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Merge pull request #4368 from AnHardt/run-z-probe-delta

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Revert to position-difference method in run_z_probe()
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Scott Lahteine 2016-07-21 14:03:28 -07:00 committed by GitHub
commit 2c239b1bd3
1 changed files with 17 additions and 3 deletions
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20
Marlin/Marlin_main.cpp
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@ -2064,6 +2064,12 @@ static void clean_up_after_endstop_or_probe_move() {
return false; return false;
} }
#if ENABLED(DELTA)
#define SET_CURRENT_FROM_STEPPERS() current_position[Z_AXIS] = z_before - stepper.get_axis_position_mm(Z_AXIS) + z_mm
#else
#define SET_CURRENT_FROM_STEPPERS() current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS)
#endif
// Do a single Z probe and return with current_position[Z_AXIS] // Do a single Z probe and return with current_position[Z_AXIS]
// at the height where the probe triggered. // at the height where the probe triggered.
static float run_z_probe() { static float run_z_probe() {
@ -2075,23 +2081,31 @@ static void clean_up_after_endstop_or_probe_move() {
planner.bed_level_matrix.set_to_identity(); planner.bed_level_matrix.set_to_identity();
#endif #endif
#if ENABLED(DELTA)
float z_before = current_position[Z_AXIS];
float z_mm = stepper.get_axis_position_mm(Z_AXIS);
#endif
current_position[Z_AXIS] = -(Z_MAX_LENGTH + 10); current_position[Z_AXIS] = -(Z_MAX_LENGTH + 10);
do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_FAST); do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_FAST);
endstops.hit_on_purpose(); // clear endstop hit flags endstops.hit_on_purpose(); // clear endstop hit flags
// Get the current stepper position after bumping an endstop // Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS); SET_CURRENT_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS]; SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are
// move up the retract distance // move up the retract distance
current_position[Z_AXIS] += home_bump_mm(Z_AXIS); current_position[Z_AXIS] += home_bump_mm(Z_AXIS);
do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_FAST); do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_FAST);
#if ENABLED(DELTA)
z_before = current_position[Z_AXIS];
z_mm = stepper.get_axis_position_mm(Z_AXIS);
#endif
// move back down slowly to find bed // move back down slowly to find bed
current_position[Z_AXIS] -= home_bump_mm(Z_AXIS) * 2; current_position[Z_AXIS] -= home_bump_mm(Z_AXIS) * 2;
do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_SLOW); do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_SLOW);
endstops.hit_on_purpose(); // clear endstop hit flags endstops.hit_on_purpose(); // clear endstop hit flags
// Get the current stepper position after bumping an endstop // Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS); SET_CURRENT_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)