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Merge G29 Ending Position (PR#2498)

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Richard Wackerbarth 2015-07-24 22:08:30 -05:00
parent d233976737 e2957df05c
commit 53d9c9ff23
1 changed files with 32 additions and 14 deletions
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46
Marlin/Marlin_main.cpp
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@ -1300,6 +1300,10 @@ static void setup_for_endstop_move() {
feedrate = oldFeedRate; feedrate = oldFeedRate;
} }
inline void do_blocking_move_to_xy(float x, float y) { 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 do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); }
static void clean_up_after_endstop_move() { static void clean_up_after_endstop_move() {
#ifdef ENDSTOPS_ONLY_FOR_HOMING #ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false); enable_endstops(false);
@ -1408,7 +1412,7 @@ static void setup_for_endstop_move() {
#if Z_RAISE_AFTER_PROBING > 0 #if Z_RAISE_AFTER_PROBING > 0
if (doRaise) { if (doRaise) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position
st_synchronize(); st_synchronize();
} }
#endif #endif
@ -1494,8 +1498,8 @@ static void setup_for_endstop_move() {
// Probe bed height at position (x,y), returns the measured z value // Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) { static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) {
// Move Z up to the z_before height, then move the probe to the given XY // Move Z up to the z_before height, then move the probe to the given XY
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); // this also updates current_position do_blocking_move_to_z(z_before); // this also updates current_position
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); // this also updates current_position do_blocking_move_to_xy(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER); // this also updates current_position
#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if (probe_action & ProbeDeploy) deploy_z_probe(); if (probe_action & ProbeDeploy) deploy_z_probe();
@ -1604,20 +1608,18 @@ static void setup_for_endstop_move() {
return; return;
} }
float oldXpos = current_position[X_AXIS]; // save x position
if (dock) { if (dock) {
float oldXpos = current_position[X_AXIS]; // save x position do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // raise Z
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // rise Z do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); // Dock sled a bit closer to ensure proper capturing
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1, current_position[Y_AXIS], current_position[Z_AXIS]); // Dock sled a bit closer to ensure proper capturing
digitalWrite(SLED_PIN, LOW); // turn off magnet digitalWrite(SLED_PIN, LOW); // turn off magnet
do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking
} else { } else {
float oldXpos = current_position[X_AXIS]; // save x position
float z_loc = current_position[Z_AXIS]; float z_loc = current_position[Z_AXIS];
if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING; 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 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 digitalWrite(SLED_PIN, HIGH); // turn on magnet
do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking
} }
do_blocking_move_to_x(oldXpos); // return to position before docking
} }
#endif // Z_PROBE_SLED #endif // Z_PROBE_SLED
@ -2744,11 +2746,28 @@ inline void gcode_G28() {
float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER, float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER, y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
z_tmp = current_position[Z_AXIS], z_tmp = current_position[Z_AXIS],
real_z = st_get_position_mm(Z_AXIS); //get the real Z (since the auto bed leveling is already correcting the plane) real_z = st_get_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the probe offset apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the probe offset
//line below controls z probe offset, zprobe_zoffset is the actual offset that can be modified via m851 or is read from EEPROM
current_position[Z_AXIS] = z_tmp - real_z - zprobe_zoffset; // The difference is added to current position and sent to planner. // Get the current Z position and send it to the planner.
//
// >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z (most recent plan_set_position/sync_plan_position)
//
// >> zprobe_zoffset : Z distance from nozzle to probe (set by default, M851, EEPROM, or Menu)
//
// >> Z_RAISE_AFTER_PROBING : The distance the probe will have lifted after the last probe
//
// >> Should home_offset[Z_AXIS] be included?
//
// Discussion: home_offset[Z_AXIS] was applied in G28 to set the starting Z.
// If Z is not tweaked in G29 -and- the Z probe in G29 is not actually "homing" Z...
// then perhaps it should not be included here. The purpose of home_offset[] is to
// adjust for inaccurate endstops, not for reasonably accurate probes. If it were
// added here, it could be seen as a compensating factor for the Z probe.
//
current_position[Z_AXIS] = -zprobe_zoffset + Z_RAISE_AFTER_PROBING + (z_tmp - real_z);
// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The probe determines Z=0, not "Z home"
sync_plan_position(); sync_plan_position();
} }
#endif // !DELTA #endif // !DELTA
@ -4542,8 +4561,7 @@ inline void gcode_M400() { st_synchronize(); }
void raise_z_for_servo() { void raise_z_for_servo() {
float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING; float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING;
z_dest += axis_known_position[Z_AXIS] ? zprobe_zoffset : zpos; z_dest += axis_known_position[Z_AXIS] ? zprobe_zoffset : zpos;
if (zpos < z_dest) if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_dest); // also updates current_position
} }
#endif #endif