#endif |
|
|
#endif |
|
|
@ -587,7 +593,7 @@ static float run_z_probe() { |
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
#if TOTAL_PROBING > 2 |
|
|
#if TOTAL_PROBING > 2 |
|
|
float probes_total = 0; |
|
|
float probes_z_sum = 0; |
|
|
for ( |
|
|
for ( |
|
|
#if EXTRA_PROBING |
|
|
#if EXTRA_PROBING |
|
|
uint8_t p = 0; p < TOTAL_PROBING; p++ |
|
|
uint8_t p = 0; p < TOTAL_PROBING; p++ |
|
|
@ -598,7 +604,7 @@ static float run_z_probe() { |
|
|
#endif |
|
|
#endif |
|
|
{ |
|
|
{ |
|
|
// Probe downward slowly to find the bed
|
|
|
// Probe downward slowly to find the bed
|
|
|
if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) { |
|
|
if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) { |
|
|
if (DEBUGGING(LEVELING)) { |
|
|
if (DEBUGGING(LEVELING)) { |
|
|
DEBUG_ECHOLNPGM("SLOW Probe fail!"); |
|
|
DEBUG_ECHOLNPGM("SLOW Probe fail!"); |
|
|
DEBUG_POS("<<< run_z_probe", current_position); |
|
|
DEBUG_POS("<<< run_z_probe", current_position); |
|
|
@ -622,7 +628,7 @@ static float run_z_probe() { |
|
|
} |
|
|
} |
|
|
} |
|
|
} |
|
|
#elif TOTAL_PROBING > 2 |
|
|
#elif TOTAL_PROBING > 2 |
|
|
probes_total += z; |
|
|
probes_z_sum += z; |
|
|
#else |
|
|
#else |
|
|
UNUSED(z); |
|
|
UNUSED(z); |
|
|
#endif |
|
|
#endif |
|
|
@ -653,11 +659,11 @@ static float run_z_probe() { |
|
|
|
|
|
|
|
|
// Return the average value of all remaining probes.
|
|
|
// Return the average value of all remaining probes.
|
|
|
for (uint8_t i = min_avg_idx; i <= max_avg_idx; i++) |
|
|
for (uint8_t i = min_avg_idx; i <= max_avg_idx; i++) |
|
|
probes_total += probes[i]; |
|
|
probes_z_sum += probes[i]; |
|
|
|
|
|
|
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
const float measured_z = probes_total * RECIPROCAL(MULTIPLE_PROBING); |
|
|
const float measured_z = probes_z_sum * RECIPROCAL(MULTIPLE_PROBING); |
|
|
|
|
|
|
|
|
#elif TOTAL_PROBING == 2 |
|
|
#elif TOTAL_PROBING == 2 |
|
|
|
|
|
|
|
|
@ -689,10 +695,10 @@ static float run_z_probe() { |
|
|
* - Raise to the BETWEEN height |
|
|
* - Raise to the BETWEEN height |
|
|
* - Return the probed Z position |
|
|
* - Return the probed Z position |
|
|
*/ |
|
|
*/ |
|
|
float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) { |
|
|
float Probe::probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) { |
|
|
if (DEBUGGING(LEVELING)) { |
|
|
if (DEBUGGING(LEVELING)) { |
|
|
DEBUG_ECHOLNPAIR( |
|
|
DEBUG_ECHOLNPAIR( |
|
|
">>> probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry), |
|
|
">>> Probe::probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry), |
|
|
", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none", |
|
|
", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none", |
|
|
", ", int(verbose_level), |
|
|
", ", int(verbose_level), |
|
|
", ", probe_relative ? "probe" : "nozzle", "_relative)" |
|
|
", ", probe_relative ? "probe" : "nozzle", "_relative)" |
|
|
@ -702,9 +708,12 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_ |
|
|
|
|
|
|
|
|
// TODO: Adapt for SCARA, where the offset rotates
|
|
|
// TODO: Adapt for SCARA, where the offset rotates
|
|
|
xyz_pos_t npos = { rx, ry }; |
|
|
xyz_pos_t npos = { rx, ry }; |
|
|
if (probe_relative) { |
|
|
if (probe_relative) { // The given position is in terms of the probe
|
|
|
if (!position_is_reachable_by_probe(npos)) return NAN; // The given position is in terms of the probe
|
|
|
if (!position_is_reachable_by_probe(npos)) { |
|
|
npos -= probe_offset_xy; // Get the nozzle position
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Position Not Reachable"); |
|
|
|
|
|
return NAN; |
|
|
|
|
|
} |
|
|
|
|
|
npos -= offset_xy; // Get the nozzle position
|
|
|
} |
|
|
} |
|
|
else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle
|
|
|
else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle
|
|
|
|
|
|
|
|
|
@ -724,38 +733,38 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_ |
|
|
do_blocking_move_to(npos); |
|
|
do_blocking_move_to(npos); |
|
|
|
|
|
|
|
|
float measured_z = NAN; |
|
|
float measured_z = NAN; |
|
|
if (!DEPLOY_PROBE()) { |
|
|
if (!deploy()) { |
|
|
measured_z = run_z_probe() + probe_offset.z; |
|
|
measured_z = run_z_probe() + offset.z; |
|
|
|
|
|
|
|
|
const bool big_raise = raise_after == PROBE_PT_BIG_RAISE; |
|
|
const bool big_raise = raise_after == PROBE_PT_BIG_RAISE; |
|
|
if (big_raise || raise_after == PROBE_PT_RAISE) |
|
|
if (big_raise || raise_after == PROBE_PT_RAISE) |
|
|
do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST)); |
|
|
do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST)); |
|
|
else if (raise_after == PROBE_PT_STOW) |
|
|
else if (raise_after == PROBE_PT_STOW) |
|
|
if (STOW_PROBE()) measured_z = NAN; |
|
|
if (stow()) measured_z = NAN; |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
if (verbose_level > 2) { |
|
|
if (verbose_level > 2) { |
|
|
SERIAL_ECHOPAIR_F("Bed X: ", LOGICAL_X_POSITION(rx), 3); |
|
|
SERIAL_ECHOPAIR_F("Bed X: ", LOGICAL_X_POSITION(rx), 3); |
|
|
SERIAL_ECHOPAIR_F(" Y: ", LOGICAL_Y_POSITION(ry), 3); |
|
|
SERIAL_ECHOPAIR_F( " Y: ", LOGICAL_Y_POSITION(ry), 3); |
|
|
SERIAL_ECHOLNPAIR_F(" Z: ", measured_z, 3); |
|
|
SERIAL_ECHOLNPAIR_F( " Z: ", measured_z, 3); |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
feedrate_mm_s = old_feedrate_mm_s; |
|
|
feedrate_mm_s = old_feedrate_mm_s; |
|
|
|
|
|
|
|
|
if (isnan(measured_z)) { |
|
|
if (isnan(measured_z)) { |
|
|
STOW_PROBE(); |
|
|
stow(); |
|
|
LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED); |
|
|
LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED); |
|
|
SERIAL_ERROR_MSG(MSG_ERR_PROBING_FAILED); |
|
|
SERIAL_ERROR_MSG(MSG_ERR_PROBING_FAILED); |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< probe_at_point"); |
|
|
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< Probe::probe_at_point"); |
|
|
|
|
|
|
|
|
return measured_z; |
|
|
return measured_z; |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
#if HAS_Z_SERVO_PROBE |
|
|
#if HAS_Z_SERVO_PROBE |
|
|
|
|
|
|
|
|
void servo_probe_init() { |
|
|
void Probe::servo_probe_init() { |
|
|
/**
|
|
|
/**
|
|
|
* Set position of Z Servo Endstop |
|
|
* Set position of Z Servo Endstop |
|
|
* |
|
|
* |
|
|
|
Scott Lahteine
5 years ago
GitHub