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Merge pull request #4081 from thinkyhead/rc_tweaky_m48_tweaks

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Cleanup of M48
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Roxy-3D 2016-06-18 22:21:16 -05:00 committed by GitHub
commit 96b8bcca84
1 changed files with 90 additions and 115 deletions
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205
Marlin/Marlin_main.cpp
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@ -3516,22 +3516,16 @@ inline void gcode_G28() {
float measured_z,
z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS];
if (probePointCounter) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("z_before = (between) ", (Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS]));
SERIAL_EOL;
}
#endif
}
else {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("z_before = (before) ", Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS]);
SERIAL_EOL;
}
#endif
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("z_before = (");
if (probePointCounter)
SERIAL_ECHOPGM("between) ");
else
SERIAL_ECHOPGM("before) ");
SERIAL_ECHOLN(z_before);
}
#endif
#if ENABLED(DELTA)
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
@ -4199,57 +4193,41 @@ inline void gcode_M42() {
return;
}
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
int8_t verbose_level = 1, n_samples = 10, n_legs = 0, schizoid_flag = 0;
if (code_seen('V')) {
verbose_level = code_value_byte();
if (verbose_level < 0 || verbose_level > 4) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
return;
}
int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
if (verbose_level < 0 || verbose_level > 4) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
return;
}
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
if (code_seen('P')) {
n_samples = code_value_byte();
if (n_samples < 4 || n_samples > 50) {
SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
return;
}
int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
if (n_samples < 4 || n_samples > 50) {
SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
return;
}
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS],
Z_current = current_position[Z_AXIS],
X_probe_location = X_current + X_PROBE_OFFSET_FROM_EXTRUDER,
Y_probe_location = Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER,
Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
Z_start_location = current_position[Z_AXIS] + Z_RAISE_BEFORE_PROBING;
bool deploy_probe_for_each_reading = code_seen('E');
if (code_seen('X')) {
X_probe_location = code_value_axis_units(X_AXIS);
#if DISABLED(DELTA)
if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
out_of_range_error(PSTR("X"));
return;
}
#endif
}
float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
#if DISABLED(DELTA)
if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
out_of_range_error(PSTR("X"));
return;
}
#endif
if (code_seen('Y')) {
Y_probe_location = code_value_axis_units(Y_AXIS);
#if DISABLED(DELTA)
if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
out_of_range_error(PSTR("Y"));
return;
}
#endif
}
#if ENABLED(DELTA)
float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
#if DISABLED(DELTA)
if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
out_of_range_error(PSTR("Y"));
return;
}
#else
if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n");
return;
@ -4257,20 +4235,15 @@ inline void gcode_M42() {
#endif
bool seen_L = code_seen('L');
if (seen_L) {
n_legs = code_value_byte();
if (n_legs < 0 || n_legs > 15) {
SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
return;
}
if (n_legs == 1) n_legs = 2;
uint8_t n_legs = seen_L ? code_value_byte() : 0;
if (n_legs < 0 || n_legs > 15) {
SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
return;
}
if (n_legs == 1) n_legs = 2;
if (code_seen('S')) {
schizoid_flag++;
if (!seen_L) n_legs = 7;
}
bool schizoid_flag = code_seen('S');
if (schizoid_flag && !seen_L) n_legs = 7;
/**
* Now get everything to the specified probe point So we can safely do a
@ -4299,26 +4272,29 @@ inline void gcode_M42() {
*/
setup_for_endstop_move();
probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
// Height before each probe (except the first)
float z_between = home_offset[Z_AXIS] + (deploy_probe_for_each_reading ? Z_RAISE_BEFORE_PROBING : Z_RAISE_BETWEEN_PROBINGS);
// Deploy the probe and probe the first point
probe_pt(X_probe_location, Y_probe_location,
home_offset[Z_AXIS] + Z_RAISE_BEFORE_PROBING,
deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy,
verbose_level);
raise_z_after_probing();
randomSeed(millis());
double mean, sigma, sample_set[n_samples];
for (uint8_t n = 0; n < n_samples; n++) {
randomSeed(millis());
delay(500);
if (n_legs) {
float radius, angle = random(0.0, 360.0);
int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
radius = random(
#if ENABLED(DELTA)
DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
#else
5, X_MAX_LENGTH / 8
#endif
);
float angle = random(0.0, 360.0),
radius = random(
#if ENABLED(DELTA)
DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
#else
5, X_MAX_LENGTH / 8
#endif
);
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Starting radius: ", radius);
@ -4383,26 +4359,21 @@ inline void gcode_M42() {
} // n_legs loop
} // n_legs
/**
* We don't really have to do this move, but if we don't we can see a
* funny shift in the Z Height because the user might not have the
* Z_RAISE_BEFORE_PROBING height identical to the Z_RAISE_BETWEEN_PROBING
* height. This gets us back to the probe location at the same height that
* we have been running around the circle at.
*/
do_blocking_move_to_xy(X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER), Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER));
if (deploy_probe_for_each_reading)
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level);
else {
if (n == n_samples - 1)
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStow, verbose_level); else
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
}
// The last probe will differ
bool last_probe = (n == n_samples - 1);
// Probe a single point
sample_set[n] = probe_pt(
X_probe_location, Y_probe_location,
z_between,
deploy_probe_for_each_reading ? ProbeDeployAndStow : last_probe ? ProbeStow : ProbeStay,
verbose_level
);
/**
* Get the current mean for the data points we have so far
*/
sum = 0.0;
double sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1);
@ -4416,38 +4387,42 @@ inline void gcode_M42() {
sum += ss * ss;
}
sigma = sqrt(sum / (n + 1));
if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL((int)n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
delay(50);
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM(" sigma: ");
SERIAL_PROTOCOL_F(sigma, 6);
if (verbose_level > 0) {
if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL((int)n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
delay(50);
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM(" sigma: ");
SERIAL_PROTOCOL_F(sigma, 6);
}
}
SERIAL_EOL;
}
if (verbose_level > 0) SERIAL_EOL;
delay(50);
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
} // End of probe loop code
// raise_z_after_probing();
// Raise before the next loop for the legs,
// or do the final raise after the last probe
if (n_legs || last_probe) {
do_blocking_move_to_z(last_probe ? home_offset[Z_AXIS] + Z_RAISE_AFTER_PROBING : z_between);
if (!last_probe) delay(500);
}
} // End of probe loop
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_EOL;
delay(25);
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL; SERIAL_EOL;
delay(25);
clean_up_after_endstop_move();