Merge pull request #3288 from thinkyhead/rc_servo_plus_delta

Fix servo deploy/stow issues with G29 and Delta

Marlin/Conditionals.h

@@ -339,7 +339,7 @@
     #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
   #endif
 
-  #define SERVO_LEVELING (defined(AUTO_BED_LEVELING_FEATURE) && defined(Z_ENDSTOP_SERVO_NR))
+  #define SERVO_LEVELING (ENABLED(AUTO_BED_LEVELING_FEATURE) && defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
 
   /**
    * Sled Options

Marlin/Marlin_main.cpp

@@ -1999,24 +1999,33 @@ static void homeaxis(AxisEnum axis) {
     sync_plan_position();
 
     #if ENABLED(Z_PROBE_SLED)
-      // Get Probe
+      #define _Z_SERVO_TEST       (axis != Z_AXIS)      // deploy Z, servo.move XY
-      if (axis == Z_AXIS) {
+      #define _Z_PROBE_SUBTEST    false                 // Z will never be invoked
-        if (axis_home_dir < 0) dock_sled(false);
+      #define _Z_DEPLOY           (dock_sled(false))
-      }
+      #define _Z_STOW             (dock_sled(true))
     #elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
-
+      #define _Z_SERVO_TEST       (axis != Z_AXIS)      // servo.move XY
-      // Deploy a Z probe if there is one, and homing towards the bed
+      #define _Z_PROBE_SUBTEST    false                 // Z will never be invoked
-      if (axis == Z_AXIS) {
+      #define _Z_DEPLOY           (deploy_z_probe())
-        if (axis_home_dir < 0) deploy_z_probe();
+      #define _Z_STOW             (stow_z_probe())
-      }
+    #elif HAS_SERVO_ENDSTOPS
-
+      #define _Z_SERVO_TEST       true                  // servo.move X, Y, Z
+      #define _Z_PROBE_SUBTEST    (axis == Z_AXIS)      // Z is a probe
     #endif
 
+    if (axis == Z_AXIS) {
+      // If there's a Z probe that needs deployment...
+      #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
+        // ...and homing Z towards the bed? Deploy it.
+        if (axis_home_dir < 0) _Z_DEPLOY;
+      #endif
+    }
+
     #if HAS_SERVO_ENDSTOPS
-      // Engage Servo endstop if enabled
+      // Engage an X or Y Servo endstop if enabled
-      if (axis != Z_AXIS && servo_endstop_id[axis] >= 0) {
+      if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
         servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
-        z_probe_is_active = true;
+        if (_Z_PROBE_SUBTEST) z_probe_is_active = true;
       }
     #endif
 
@@ -2145,43 +2154,31 @@ static void homeaxis(AxisEnum axis) {
     axis_known_position[axis] = true;
     axis_homed[axis] = true;
 
-    #if ENABLED(Z_PROBE_SLED)
+    // Put away the Z probe
-      // bring Z probe back
+    #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
-      if (axis == Z_AXIS) {
+      if (axis == Z_AXIS && axis_home_dir < 0) {
-        if (axis_home_dir < 0) dock_sled(true);
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
+          if (DEBUGGING(LEVELING)) {
+            SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
+          }
+        #endif
+        _Z_STOW;
       }
-    #elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
+    #endif
 
-      // Deploy a Z probe if there is one, and homing towards the bed
+    // Retract Servo endstop if enabled
-      if (axis == Z_AXIS) {
+    #if HAS_SERVO_ENDSTOPS
-        if (axis_home_dir < 0) {
+      if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
-          #if ENABLED(DEBUG_LEVELING_FEATURE)
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
-            if (DEBUGGING(LEVELING)) {
+          if (DEBUGGING(LEVELING)) {
-              SERIAL_ECHOLNPGM("> SERVO_LEVELING > stow_z_probe");
+            SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
-            }
+          }
-          #endif
+        #endif
-          stow_z_probe();
+        servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
-        }
+        if (_Z_PROBE_SUBTEST) z_probe_is_active = false;
       }
-      else
-
     #endif
 
-    {
-      #if HAS_SERVO_ENDSTOPS
-        // Retract Servo endstop if enabled
-        if (servo_endstop_id[axis] >= 0) {
-          #if ENABLED(DEBUG_LEVELING_FEATURE)
-            if (DEBUGGING(LEVELING)) {
-              SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
-            }
-          #endif
-          servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
-          z_probe_is_active = false;
-        }
-      #endif
-    }
-
   }
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -3074,7 +3071,7 @@ inline void gcode_G28() {
 
     #if ENABLED(Z_PROBE_SLED)
       dock_sled(false); // engage (un-dock) the Z probe
-    #elif ENABLED(Z_PROBE_ALLEN_KEY) //|| SERVO_LEVELING
+    #elif ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && SERVO_LEVELING)
       deploy_z_probe();
     #endif
 
@@ -3342,7 +3339,7 @@ inline void gcode_G28() {
 
     #if ENABLED(DELTA)
       // Allen Key Probe for Delta
-      #if ENABLED(Z_PROBE_ALLEN_KEY)
+      #if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
         stow_z_probe();
       #elif Z_RAISE_AFTER_PROBING > 0
         raise_z_after_probing(); // ???