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Eliminate goto in gcode_M48

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master
Scott Lahteine 7 years ago
parent 75e6ead5fd
commit ac76101ec3
1 changed files with 126 additions and 122 deletions
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248
Marlin/Marlin_main.cpp
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@ -7038,151 +7038,155 @@ inline void gcode_M42() {
// Move to the first point, deploy, and probe // Move to the first point, deploy, and probe
const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level); const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
if (nan_error(t)) goto FAIL; bool probing_good = !isnan(t);
randomSeed(millis()); if (probing_good) {
randomSeed(millis());
for (uint8_t n = 0; n < n_samples; n++) {
if (n_legs) { for (uint8_t n = 0; n < n_samples; n++) {
const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise if (n_legs) {
float angle = random(0.0, 360.0); const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
const float radius = random( float angle = random(0.0, 360.0);
#if ENABLED(DELTA) const float radius = random(
0.1250000000 * (DELTA_PROBEABLE_RADIUS), #if ENABLED(DELTA)
0.3333333333 * (DELTA_PROBEABLE_RADIUS) 0.1250000000 * (DELTA_PROBEABLE_RADIUS),
#else 0.3333333333 * (DELTA_PROBEABLE_RADIUS)
5.0, 0.125 * min(X_BED_SIZE, Y_BED_SIZE) #else
#endif 5.0, 0.125 * min(X_BED_SIZE, Y_BED_SIZE)
); #endif
);
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Starting radius: ", radius);
SERIAL_ECHOPAIR(" angle: ", angle);
SERIAL_ECHOPGM(" Direction: ");
if (dir > 0) SERIAL_ECHOPGM("Counter-");
SERIAL_ECHOLNPGM("Clockwise");
}
for (uint8_t l = 0; l < n_legs - 1; l++) { if (verbose_level > 3) {
double delta_angle; SERIAL_ECHOPAIR("Starting radius: ", radius);
SERIAL_ECHOPAIR(" angle: ", angle);
SERIAL_ECHOPGM(" Direction: ");
if (dir > 0) SERIAL_ECHOPGM("Counter-");
SERIAL_ECHOLNPGM("Clockwise");
}
if (schizoid_flag) for (uint8_t l = 0; l < n_legs - 1; l++) {
// The points of a 5 point star are 72 degrees apart. We need to double delta_angle;
// skip a point and go to the next one on the star.
delta_angle = dir * 2.0 * 72.0;
else if (schizoid_flag)
// If we do this line, we are just trying to move further // The points of a 5 point star are 72 degrees apart. We need to
// around the circle. // skip a point and go to the next one on the star.
delta_angle = dir * (float) random(25, 45); delta_angle = dir * 2.0 * 72.0;
angle += delta_angle; else
// If we do this line, we are just trying to move further
// around the circle.
delta_angle = dir * (float) random(25, 45);
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the angle += delta_angle;
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius; while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius; angle -= 360.0; // Arduino documentation says the trig functions should not be given values
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
#if DISABLED(DELTA) X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS); Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
#else #if DISABLED(DELTA)
// If we have gone out too far, we can do a simple fix and scale the numbers X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
// back in closer to the origin. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
while (!position_is_reachable_by_probe_xy(X_current, Y_current)) { #else
X_current *= 0.8; // If we have gone out too far, we can do a simple fix and scale the numbers
Y_current *= 0.8; // back in closer to the origin.
if (verbose_level > 3) { while (!position_is_reachable_by_probe_xy(X_current, Y_current)) {
SERIAL_ECHOPAIR("Pulling point towards center:", X_current); X_current *= 0.8;
SERIAL_ECHOLNPAIR(", ", Y_current); Y_current *= 0.8;
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
SERIAL_ECHOLNPAIR(", ", Y_current);
}
} }
#endif
if (verbose_level > 3) {
SERIAL_PROTOCOLPGM("Going to:");
SERIAL_ECHOPAIR(" X", X_current);
SERIAL_ECHOPAIR(" Y", Y_current);
SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
} }
#endif do_blocking_move_to_xy(X_current, Y_current);
if (verbose_level > 3) { } // n_legs loop
SERIAL_PROTOCOLPGM("Going to:"); } // n_legs
SERIAL_ECHOPAIR(" X", X_current);
SERIAL_ECHOPAIR(" Y", Y_current);
SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
}
do_blocking_move_to_xy(X_current, Y_current);
} // n_legs loop
} // n_legs
// Probe a single point // Probe a single point
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0); sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
if (nan_error(sample_set[n])) goto FAIL;
/** // Break the loop if the probe fails
* Get the current mean for the data points we have so far probing_good = !isnan(sample_set[n]);
*/ if (!probing_good) break;
double sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1);
NOMORE(min, sample_set[n]); /**
NOLESS(max, sample_set[n]); * Get the current mean for the data points we have so far
*/
double sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1);
/** NOMORE(min, sample_set[n]);
* Now, use that mean to calculate the standard deviation for the NOLESS(max, sample_set[n]);
* data points we have so far
*/
sum = 0.0;
for (uint8_t j = 0; j <= n; j++)
sum += sq(sample_set[j] - mean);
sigma = SQRT(sum / (n + 1)); /**
if (verbose_level > 0) { * Now, use that mean to calculate the standard deviation for the
if (verbose_level > 1) { * data points we have so far
SERIAL_PROTOCOL(n + 1); */
SERIAL_PROTOCOLPGM(" of "); sum = 0.0;
SERIAL_PROTOCOL((int)n_samples); for (uint8_t j = 0; j <= n; j++)
SERIAL_PROTOCOLPGM(": z: "); sum += sq(sample_set[j] - mean);
SERIAL_PROTOCOL_F(sample_set[n], 3);
if (verbose_level > 2) { sigma = SQRT(sum / (n + 1));
SERIAL_PROTOCOLPGM(" mean: "); if (verbose_level > 0) {
SERIAL_PROTOCOL_F(mean, 4); if (verbose_level > 1) {
SERIAL_PROTOCOLPGM(" sigma: "); SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOL_F(sigma, 6); SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL((int)n_samples);
SERIAL_PROTOCOL_F(min, 3); SERIAL_PROTOCOLPGM(": z: ");
SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOL_F(sample_set[n], 3);
SERIAL_PROTOCOL_F(max, 3); if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" range: "); SERIAL_PROTOCOLPGM(" mean: ");
SERIAL_PROTOCOL_F(max-min, 3); SERIAL_PROTOCOL_F(mean, 4);
SERIAL_PROTOCOLPGM(" sigma: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM(" min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" range: ");
SERIAL_PROTOCOL_F(max-min, 3);
}
SERIAL_EOL();
} }
SERIAL_EOL();
} }
}
} // End of probe loop } // n_samples loop
}
if (STOW_PROBE()) goto FAIL; STOW_PROBE();
SERIAL_PROTOCOLPGM("Finished!"); if (probing_good) {
SERIAL_EOL(); SERIAL_PROTOCOLLNPGM("Finished!");
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM(" Min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" Max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" Range: ");
SERIAL_PROTOCOL_F(max-min, 3);
SERIAL_EOL();
}
if (verbose_level > 0) { SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOLPGM("Mean: "); SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOL_F(mean, 6); SERIAL_EOL();
SERIAL_PROTOCOLPGM(" Min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" Max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" Range: ");
SERIAL_PROTOCOL_F(max-min, 3);
SERIAL_EOL(); SERIAL_EOL();
} }
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL();
SERIAL_EOL();
FAIL:
clean_up_after_endstop_or_probe_move(); clean_up_after_endstop_or_probe_move();
// Re-enable bed level correction if it had been on // Re-enable bed level correction if it had been on

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