From e69d1e2879806d114b31f79f05e839c805d8a843 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 21 Sep 2016 16:47:12 -0500 Subject: [PATCH] Homing/probing feedrate, comments --- Marlin/Marlin_main.cpp | 95 +++++++++++++++++++----------------------- 1 file changed, 44 insertions(+), 51 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 93d76f203f..7effb3b733 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -307,7 +307,7 @@ static uint8_t cmd_queue_index_r = 0, * Feed rates are often configured with mm/m * but the planner and stepper like mm/s units. */ -const float homing_feedrate_mm_s[] = { +float constexpr homing_feedrate_mm_s[] = { #if ENABLED(DELTA) MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z), #else @@ -1368,6 +1368,9 @@ static void set_axis_is_at_home(AxisEnum axis) { #if ENABLED(MORGAN_SCARA) + /** + * Morgan SCARA homes XY at the same time + */ if (axis == X_AXIS || axis == Y_AXIS) { float homeposition[XYZ]; @@ -1399,34 +1402,37 @@ static void set_axis_is_at_home(AxisEnum axis) { #endif { current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis); + } + /** + * Z Probe Z Homing? Account for the probe's Z offset. + */ + #if HAS_BED_PROBE && Z_HOME_DIR < 0 if (axis == Z_AXIS) { - #if HAS_BED_PROBE && Z_HOME_DIR < 0 - #if HOMING_Z_WITH_PROBE - current_position[Z_AXIS] -= zprobe_zoffset; - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***"); - SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset); - } - #endif - #elif ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) - SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***"); + #if HOMING_Z_WITH_PROBE + + current_position[Z_AXIS] -= zprobe_zoffset; + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***"); + SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset); + } #endif + + #elif ENABLED(DEBUG_LEVELING_FEATURE) + + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***"); + #endif } + #endif - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]); - SERIAL_ECHOLNPAIR("] = ", home_offset[axis]); - DEBUG_POS("", current_position); - } - #endif - } #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]); + SERIAL_ECHOLNPAIR("] = ", home_offset[axis]); + DEBUG_POS("", current_position); SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]); SERIAL_ECHOLNPGM(")"); } @@ -1437,7 +1443,7 @@ static void set_axis_is_at_home(AxisEnum axis) { * Some planner shorthand inline functions */ inline float get_homing_bump_feedrate(AxisEnum axis) { - const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR; + int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR; int hbd = homing_bump_divisor[axis]; if (hbd < 1) { hbd = 10; @@ -1475,13 +1481,13 @@ inline void set_destination_to_current() { memcpy(destination, current_position, /** * Calculate delta, start a line, and set current_position to destination */ - void prepare_uninterpolated_move_to_destination() { + void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination); #endif refresh_cmd_timeout(); inverse_kinematics(destination); - planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder); + planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder); set_current_to_destination(); } #endif @@ -1499,7 +1505,7 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f #if ENABLED(DELTA) - feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; + feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; set_destination_to_current(); // sync destination at the start @@ -1561,41 +1567,37 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f // If Z needs to raise, do it before moving XY if (current_position[Z_AXIS] < z) { - feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; destination[Z_AXIS] = z; - prepare_uninterpolated_move_to_destination(); + prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]); } - feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; - destination[X_AXIS] = x; destination[Y_AXIS] = y; - prepare_uninterpolated_move_to_destination(); + prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S); // If Z needs to lower, do it after moving XY if (current_position[Z_AXIS] > z) { - feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; destination[Z_AXIS] = z; - prepare_uninterpolated_move_to_destination(); + prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]); } #else // If Z needs to raise, do it before moving XY if (current_position[Z_AXIS] < z) { - feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; + feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; current_position[Z_AXIS] = z; line_to_current_position(); } - feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; + feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; current_position[X_AXIS] = x; current_position[Y_AXIS] = y; line_to_current_position(); // If Z needs to lower, do it after moving XY if (current_position[Z_AXIS] > z) { - feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; + feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; current_position[Z_AXIS] = z; line_to_current_position(); } @@ -2221,7 +2223,7 @@ static void clean_up_after_endstop_or_probe_move() { * Home an individual linear axis */ -static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) { +static void do_homing_move(AxisEnum axis, float where, float fr_mm_s=0.0) { #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) if (axis == Z_AXIS) set_bltouch_deployed(true); @@ -2230,7 +2232,7 @@ static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) { current_position[axis] = 0; sync_plan_position(); current_position[axis] = where; - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder); + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder); stepper.synchronize(); #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) @@ -2287,23 +2289,13 @@ static void homeaxis(AxisEnum axis) { if (axis == Z_AXIS) stepper.set_homing_flag(true); #endif - // Move towards the endstop until an endstop is triggered + // 1. Fast move towards endstop until triggered + // 2. Move away from the endstop by the axis HOME_BUMP_MM + // 3. Slow move towards endstop until triggered do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir); - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 1st Home ", current_position[axis]); - #endif - - // Move away from the endstop by the axis HOME_BUMP_MM do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir); - - // Move slowly towards the endstop until triggered do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis)); - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 2nd Home ", current_position[axis]); - #endif - #if ENABLED(Z_DUAL_ENDSTOPS) if (axis == Z_AXIS) { float adj = fabs(z_endstop_adj); @@ -2349,7 +2341,8 @@ static void homeaxis(AxisEnum axis) { #else - // Set the axis position to its home position (plus home offsets) + // For cartesian/core machines, + // set the axis to its home position set_axis_is_at_home(axis); sync_plan_position();