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Simplify dock_sled()

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`dock_sled()` is never called with offset parameter - remove it.
We move x only - so only that needs to be homed. Consequence is - we can home to z-min now with a sled probe!
Feedrates are set and restored in `do_blocking_move()`.
We already checked if the probe is deployed/stowed in deploy/stow_probe.
```
if (z_loc < _Z_RAISE_PROBE_DEPLOY_STOW + 5) z_loc = _Z_RAISE_PROBE_DEPLOY_STOW;
```
makes no sense - remove.
Now the raise is the same for deploy/stow -> move before the if.
Replace the if with a ternary.
Instead writing LOW/HIGH use the boolean `stow` we already have.

There is no reason for not using the sled probe in G29/M48 with 'E'.
It takes a while but works. (tested!)
This commit is contained in:
AnHardt 2016-06-27 18:09:22 +02:00 committed by Scott Lahteine
parent 511503ede9
commit e616093d4c
1 changed files with 12 additions and 27 deletions
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39
Marlin/Marlin_main.cpp
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@ -1746,45 +1746,30 @@ static void clean_up_after_endstop_or_probe_move() {
/**
* 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
* stow[in] If false, move to MAX_X and engage the solenoid
* If true, move to MAX_X and release the solenoid
*/
static void dock_sled(bool dock, int offset = 0) {
static void dock_sled(bool stow) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("dock_sled(", dock);
SERIAL_ECHOPAIR("dock_sled(", stow);
SERIAL_ECHOLNPGM(")");
}
#endif
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
if (!axis_homed[X_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
float old_feedrate = feedrate;
if (dock) {
#if _Z_RAISE_PROBE_DEPLOY_STOW > 0
do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
#endif
// Dock sled a bit closer to ensure proper capturing
feedrate = XY_PROBE_FEEDRATE;
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
digitalWrite(SLED_PIN, LOW); // turn off magnet
}
else {
feedrate = XY_PROBE_FEEDRATE;
float z_loc = current_position[Z_AXIS];
if (z_loc < _Z_RAISE_PROBE_DEPLOY_STOW + 5) z_loc = _Z_RAISE_PROBE_DEPLOY_STOW;
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
}
// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
digitalWrite(SLED_PIN, !stow); // switch solenoid
do_blocking_move_to_x(oldXpos); // return to position before docking
feedrate = old_feedrate;
}
#endif // Z_PROBE_SLED
@ -3394,7 +3379,7 @@ inline void gcode_G28() {
bool dryrun = code_seen('D');
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
#if ENABLED(Z_PROBE_ALLEN_KEY)
const bool stow_probe_after_each = false;
#else
bool stow_probe_after_each = code_seen('E');
@ -4159,7 +4144,7 @@ inline void gcode_M42() {
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS];
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
#if ENABLED(Z_PROBE_ALLEN_KEY)
const bool stow_probe_after_each = false;
#else
bool stow_probe_after_each = code_seen('E');