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@ -1561,16 +1561,16 @@ inline void set_destination_to_current() { COPY(destination, current_position); |
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* Plan a move to (X, Y, Z) and set the current_position |
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* The final current_position may not be the one that was requested |
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*/ |
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void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) { |
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void do_blocking_move_to(const float &lx, const float &ly, const float &lz, const float &fr_mm_s/*=0.0*/) { |
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const float old_feedrate_mm_s = feedrate_mm_s; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z); |
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if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, lx, ly, lz); |
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#endif |
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#if ENABLED(DELTA) |
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if (!position_is_reachable_xy(x, y)) return; |
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if (!position_is_reachable_xy(lx, ly)) return; |
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feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; |
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@ -1582,10 +1582,10 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f |
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// when in the danger zone
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if (current_position[Z_AXIS] > delta_clip_start_height) { |
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if (z > delta_clip_start_height) { // staying in the danger zone
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destination[X_AXIS] = x; // move directly (uninterpolated)
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destination[Y_AXIS] = y; |
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destination[Z_AXIS] = z; |
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if (lz > delta_clip_start_height) { // staying in the danger zone
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destination[X_AXIS] = lx; // move directly (uninterpolated)
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destination[Y_AXIS] = ly; |
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destination[Z_AXIS] = lz; |
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prepare_uninterpolated_move_to_destination(); // set_current_to_destination
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position); |
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@ -1601,23 +1601,23 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f |
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} |
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} |
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if (z > current_position[Z_AXIS]) { // raising?
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destination[Z_AXIS] = z; |
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if (lz > current_position[Z_AXIS]) { // raising?
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destination[Z_AXIS] = lz; |
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prepare_uninterpolated_move_to_destination(); // set_current_to_destination
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position); |
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#endif |
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} |
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destination[X_AXIS] = x; |
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destination[Y_AXIS] = y; |
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destination[X_AXIS] = lx; |
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destination[Y_AXIS] = ly; |
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prepare_move_to_destination(); // set_current_to_destination
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position); |
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#endif |
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if (z < current_position[Z_AXIS]) { // lowering?
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destination[Z_AXIS] = z; |
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if (lz < current_position[Z_AXIS]) { // lowering?
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destination[Z_AXIS] = lz; |
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prepare_uninterpolated_move_to_destination(); // set_current_to_destination
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position); |
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@ -1626,44 +1626,44 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f |
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#elif IS_SCARA |
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if (!position_is_reachable_xy(x, y)) return; |
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if (!position_is_reachable_xy(lx, ly)) return; |
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set_destination_to_current(); |
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// If Z needs to raise, do it before moving XY
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if (destination[Z_AXIS] < z) { |
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destination[Z_AXIS] = z; |
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if (destination[Z_AXIS] < lz) { |
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destination[Z_AXIS] = lz; |
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prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS)); |
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} |
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destination[X_AXIS] = x; |
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destination[Y_AXIS] = y; |
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destination[X_AXIS] = lx; |
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destination[Y_AXIS] = ly; |
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prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S); |
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// If Z needs to lower, do it after moving XY
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if (destination[Z_AXIS] > z) { |
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destination[Z_AXIS] = z; |
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if (destination[Z_AXIS] > lz) { |
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destination[Z_AXIS] = lz; |
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prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS)); |
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} |
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#else |
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// If Z needs to raise, do it before moving XY
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if (current_position[Z_AXIS] < z) { |
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if (current_position[Z_AXIS] < lz) { |
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feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); |
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current_position[Z_AXIS] = z; |
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current_position[Z_AXIS] = lz; |
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line_to_current_position(); |
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} |
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feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; |
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current_position[X_AXIS] = x; |
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current_position[Y_AXIS] = y; |
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current_position[X_AXIS] = lx; |
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current_position[Y_AXIS] = ly; |
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line_to_current_position(); |
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// If Z needs to lower, do it after moving XY
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if (current_position[Z_AXIS] > z) { |
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if (current_position[Z_AXIS] > lz) { |
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feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); |
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current_position[Z_AXIS] = z; |
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current_position[Z_AXIS] = lz; |
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line_to_current_position(); |
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} |
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@ -1677,14 +1677,14 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to"); |
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#endif |
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} |
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void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) { |
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s); |
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void do_blocking_move_to_x(const float &lx, const float &fr_mm_s/*=0.0*/) { |
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do_blocking_move_to(lx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s); |
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} |
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void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) { |
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s); |
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void do_blocking_move_to_z(const float &lz, const float &fr_mm_s/*=0.0*/) { |
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], lz, fr_mm_s); |
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} |
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void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) { |
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do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s); |
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void do_blocking_move_to_xy(const float &lx, const float &ly, const float &fr_mm_s/*=0.0*/) { |
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do_blocking_move_to(lx, ly, current_position[Z_AXIS], fr_mm_s); |
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} |
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//
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@ -1719,7 +1719,7 @@ static void clean_up_after_endstop_or_probe_move() { |
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/**
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* Raise Z to a minimum height to make room for a probe to move |
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*/ |
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inline void do_probe_raise(float z_raise) { |
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inline void do_probe_raise(const float z_raise) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOPAIR("do_probe_raise(", z_raise); |
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@ -1801,6 +1801,10 @@ static void clean_up_after_endstop_or_probe_move() { |
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#elif ENABLED(Z_PROBE_ALLEN_KEY) |
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FORCE_INLINE void do_blocking_move_to(const float logical[XYZ], const float &fr_mm_s) { |
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do_blocking_move_to(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], fr_mm_s); |
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} |
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void run_deploy_moves_script() { |
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z) |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X |
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@ -1815,7 +1819,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)); |
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const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z }; |
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do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)); |
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#endif |
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z) |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X |
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@ -1830,7 +1835,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)); |
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const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z }; |
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do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)); |
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#endif |
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z) |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X |
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@ -1845,7 +1851,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE)); |
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const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z }; |
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do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE)); |
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#endif |
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z) |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X |
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@ -1860,7 +1867,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE)); |
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const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z }; |
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do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE)); |
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#endif |
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z) |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X |
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@ -1875,7 +1883,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE)); |
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const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z }; |
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do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE)); |
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#endif |
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} |
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@ -1893,7 +1902,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)); |
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const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z }; |
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do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)); |
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#endif |
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#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z) |
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X |
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@ -1908,7 +1918,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)); |
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const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z }; |
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do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)); |
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#endif |
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#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z) |
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X |
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@ -1923,7 +1934,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE)); |
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const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z }; |
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do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE)); |
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#endif |
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#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z) |
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X |
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@ -1938,7 +1950,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE)); |
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const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z }; |
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do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE)); |
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#endif |
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#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z) |
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X |
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@ -1953,7 +1966,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE |
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#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0 |
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#endif |
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE)); |
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const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z }; |
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do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE)); |
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#endif |
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} |
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