Firmware2/Marlin/src/module/probe.h
2020-07-22 22:20:14 -05:00

227 lines
7.5 KiB
C++

/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* module/probe.h - Move, deploy, enable, etc.
*/
#include "../inc/MarlinConfig.h"
#include "motion.h"
#if HAS_BED_PROBE
enum ProbePtRaise : uint8_t {
PROBE_PT_NONE, // No raise or stow after run_z_probe
PROBE_PT_STOW, // Do a complete stow after run_z_probe
PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
};
#endif
class Probe {
public:
#if HAS_BED_PROBE
static xyz_pos_t offset;
static bool set_deployed(const bool deploy);
#if IS_KINEMATIC
#if HAS_PROBE_XY_OFFSET
// Return true if the both nozzle and the probe can reach the given point.
// Note: This won't work on SCARA since the probe offset rotates with the arm.
static inline bool can_reach(const float &rx, const float &ry) {
return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y) // The nozzle can go where it needs to go?
&& position_is_reachable(rx, ry, ABS(PROBING_MARGIN)); // Can the nozzle also go near there?
}
#else
FORCE_INLINE static bool can_reach(const float &rx, const float &ry) {
return position_is_reachable(rx, ry, PROBING_MARGIN);
}
#endif
#else
/**
* Return whether the given position is within the bed, and whether the nozzle
* can reach the position required to put the probe at the given position.
*
* Example: For a probe offset of -10,+10, then for the probe to reach 0,0 the
* nozzle must be be able to reach +10,-10.
*/
static inline bool can_reach(const float &rx, const float &ry) {
return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y)
&& WITHIN(rx, min_x() - fslop, max_x() + fslop)
&& WITHIN(ry, min_y() - fslop, max_y() + fslop);
}
#endif
static inline void move_z_after_probing() {
#ifdef Z_AFTER_PROBING
do_z_clearance(Z_AFTER_PROBING, true, true, true); // Move down still permitted
#endif
}
static inline void move_z_after_homing() {
#ifdef Z_AFTER_HOMING
do_z_clearance(Z_AFTER_HOMING, true, true, true);
#elif defined(Z_AFTER_PROBING)
move_z_after_probing();
#endif
}
static float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true, const bool sanity_check=true);
static inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true, const bool sanity_check=true) {
return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative, sanity_check);
}
#else
FORCE_INLINE static void move_z_after_homing() {}
static constexpr xyz_pos_t offset = xyz_pos_t({ 0, 0, 0 }); // See #16767
static bool set_deployed(const bool) { return false; }
FORCE_INLINE static bool can_reach(const float &rx, const float &ry) { return position_is_reachable(rx, ry); }
#endif
FORCE_INLINE static bool can_reach(const xy_pos_t &pos) { return can_reach(pos.x, pos.y); }
FORCE_INLINE static bool good_bounds(const xy_pos_t &lf, const xy_pos_t &rb) {
return (
#if IS_KINEMATIC
can_reach(lf.x, 0) && can_reach(rb.x, 0) && can_reach(0, lf.y) && can_reach(0, rb.y)
#else
can_reach(lf) && can_reach(rb)
#endif
);
}
// Use offset_xy for read only access
// More optimal the XY offset is known to always be zero.
#if HAS_PROBE_XY_OFFSET
static const xyz_pos_t &offset_xy;
#else
static constexpr xy_pos_t offset_xy = xy_pos_t({ 0, 0 }); // See #16767
#endif
static inline bool deploy() { return set_deployed(true); }
static inline bool stow() { return set_deployed(false); }
#if HAS_BED_PROBE || HAS_LEVELING
#if IS_KINEMATIC
static constexpr float printable_radius = (
#if ENABLED(DELTA)
DELTA_PRINTABLE_RADIUS
#elif IS_SCARA
SCARA_PRINTABLE_RADIUS
#endif
);
static inline float probe_radius() {
return printable_radius - _MAX(PROBING_MARGIN, HYPOT(offset_xy.x, offset_xy.y));
}
#endif
static inline float min_x() {
return (
#if IS_KINEMATIC
(X_CENTER) - probe_radius()
#else
_MAX((X_MIN_BED) + (PROBING_MARGIN_LEFT), (X_MIN_POS) + offset_xy.x)
#endif
);
}
static inline float max_x() {
return (
#if IS_KINEMATIC
(X_CENTER) + probe_radius()
#else
_MIN((X_MAX_BED) - (PROBING_MARGIN_RIGHT), (X_MAX_POS) + offset_xy.x)
#endif
);
}
static inline float min_y() {
return (
#if IS_KINEMATIC
(Y_CENTER) - probe_radius()
#else
_MAX((Y_MIN_BED) + (PROBING_MARGIN_FRONT), (Y_MIN_POS) + offset_xy.y)
#endif
);
}
static inline float max_y() {
return (
#if IS_KINEMATIC
(Y_CENTER) + probe_radius()
#else
_MIN((Y_MAX_BED) - (PROBING_MARGIN_BACK), (Y_MAX_POS) + offset_xy.y)
#endif
);
}
#if NEEDS_THREE_PROBE_POINTS
// Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
template <typename T>
static inline void get_three_points(T points[3]) {
#if HAS_FIXED_3POINT
points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
#else
#if IS_KINEMATIC
constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
#else
points[0].set(min_x(), min_y());
points[1].set(max_x(), min_y());
points[2].set((min_x() + max_x()) / 2, max_y());
#endif
#endif
}
#endif
#endif // HAS_BED_PROBE
#if HAS_Z_SERVO_PROBE
static void servo_probe_init();
#endif
#if QUIET_PROBING
static void set_probing_paused(const bool p);
#endif
private:
static bool probe_down_to_z(const float z, const feedRate_t fr_mm_s);
static void do_z_raise(const float z_raise);
static float run_z_probe(const bool sanity_check=true);
};
extern Probe probe;