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@ -978,6 +978,27 @@ static void retract_z_probe() { |
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#endif |
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#endif |
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} |
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} |
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/// Probe bed height at position (x,y), returns the measured z value
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static float probe_pt(float x, float y, float z_before) { |
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// move to right place
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); |
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do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); |
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engage_z_probe(); // Engage Z Servo endstop if available
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run_z_probe(); |
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float measured_z = current_position[Z_AXIS]; |
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retract_z_probe(); |
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SERIAL_PROTOCOLPGM("Bed x: "); |
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SERIAL_PROTOCOL(x); |
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SERIAL_PROTOCOLPGM(" y: "); |
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SERIAL_PROTOCOL(y); |
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SERIAL_PROTOCOLPGM(" z: "); |
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SERIAL_PROTOCOL(measured_z); |
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SERIAL_PROTOCOLPGM("\n"); |
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return measured_z; |
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} |
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#endif // #ifdef ENABLE_AUTO_BED_LEVELING
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#endif // #ifdef ENABLE_AUTO_BED_LEVELING
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static void homeaxis(int axis) { |
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static void homeaxis(int axis) { |
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@ -1415,31 +1436,20 @@ void process_commands() |
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for (int xCount=0; xCount < ACCURATE_BED_LEVELING_POINTS; xCount++) |
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for (int xCount=0; xCount < ACCURATE_BED_LEVELING_POINTS; xCount++) |
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{ |
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{ |
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float z_before; |
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if (probePointCounter == 0) |
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if (probePointCounter == 0) |
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{ |
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{ |
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// raise before probing
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// raise before probing
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BEFORE_PROBING); |
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z_before = Z_RAISE_BEFORE_PROBING; |
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} else |
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} else |
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{ |
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{ |
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// raise extruder
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// raise extruder
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); |
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z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS; |
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} |
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} |
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float measured_z = probe_pt(xProbe, yProbe, z_before); |
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do_blocking_move_to(xProbe - X_PROBE_OFFSET_FROM_EXTRUDER, yProbe - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); |
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eqnBVector[probePointCounter] = measured_z; |
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engage_z_probe(); // Engage Z Servo endstop if available
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run_z_probe(); |
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eqnBVector[probePointCounter] = current_position[Z_AXIS]; |
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retract_z_probe(); |
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SERIAL_PROTOCOLPGM("Bed x: "); |
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SERIAL_PROTOCOL(xProbe); |
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SERIAL_PROTOCOLPGM(" y: "); |
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SERIAL_PROTOCOL(yProbe); |
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SERIAL_PROTOCOLPGM(" z: "); |
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SERIAL_PROTOCOL(current_position[Z_AXIS]); |
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SERIAL_PROTOCOLPGM("\n"); |
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eqnAMatrix[probePointCounter + 0*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = xProbe; |
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eqnAMatrix[probePointCounter + 0*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = xProbe; |
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eqnAMatrix[probePointCounter + 1*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = yProbe; |
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eqnAMatrix[probePointCounter + 1*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = yProbe; |
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@ -1469,56 +1479,13 @@ void process_commands() |
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// prob 1
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// prob 1
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BEFORE_PROBING); |
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float z_at_xLeft_yBack = probe_pt(LEFT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION, Z_RAISE_BEFORE_PROBING); |
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do_blocking_move_to(LEFT_PROBE_BED_POSITION - X_PROBE_OFFSET_FROM_EXTRUDER, BACK_PROBE_BED_POSITION - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); |
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engage_z_probe(); // Engage Z Servo endstop if available
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run_z_probe(); |
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float z_at_xLeft_yBack = current_position[Z_AXIS]; |
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retract_z_probe(); |
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SERIAL_PROTOCOLPGM("Bed x: "); |
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SERIAL_PROTOCOL(LEFT_PROBE_BED_POSITION); |
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SERIAL_PROTOCOLPGM(" y: "); |
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SERIAL_PROTOCOL(BACK_PROBE_BED_POSITION); |
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SERIAL_PROTOCOLPGM(" z: "); |
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SERIAL_PROTOCOL(current_position[Z_AXIS]); |
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SERIAL_PROTOCOLPGM("\n"); |
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// prob 2
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// prob 2
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); |
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float z_at_xLeft_yFront = probe_pt(LEFT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); |
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do_blocking_move_to(LEFT_PROBE_BED_POSITION - X_PROBE_OFFSET_FROM_EXTRUDER, FRONT_PROBE_BED_POSITION - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); |
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engage_z_probe(); // Engage Z Servo endstop if available
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run_z_probe(); |
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float z_at_xLeft_yFront = current_position[Z_AXIS]; |
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retract_z_probe(); |
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SERIAL_PROTOCOLPGM("Bed x: "); |
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SERIAL_PROTOCOL(LEFT_PROBE_BED_POSITION); |
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SERIAL_PROTOCOLPGM(" y: "); |
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SERIAL_PROTOCOL(FRONT_PROBE_BED_POSITION); |
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SERIAL_PROTOCOLPGM(" z: "); |
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SERIAL_PROTOCOL(current_position[Z_AXIS]); |
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SERIAL_PROTOCOLPGM("\n"); |
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// prob 3
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// prob 3
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); |
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float z_at_xRight_yFront = probe_pt(RIGHT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); |
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// the current position will be updated by the blocking move so the head will not lower on this next call.
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do_blocking_move_to(RIGHT_PROBE_BED_POSITION - X_PROBE_OFFSET_FROM_EXTRUDER, FRONT_PROBE_BED_POSITION - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); |
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engage_z_probe(); // Engage Z Servo endstop if available
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run_z_probe(); |
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float z_at_xRight_yFront = current_position[Z_AXIS]; |
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retract_z_probe(); // Retract Z Servo endstop if available
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SERIAL_PROTOCOLPGM("Bed x: "); |
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SERIAL_PROTOCOL(RIGHT_PROBE_BED_POSITION); |
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SERIAL_PROTOCOLPGM(" y: "); |
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SERIAL_PROTOCOL(FRONT_PROBE_BED_POSITION); |
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SERIAL_PROTOCOLPGM(" z: "); |
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SERIAL_PROTOCOL(current_position[Z_AXIS]); |
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SERIAL_PROTOCOLPGM("\n"); |
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clean_up_after_endstop_move(); |
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clean_up_after_endstop_move(); |
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