From f6b09cf465ed0d05685028cb32d35c2488557b97 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 20 Jun 2016 15:50:51 -0700 Subject: [PATCH] Always use deploy/stow for dock_sled --- Marlin/Marlin_main.cpp | 252 +++++++++++++++++++---------------------- 1 file changed, 117 insertions(+), 135 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 4c7c0aaae..0eba959b1 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1655,6 +1655,10 @@ static void setup_for_endstop_move() { feedrate = old_feedrate; } + inline void do_blocking_move_to_x(float x) { + do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); + } + inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); } @@ -1684,6 +1688,63 @@ static void setup_for_endstop_move() { #endif +#if HAS_BED_PROBE + + inline void raise_z_after_probing() { + #if Z_RAISE_AFTER_PROBING > 0 + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()"); + #endif + do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); + #endif + } +#endif + +#if ENABLED(Z_PROBE_SLED) + + #ifndef SLED_DOCKING_OFFSET + #define SLED_DOCKING_OFFSET 0 + #endif + + /** + * 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 + */ + static void dock_sled(bool dock, int offset = 0) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("dock_sled(", dock); + SERIAL_ECHOLNPGM(")"); + } + #endif + + if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_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 + if (dock) { + raise_z_after_probing(); // raise Z + // Dock sled a bit closer to ensure proper capturing + do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); + digitalWrite(SLED_PIN, LOW); // turn off magnet + } + else { + float z_loc = current_position[Z_AXIS]; + if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING; + 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 + } + do_blocking_move_to_x(oldXpos); // return to position before docking + } + +#endif // Z_PROBE_SLED + #if HAS_BED_PROBE static void deploy_z_probe() { @@ -1694,7 +1755,11 @@ static void setup_for_endstop_move() { if (endstops.z_probe_enabled) return; - #if HAS_Z_SERVO_ENDSTOP + #if ENABLED(Z_PROBE_SLED) + + dock_sled(false); + + #elif HAS_Z_SERVO_ENDSTOP // Make room for Z Servo raise_z_for_servo(Z_RAISE_BEFORE_PROBING); @@ -1792,7 +1857,11 @@ static void setup_for_endstop_move() { if (!endstops.z_probe_enabled) return; - #if HAS_Z_SERVO_ENDSTOP + #if ENABLED(Z_PROBE_SLED) + + dock_sled(true); + + #elif HAS_Z_SERVO_ENDSTOP // Make room for the servo raise_z_for_servo(Z_RAISE_AFTER_PROBING); @@ -2040,19 +2109,6 @@ static void setup_for_endstop_move() { do_blocking_move_to(x, y, current_position[Z_AXIS]); } - inline void do_blocking_move_to_x(float x) { - do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); - } - - inline void raise_z_after_probing() { - #if Z_RAISE_AFTER_PROBING > 0 - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()"); - #endif - do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); - #endif - } - static void clean_up_after_endstop_move() { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops.not_homing()"); @@ -2229,55 +2285,6 @@ static void setup_for_endstop_move() { } #endif -#if ENABLED(Z_PROBE_SLED) - - #ifndef SLED_DOCKING_OFFSET - #define SLED_DOCKING_OFFSET 0 - #endif - - /** - * 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 - */ - static void dock_sled(bool dock, int offset = 0) { - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("dock_sled(", dock); - SERIAL_ECHOLNPGM(")"); - } - #endif - - if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_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 - if (dock) { - raise_z_after_probing(); // raise Z - // Dock sled a bit closer to ensure proper capturing - do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); - digitalWrite(SLED_PIN, LOW); // turn off magnet - } - else { - float z_loc = current_position[Z_AXIS]; - if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING; - 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 - } - do_blocking_move_to_x(oldXpos); // return to position before docking - - endstops.enable_z_probe(!dock); // logically disable docked probe - } - -#endif // Z_PROBE_SLED - - - /** * Home an individual axis */ @@ -2306,24 +2313,13 @@ static void homeaxis(AxisEnum axis) { current_position[axis] = 0; sync_plan_position(); - #if ENABLED(Z_PROBE_SLED) - #define _Z_DEPLOY (dock_sled(false)) - #define _Z_STOW (dock_sled(true)) - #elif (ENABLED(AUTO_BED_LEVELING_FEATURE) && HAS_Z_SERVO_ENDSTOP) || ENABLED(FIX_MOUNTED_PROBE) - #define _Z_DEPLOY (deploy_z_probe()) - #define _Z_STOW (stow_z_probe()) - #elif HAS_Z_SERVO_ENDSTOP - #define _Z_DEPLOY do{ raise_z_for_servo(Z_RAISE_BEFORE_PROBING); DEPLOY_Z_SERVO(); endstops.z_probe_enabled = true; }while(0) - #define _Z_STOW do{ raise_z_for_servo(Z_RAISE_AFTER_PROBING); STOW_Z_SERVO(); endstops.z_probe_enabled = false; }while(0) - #endif - // Homing Z towards the bed? Deploy the Z probe or endstop. - #if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE) + #if HAS_BED_PROBE if (axis == Z_AXIS && axis_home_dir < 0) { #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_DEPLOY)); + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > deploy_z_probe()"); #endif - _Z_DEPLOY; + deploy_z_probe(); } #endif @@ -2441,12 +2437,12 @@ static void homeaxis(AxisEnum axis) { axis_homed[axis] = true; // Put away the Z probe - #if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE) + #if HAS_BED_PROBE if (axis == Z_AXIS && axis_home_dir < 0) { #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_STOW)); + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > stow_z_probe()"); #endif - _Z_STOW; + stow_z_probe(); } #endif @@ -3468,9 +3464,7 @@ inline void gcode_G28() { #endif // !DELTA } - #if ENABLED(Z_PROBE_SLED) - dock_sled(false); // engage (un-dock) the Z probe - #elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && HAS_Z_SERVO_ENDSTOP) + #if HAS_BED_PROBE deploy_z_probe(); #endif @@ -3721,14 +3715,7 @@ inline void gcode_G28() { #endif // !AUTO_BED_LEVELING_GRID - #if ENABLED(DELTA) - // Allen Key Probe for Delta - #if ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_ENDSTOP - stow_z_probe(); - #else - raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe - #endif - #else // !DELTA + #if DISABLED(DELTA) if (verbose_level > 0) planner.bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); @@ -3788,7 +3775,7 @@ inline void gcode_G28() { #if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) + Z_RAISE_AFTER_PROBING #endif - ; + ; // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home" sync_plan_position(); @@ -3796,18 +3783,13 @@ inline void gcode_G28() { if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position); #endif } - - // Sled assembly for Cartesian bots - #if ENABLED(Z_PROBE_SLED) - dock_sled(true); // dock the sled - #elif !HAS_Z_SERVO_ENDSTOP && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) - // Raise Z axis for non-delta and non servo based probes - raise_z_after_probing(); - #endif - #endif // !DELTA - #if ENABLED(MECHANICAL_PROBE) + #if DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) && !HAS_Z_SERVO_ENDSTOP + raise_z_after_probing(); + #endif + + #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(MECHANICAL_PROBE) stow_z_probe(); #endif @@ -3838,38 +3820,38 @@ inline void gcode_G28() { KEEPALIVE_STATE(IN_HANDLER); } - #if DISABLED(Z_PROBE_SLED) // could be avoided +#endif //AUTO_BED_LEVELING_FEATURE - /** - * G30: Do a single Z probe at the current XY - */ - inline void gcode_G30() { - deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here. +#if HAS_BED_PROBE - stepper.synchronize(); - // TODO: clear the leveling matrix or the planner will be set incorrectly - setup_for_endstop_move(); // Too late. Must be done before deploying. + /** + * G30: Do a single Z probe at the current XY + */ + inline void gcode_G30() { + deploy_z_probe(); - run_z_probe(); + stepper.synchronize(); + // TODO: clear the leveling matrix or the planner will be set incorrectly + setup_for_endstop_move(); // Too late. Must be done before deploying. - SERIAL_PROTOCOLPGM("Bed X: "); - SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001); - SERIAL_PROTOCOLPGM(" Y: "); - SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001); - SERIAL_PROTOCOLPGM(" Z: "); - SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001); - SERIAL_EOL; + run_z_probe(); - clean_up_after_endstop_move(); // Too early. must be done after the stowing. + SERIAL_PROTOCOLPGM("Bed X: "); + SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001); + SERIAL_PROTOCOLPGM(" Y: "); + SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001); + SERIAL_PROTOCOLPGM(" Z: "); + SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001); + SERIAL_EOL; - stow_z_probe(); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here. + clean_up_after_endstop_move(); // Too early. must be done after the stowing. - report_current_position(); - } + stow_z_probe(); - #endif //!Z_PROBE_SLED + report_current_position(); + } -#endif //AUTO_BED_LEVELING_FEATURE +#endif // HAS_BED_PROBE /** * G92: Set current position to given X Y Z E @@ -6875,24 +6857,24 @@ void process_next_command() { break; #endif - #if ENABLED(AUTO_BED_LEVELING_FEATURE) - - #if DISABLED(Z_PROBE_SLED) + #if HAS_BED_PROBE - case 30: // G30 Single Z probe - gcode_G30(); - break; + case 30: // G30 Single Z probe + gcode_G30(); + break; - #else // Z_PROBE_SLED + #if ENABLED(Z_PROBE_SLED) case 31: // G31: dock the sled + stow_z_probe(); + break; case 32: // G32: undock the sled - dock_sled(codenum == 31); + deploy_z_probe(); break; #endif // Z_PROBE_SLED - #endif // AUTO_BED_LEVELING_FEATURE + #endif // HAS_BED_PROBE case 90: // G90 relative_mode = false;