Merge pull request #4096 from thinkyhead/rc_always_raise_servo
Always raise Z (if needed) for servo deploy/stow
This commit is contained in:
Scott Lahteine
GitHub
commit
524f6d9bd6
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@ -383,7 +383,6 @@
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#endif
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#define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
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#define SERVO_LEVELING (ENABLED(AUTO_BED_LEVELING_FEATURE) && HAS_Z_SERVO_ENDSTOP)
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/**
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* Sled Options
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@ -750,9 +750,6 @@ void servo_init() {
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#endif
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#if HAS_Z_SERVO_ENDSTOP
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endstops.enable_z_probe(false);
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/**
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* Set position of Z Servo Endstop
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*
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@ -763,8 +760,11 @@ void servo_init() {
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*
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*/
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STOW_Z_SERVO();
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#endif // HAS_Z_SERVO_ENDSTOP
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#endif
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#if HAS_BED_PROBE
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endstops.enable_z_probe(false);
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#endif
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}
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/**
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@ -1661,6 +1661,29 @@ static void setup_for_endstop_move() {
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#endif //HAS_BED_PROBE
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#if HAS_Z_SERVO_ENDSTOP
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/**
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* Raise Z to a minimum height to make room for a servo to move
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*
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* zprobe_zoffset: Negative of the Z height where the probe engages
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* z_dest: The before / after probing raise distance
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*
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* The zprobe_zoffset is negative for a switch below the nozzle, so
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* multiply by Z_HOME_DIR (-1) to move enough away from the bed.
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*/
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void raise_z_for_servo(float z_dest) {
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z_dest += home_offset[Z_AXIS];
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if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
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z_dest -= zprobe_zoffset;
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if (z_dest > current_position[Z_AXIS])
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do_blocking_move_to_z(z_dest); // also updates current_position
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}
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#endif
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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@ -1861,6 +1884,9 @@ static void setup_for_endstop_move() {
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#if HAS_Z_SERVO_ENDSTOP
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// Make room for Z Servo
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raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
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// Engage Z Servo endstop if enabled
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DEPLOY_Z_SERVO();
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@ -1941,17 +1967,14 @@ static void setup_for_endstop_move() {
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#endif // Z_PROBE_ALLEN_KEY
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#if ENABLED(FIX_MOUNTED_PROBE)
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// Noting to be done. Just set endstops.z_probe_enabled
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// Nothing to be done. Just enable_z_probe below...
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#endif
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endstops.enable_z_probe();
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}
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static void stow_z_probe(bool doRaise = true) {
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#if !(HAS_Z_SERVO_ENDSTOP && (Z_RAISE_AFTER_PROBING > 0))
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UNUSED(doRaise);
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#endif
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static void stow_z_probe() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
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#endif
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@ -1960,13 +1983,8 @@ static void setup_for_endstop_move() {
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#if HAS_Z_SERVO_ENDSTOP
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// Retract Z Servo endstop if enabled
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#if Z_RAISE_AFTER_PROBING > 0
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if (doRaise) {
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raise_z_after_probing(); // this also updates current_position
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stepper.synchronize();
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}
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#endif
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// Make room for the servo
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raise_z_for_servo(Z_RAISE_AFTER_PROBING);
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// Change the Z servo angle
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STOW_Z_SERVO();
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@ -2034,9 +2052,7 @@ static void setup_for_endstop_move() {
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}
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stop();
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}
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#endif // Z_PROBE_ALLEN_KEY
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#if ENABLED(FIX_MOUNTED_PROBE)
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#elif ENABLED(FIX_MOUNTED_PROBE)
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// Nothing to do here. Just clear endstops.z_probe_enabled
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#endif
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@ -2195,29 +2211,6 @@ static void setup_for_endstop_move() {
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#endif // AUTO_BED_LEVELING_FEATURE
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#if HAS_Z_SERVO_ENDSTOP
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/**
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* Raise Z to a minimum height to make room for a servo to move
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*
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* zprobe_zoffset: Negative of the Z height where the probe engages
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* z_dest: The before / after probing raise distance
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*
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* The zprobe_zoffset is negative for a switch below the nozzle, so
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* multiply by Z_HOME_DIR (-1) to move enough away from the bed.
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*/
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void raise_z_for_servo(float z_dest) {
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z_dest += home_offset[Z_AXIS];
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if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
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z_dest -= zprobe_zoffset;
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if (z_dest > current_position[Z_AXIS])
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do_blocking_move_to_z(z_dest); // also updates current_position
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}
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#endif
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#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
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static void axis_unhomed_error(bool xyz=false) {
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if (xyz) {
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@ -2313,7 +2306,7 @@ static void homeaxis(AxisEnum axis) {
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#if ENABLED(Z_PROBE_SLED)
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#define _Z_DEPLOY (dock_sled(false))
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#define _Z_STOW (dock_sled(true))
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#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
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#elif ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_Z_SERVO_ENDSTOP || ENABLED(FIX_MOUNTED_PROBE))
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#define _Z_DEPLOY (deploy_z_probe())
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#define _Z_STOW (stow_z_probe())
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#elif HAS_Z_SERVO_ENDSTOP
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@ -2322,10 +2315,10 @@ static void homeaxis(AxisEnum axis) {
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#endif
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// Homing Z towards the bed? Deploy the Z probe or endstop.
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_SERVO_ENDSTOP
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#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
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if (axis == Z_AXIS && axis_home_dir < 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY));
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_DEPLOY));
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#endif
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_Z_DEPLOY;
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}
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@ -2445,10 +2438,10 @@ static void homeaxis(AxisEnum axis) {
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axis_homed[axis] = true;
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// Put away the Z probe
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_SERVO_ENDSTOP
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#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
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if (axis == Z_AXIS && axis_home_dir < 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_STOW));
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#endif
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_Z_STOW;
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}
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@ -3474,7 +3467,7 @@ inline void gcode_G28() {
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(false); // engage (un-dock) the Z probe
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#elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && SERVO_LEVELING)
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#elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && HAS_Z_SERVO_ENDSTOP)
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deploy_z_probe();
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#endif
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@ -3727,7 +3720,7 @@ inline void gcode_G28() {
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#if ENABLED(DELTA)
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// Allen Key Probe for Delta
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#if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
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#if ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_ENDSTOP
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stow_z_probe();
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#else
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raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
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@ -3848,9 +3841,6 @@ inline void gcode_G28() {
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* G30: Do a single Z probe at the current XY
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*/
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inline void gcode_G30() {
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#if HAS_Z_SERVO_ENDSTOP
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raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
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#endif
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deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
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stepper.synchronize();
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@ -3869,10 +3859,7 @@ inline void gcode_G28() {
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clean_up_after_endstop_move(); // Too early. must be done after the stowing.
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#if HAS_Z_SERVO_ENDSTOP
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raise_z_for_servo(Z_RAISE_AFTER_PROBING);
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#endif
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stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
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stow_z_probe(); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
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report_current_position();
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}
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@ -5989,9 +5976,6 @@ inline void gcode_M400() { stepper.synchronize(); }
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* M401: Engage Z Servo endstop if available
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*/
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inline void gcode_M401() {
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#if HAS_Z_SERVO_ENDSTOP
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raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
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#endif
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deploy_z_probe();
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}
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@ -5999,10 +5983,7 @@ inline void gcode_M400() { stepper.synchronize(); }
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* M402: Retract Z Servo endstop if enabled
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*/
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inline void gcode_M402() {
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#if HAS_Z_SERVO_ENDSTOP
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raise_z_for_servo(Z_RAISE_AFTER_PROBING);
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#endif
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stow_z_probe(false);
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stow_z_probe();
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}
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#endif // AUTO_BED_LEVELING_FEATURE && (HAS_Z_SERVO_ENDSTOP || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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