Always use deploy/stow for dock_sled
This commit is contained in:
Scott Lahteine
parent
3b457c2dd3
commit
f6b09cf465
@ -1655,6 +1655,10 @@ static void setup_for_endstop_move() {
|
||||
feedrate = old_feedrate;
|
||||
}
|
||||
|
||||
inline void do_blocking_move_to_x(float x) {
|
||||
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
|
||||
}
|
||||
|
||||
inline void do_blocking_move_to_z(float z) {
|
||||
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
|
||||
}
|
||||
@ -1684,6 +1688,63 @@ static void setup_for_endstop_move() {
|
||||
|
||||
#endif
|
||||
|
||||
#if HAS_BED_PROBE
|
||||
|
||||
inline void raise_z_after_probing() {
|
||||
#if Z_RAISE_AFTER_PROBING > 0
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()");
|
||||
#endif
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLED(Z_PROBE_SLED)
|
||||
|
||||
#ifndef SLED_DOCKING_OFFSET
|
||||
#define SLED_DOCKING_OFFSET 0
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Method to dock/undock a sled designed by Charles Bell.
|
||||
*
|
||||
* dock[in] If true, move to MAX_X and engage the electromagnet
|
||||
* offset[in] The additional distance to move to adjust docking location
|
||||
*/
|
||||
static void dock_sled(bool dock, int offset = 0) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR("dock_sled(", dock);
|
||||
SERIAL_ECHOLNPGM(")");
|
||||
}
|
||||
#endif
|
||||
|
||||
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
|
||||
axis_unhomed_error(true);
|
||||
return;
|
||||
}
|
||||
|
||||
if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
|
||||
|
||||
float oldXpos = current_position[X_AXIS]; // save x position
|
||||
if (dock) {
|
||||
raise_z_after_probing(); // raise Z
|
||||
// Dock sled a bit closer to ensure proper capturing
|
||||
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
|
||||
digitalWrite(SLED_PIN, LOW); // turn off magnet
|
||||
}
|
||||
else {
|
||||
float z_loc = current_position[Z_AXIS];
|
||||
if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
|
||||
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
|
||||
digitalWrite(SLED_PIN, HIGH); // turn on magnet
|
||||
}
|
||||
do_blocking_move_to_x(oldXpos); // return to position before docking
|
||||
}
|
||||
|
||||
#endif // Z_PROBE_SLED
|
||||
|
||||
#if HAS_BED_PROBE
|
||||
|
||||
static void deploy_z_probe() {
|
||||
@ -1694,7 +1755,11 @@ static void setup_for_endstop_move() {
|
||||
|
||||
if (endstops.z_probe_enabled) return;
|
||||
|
||||
#if HAS_Z_SERVO_ENDSTOP
|
||||
#if ENABLED(Z_PROBE_SLED)
|
||||
|
||||
dock_sled(false);
|
||||
|
||||
#elif HAS_Z_SERVO_ENDSTOP
|
||||
|
||||
// Make room for Z Servo
|
||||
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
|
||||
@ -1792,7 +1857,11 @@ static void setup_for_endstop_move() {
|
||||
|
||||
if (!endstops.z_probe_enabled) return;
|
||||
|
||||
#if HAS_Z_SERVO_ENDSTOP
|
||||
#if ENABLED(Z_PROBE_SLED)
|
||||
|
||||
dock_sled(true);
|
||||
|
||||
#elif HAS_Z_SERVO_ENDSTOP
|
||||
|
||||
// Make room for the servo
|
||||
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
|
||||
@ -2040,19 +2109,6 @@ static void setup_for_endstop_move() {
|
||||
do_blocking_move_to(x, y, current_position[Z_AXIS]);
|
||||
}
|
||||
|
||||
inline void do_blocking_move_to_x(float x) {
|
||||
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
|
||||
}
|
||||
|
||||
inline void raise_z_after_probing() {
|
||||
#if Z_RAISE_AFTER_PROBING > 0
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()");
|
||||
#endif
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void clean_up_after_endstop_move() {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops.not_homing()");
|
||||
@ -2229,55 +2285,6 @@ static void setup_for_endstop_move() {
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLED(Z_PROBE_SLED)
|
||||
|
||||
#ifndef SLED_DOCKING_OFFSET
|
||||
#define SLED_DOCKING_OFFSET 0
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Method to dock/undock a sled designed by Charles Bell.
|
||||
*
|
||||
* dock[in] If true, move to MAX_X and engage the electromagnet
|
||||
* offset[in] The additional distance to move to adjust docking location
|
||||
*/
|
||||
static void dock_sled(bool dock, int offset = 0) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR("dock_sled(", dock);
|
||||
SERIAL_ECHOLNPGM(")");
|
||||
}
|
||||
#endif
|
||||
|
||||
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
|
||||
axis_unhomed_error(true);
|
||||
return;
|
||||
}
|
||||
|
||||
if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
|
||||
|
||||
float oldXpos = current_position[X_AXIS]; // save x position
|
||||
if (dock) {
|
||||
raise_z_after_probing(); // raise Z
|
||||
// Dock sled a bit closer to ensure proper capturing
|
||||
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
|
||||
digitalWrite(SLED_PIN, LOW); // turn off magnet
|
||||
}
|
||||
else {
|
||||
float z_loc = current_position[Z_AXIS];
|
||||
if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
|
||||
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
|
||||
digitalWrite(SLED_PIN, HIGH); // turn on magnet
|
||||
}
|
||||
do_blocking_move_to_x(oldXpos); // return to position before docking
|
||||
|
||||
endstops.enable_z_probe(!dock); // logically disable docked probe
|
||||
}
|
||||
|
||||
#endif // Z_PROBE_SLED
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Home an individual axis
|
||||
*/
|
||||
@ -2306,24 +2313,13 @@ static void homeaxis(AxisEnum axis) {
|
||||
current_position[axis] = 0;
|
||||
sync_plan_position();
|
||||
|
||||
#if ENABLED(Z_PROBE_SLED)
|
||||
#define _Z_DEPLOY (dock_sled(false))
|
||||
#define _Z_STOW (dock_sled(true))
|
||||
#elif (ENABLED(AUTO_BED_LEVELING_FEATURE) && HAS_Z_SERVO_ENDSTOP) || ENABLED(FIX_MOUNTED_PROBE)
|
||||
#define _Z_DEPLOY (deploy_z_probe())
|
||||
#define _Z_STOW (stow_z_probe())
|
||||
#elif HAS_Z_SERVO_ENDSTOP
|
||||
#define _Z_DEPLOY do{ raise_z_for_servo(Z_RAISE_BEFORE_PROBING); DEPLOY_Z_SERVO(); endstops.z_probe_enabled = true; }while(0)
|
||||
#define _Z_STOW do{ raise_z_for_servo(Z_RAISE_AFTER_PROBING); STOW_Z_SERVO(); endstops.z_probe_enabled = false; }while(0)
|
||||
#endif
|
||||
|
||||
// Homing Z towards the bed? Deploy the Z probe or endstop.
|
||||
#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
|
||||
#if HAS_BED_PROBE
|
||||
if (axis == Z_AXIS && axis_home_dir < 0) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_DEPLOY));
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > deploy_z_probe()");
|
||||
#endif
|
||||
_Z_DEPLOY;
|
||||
deploy_z_probe();
|
||||
}
|
||||
#endif
|
||||
|
||||
@ -2441,12 +2437,12 @@ static void homeaxis(AxisEnum axis) {
|
||||
axis_homed[axis] = true;
|
||||
|
||||
// Put away the Z probe
|
||||
#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
|
||||
#if HAS_BED_PROBE
|
||||
if (axis == Z_AXIS && axis_home_dir < 0) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_STOW));
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > stow_z_probe()");
|
||||
#endif
|
||||
_Z_STOW;
|
||||
stow_z_probe();
|
||||
}
|
||||
#endif
|
||||
|
||||
@ -3468,9 +3464,7 @@ inline void gcode_G28() {
|
||||
#endif // !DELTA
|
||||
}
|
||||
|
||||
#if ENABLED(Z_PROBE_SLED)
|
||||
dock_sled(false); // engage (un-dock) the Z probe
|
||||
#elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && HAS_Z_SERVO_ENDSTOP)
|
||||
#if HAS_BED_PROBE
|
||||
deploy_z_probe();
|
||||
#endif
|
||||
|
||||
@ -3721,14 +3715,7 @@ inline void gcode_G28() {
|
||||
|
||||
#endif // !AUTO_BED_LEVELING_GRID
|
||||
|
||||
#if ENABLED(DELTA)
|
||||
// Allen Key Probe for Delta
|
||||
#if ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_ENDSTOP
|
||||
stow_z_probe();
|
||||
#else
|
||||
raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
|
||||
#endif
|
||||
#else // !DELTA
|
||||
#if DISABLED(DELTA)
|
||||
if (verbose_level > 0)
|
||||
planner.bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
|
||||
|
||||
@ -3788,7 +3775,7 @@ inline void gcode_G28() {
|
||||
#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
|
||||
+ Z_RAISE_AFTER_PROBING
|
||||
#endif
|
||||
;
|
||||
;
|
||||
// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
|
||||
sync_plan_position();
|
||||
|
||||
@ -3796,18 +3783,13 @@ inline void gcode_G28() {
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
|
||||
#endif
|
||||
}
|
||||
|
||||
// Sled assembly for Cartesian bots
|
||||
#if ENABLED(Z_PROBE_SLED)
|
||||
dock_sled(true); // dock the sled
|
||||
#elif !HAS_Z_SERVO_ENDSTOP && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
|
||||
// Raise Z axis for non-delta and non servo based probes
|
||||
raise_z_after_probing();
|
||||
#endif
|
||||
|
||||
#endif // !DELTA
|
||||
|
||||
#if ENABLED(MECHANICAL_PROBE)
|
||||
#if DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) && !HAS_Z_SERVO_ENDSTOP
|
||||
raise_z_after_probing();
|
||||
#endif
|
||||
|
||||
#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(MECHANICAL_PROBE)
|
||||
stow_z_probe();
|
||||
#endif
|
||||
|
||||
@ -3838,39 +3820,39 @@ inline void gcode_G28() {
|
||||
KEEPALIVE_STATE(IN_HANDLER);
|
||||
}
|
||||
|
||||
#if DISABLED(Z_PROBE_SLED) // could be avoided
|
||||
|
||||
/**
|
||||
* G30: Do a single Z probe at the current XY
|
||||
*/
|
||||
inline void gcode_G30() {
|
||||
deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
|
||||
|
||||
stepper.synchronize();
|
||||
// TODO: clear the leveling matrix or the planner will be set incorrectly
|
||||
setup_for_endstop_move(); // Too late. Must be done before deploying.
|
||||
|
||||
run_z_probe();
|
||||
|
||||
SERIAL_PROTOCOLPGM("Bed X: ");
|
||||
SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
|
||||
SERIAL_PROTOCOLPGM(" Y: ");
|
||||
SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
|
||||
SERIAL_PROTOCOLPGM(" Z: ");
|
||||
SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
|
||||
SERIAL_EOL;
|
||||
|
||||
clean_up_after_endstop_move(); // Too early. must be done after the stowing.
|
||||
|
||||
stow_z_probe(); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
|
||||
|
||||
report_current_position();
|
||||
}
|
||||
|
||||
#endif //!Z_PROBE_SLED
|
||||
|
||||
#endif //AUTO_BED_LEVELING_FEATURE
|
||||
|
||||
#if HAS_BED_PROBE
|
||||
|
||||
/**
|
||||
* G30: Do a single Z probe at the current XY
|
||||
*/
|
||||
inline void gcode_G30() {
|
||||
deploy_z_probe();
|
||||
|
||||
stepper.synchronize();
|
||||
// TODO: clear the leveling matrix or the planner will be set incorrectly
|
||||
setup_for_endstop_move(); // Too late. Must be done before deploying.
|
||||
|
||||
run_z_probe();
|
||||
|
||||
SERIAL_PROTOCOLPGM("Bed X: ");
|
||||
SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
|
||||
SERIAL_PROTOCOLPGM(" Y: ");
|
||||
SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
|
||||
SERIAL_PROTOCOLPGM(" Z: ");
|
||||
SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
|
||||
SERIAL_EOL;
|
||||
|
||||
clean_up_after_endstop_move(); // Too early. must be done after the stowing.
|
||||
|
||||
stow_z_probe();
|
||||
|
||||
report_current_position();
|
||||
}
|
||||
|
||||
#endif // HAS_BED_PROBE
|
||||
|
||||
/**
|
||||
* G92: Set current position to given X Y Z E
|
||||
*/
|
||||
@ -6875,24 +6857,24 @@ void process_next_command() {
|
||||
break;
|
||||
#endif
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
#if HAS_BED_PROBE
|
||||
|
||||
#if DISABLED(Z_PROBE_SLED)
|
||||
case 30: // G30 Single Z probe
|
||||
gcode_G30();
|
||||
break;
|
||||
|
||||
case 30: // G30 Single Z probe
|
||||
gcode_G30();
|
||||
break;
|
||||
|
||||
#else // Z_PROBE_SLED
|
||||
#if ENABLED(Z_PROBE_SLED)
|
||||
|
||||
case 31: // G31: dock the sled
|
||||
stow_z_probe();
|
||||
break;
|
||||
case 32: // G32: undock the sled
|
||||
dock_sled(codenum == 31);
|
||||
deploy_z_probe();
|
||||
break;
|
||||
|
||||
#endif // Z_PROBE_SLED
|
||||
|
||||
#endif // AUTO_BED_LEVELING_FEATURE
|
||||
#endif // HAS_BED_PROBE
|
||||
|
||||
case 90: // G90
|
||||
relative_mode = false;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user