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Merge pull request #1503 from MarcelMo/patch-2

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Support for simple customisable AutoZProbing area
This commit is contained in:
alexborro 2015-02-25 13:22:42 -03:00
parent e6af82ba2f d28f5b9e82
commit 227ab8c665
1 changed files with 28 additions and 14 deletions
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42
Marlin/Marlin_main.cpp
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@ -1720,6 +1720,7 @@ void process_commands()
#ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
// Override probing area by providing [F]ront [B]ack [L]eft [R]ight Grid[P]oints values
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
@ -1733,6 +1734,16 @@ void process_commands()
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
break; // abort G29, since we don't know where we are
}
int left_probe_bed_position=LEFT_PROBE_BED_POSITION;
int right_probe_bed_position=RIGHT_PROBE_BED_POSITION;
int back_probe_bed_position=BACK_PROBE_BED_POSITION;
int front_probe_bed_position=FRONT_PROBE_BED_POSITION;
int auto_bed_leveling_grid_points=AUTO_BED_LEVELING_GRID_POINTS;
if (code_seen('L')) left_probe_bed_position=(int)code_value();
if (code_seen('R')) right_probe_bed_position=(int)code_value();
if (code_seen('B')) back_probe_bed_position=(int)code_value();
if (code_seen('F')) front_probe_bed_position=(int)code_value();
if (code_seen('P')) auto_bed_leveling_grid_points=(int)code_value();
#ifdef Z_PROBE_SLED
dock_sled(false);
@ -1754,8 +1765,8 @@ void process_commands()
#ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
// solve the plane equation ax + by + d = z
@ -1765,32 +1776,35 @@ void process_commands()
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations
double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
double eqnAMatrix[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points*3];
// "B" vector of Z points
double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
double eqnBVector[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points];
int probePointCounter = 0;
bool zig = true;
for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
for (int yProbe=front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing)
{
int xProbe, xInc;
if (zig)
{
xProbe = LEFT_PROBE_BED_POSITION;
//xEnd = RIGHT_PROBE_BED_POSITION;
xProbe = left_probe_bed_position;
//xEnd = right_probe_bed_position;
xInc = xGridSpacing;
zig = false;
} else // zag
{
xProbe = RIGHT_PROBE_BED_POSITION;
//xEnd = LEFT_PROBE_BED_POSITION;
xProbe = right_probe_bed_position;
//xEnd = left_probe_bed_position;
xInc = -xGridSpacing;
zig = true;
}
for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
for (int xCount=0; xCount < auto_bed_leveling_grid_points; xCount++)
{
float z_before;
if (probePointCounter == 0)
@ -1822,9 +1836,9 @@ void process_commands()
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
eqnAMatrix[probePointCounter + 0*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = xProbe;
eqnAMatrix[probePointCounter + 1*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = yProbe;
eqnAMatrix[probePointCounter + 2*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = 1;
probePointCounter++;
xProbe += xInc;
}
@ -1832,7 +1846,7 @@ void process_commands()
clean_up_after_endstop_move();
// solve lsq problem
double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
double *plane_equation_coefficients = qr_solve(auto_bed_leveling_grid_points*auto_bed_leveling_grid_points, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);