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@ -539,17 +539,34 @@ static bool do_probe_move(const float z, const float fr_mm_m) { |
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* |
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* @return The raw Z position where the probe was triggered |
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*/ |
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static float run_z_probe() { |
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#define HAS_CALIBRATION_PROBE (ENABLED(DELTA_AUTO_CALIBRATION) && Z_PROBE_LOW_POINT < 0) |
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static float run_z_probe( |
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#if HAS_CALIBRATION_PROBE |
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const bool is_calibration |
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#endif |
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) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position); |
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#endif |
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#if Z_PROBE_LOW_POINT < 0 |
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// Stop the probe before it goes too low to prevent damage.
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// If Z isn't known or this is a "calibration probe" then probe to -10mm.
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#if !HAS_CALIBRATION_PROBE |
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constexpr bool is_calibration = false; |
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#endif |
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const float z_probe_low_point = !is_calibration && axis_known_position[Z_AXIS] ? -zprobe_zoffset + Z_PROBE_LOW_POINT : -10.0; |
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#else |
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// Assertively move down in all cases
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constexpr float z_probe_low_point = -10.0; |
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#endif |
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// Double-probing does a fast probe followed by a slow probe
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#if MULTIPLE_PROBING == 2 |
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// Do a first probe at the fast speed
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if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN; |
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if (do_probe_move(z_probe_low_point, Z_PROBE_SPEED_FAST)) return NAN; |
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float first_probe_z = current_position[Z_AXIS]; |
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@ -580,7 +597,7 @@ static float run_z_probe() { |
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#endif |
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// Move down slowly to find bed, not too far
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if (do_probe_move(-10, Z_PROBE_SPEED_SLOW)) return NAN; |
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if (do_probe_move(z_probe_low_point, Z_PROBE_SPEED_SLOW)) return NAN; |
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#if MULTIPLE_PROBING > 2 |
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probes_total += current_position[Z_AXIS]; |
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@ -628,14 +645,14 @@ static float run_z_probe() { |
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* - Raise to the BETWEEN height |
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* - Return the probed Z position |
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*/ |
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float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) { |
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float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool is_calibration/*=false*/) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx)); |
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SERIAL_ECHOPAIR(", ", LOGICAL_Y_POSITION(ry)); |
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SERIAL_ECHOPAIR(", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none"); |
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SERIAL_ECHOPAIR(", ", int(verbose_level)); |
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SERIAL_ECHOPAIR(", ", probe_relative ? "probe" : "nozzle"); |
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SERIAL_ECHOPAIR(", ", is_calibration ? "nozzle" : "probe"); |
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SERIAL_ECHOLNPGM("_relative)"); |
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DEBUG_POS("", current_position); |
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} |
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@ -643,7 +660,7 @@ float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/ |
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// TODO: Adapt for SCARA, where the offset rotates
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float nx = rx, ny = ry; |
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if (probe_relative) { |
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if (!is_calibration) { |
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if (!position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe
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nx -= (X_PROBE_OFFSET_FROM_EXTRUDER); // Get the nozzle position
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ny -= (Y_PROBE_OFFSET_FROM_EXTRUDER); |
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@ -667,7 +684,11 @@ float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/ |
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float measured_z = NAN; |
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if (!DEPLOY_PROBE()) { |
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measured_z = run_z_probe() + zprobe_zoffset; |
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measured_z = run_z_probe( |
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#if HAS_CALIBRATION_PROBE |
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is_calibration |
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#endif |
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) + zprobe_zoffset; |
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if (raise_after == PROBE_PT_RAISE) |
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); |
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Scott Lahteine
6 years ago
GitHub