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Stow z on M402 without extra raise

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This commit is contained in:
Scott Lahteine 2015-04-28 19:10:07 -07:00
parent 7548a56f64
commit a235dca79c
1 changed files with 43 additions and 33 deletions
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76
Marlin/Marlin_main.cpp
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@ -1266,13 +1266,14 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
// Engage Z Servo endstop if enabled // Engage Z Servo endstop if enabled
if (servo_endstops[Z_AXIS] >= 0) { if (servo_endstops[Z_AXIS] >= 0) {
Servo *srv = &servo[servo_endstops[Z_AXIS]];
#if SERVO_LEVELING #if SERVO_LEVELING
servo[servo_endstops[Z_AXIS]].attach(0); srv->attach(0);
#endif #endif
servo[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]); srv->write(servo_endstop_angles[Z_AXIS * 2]);
#if SERVO_LEVELING #if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY); delay(PROBE_SERVO_DEACTIVATION_DELAY);
servo[servo_endstops[Z_AXIS]].detach(); srv->detach();
#endif #endif
} }
@ -1318,7 +1319,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
} }
static void stow_z_probe() { static void stow_z_probe(bool doRaise=true) {
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
@ -1326,19 +1327,21 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
if (servo_endstops[Z_AXIS] >= 0) { if (servo_endstops[Z_AXIS] >= 0) {
#if Z_RAISE_AFTER_PROBING > 0 #if Z_RAISE_AFTER_PROBING > 0
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 if (doRaise) {
st_synchronize(); 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
st_synchronize();
}
#endif #endif
// Change the Z servo angle
Servo *srv = &servo[servo_endstops[Z_AXIS]];
#if SERVO_LEVELING #if SERVO_LEVELING
servo[servo_endstops[Z_AXIS]].attach(0); srv->attach(0);
#endif #endif
srv->write(servo_endstop_angles[Z_AXIS * 2 + 1]);
servo[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if SERVO_LEVELING #if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY); delay(PROBE_SERVO_DEACTIVATION_DELAY);
servo[servo_endstops[Z_AXIS]].detach(); srv->detach();
#endif #endif
} }
@ -1522,19 +1525,20 @@ static void homeaxis(AxisEnum axis) {
current_position[axis] = 0; current_position[axis] = 0;
sync_plan_position(); sync_plan_position();
// Engage Servo endstop if enabled #if SERVO_LEVELING && !defined(Z_PROBE_SLED)
#if defined(SERVO_ENDSTOPS) && !defined(Z_PROBE_SLED)
#if SERVO_LEVELING // Deploy a probe if there is one, and homing towards the bed
if (axis == Z_AXIS) deploy_z_probe(); else if (axis == Z_AXIS && axis_home_dir < 0) deploy_z_probe();
#endif
{
if (servo_endstops[axis] > -1)
servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
}
#endif // SERVO_ENDSTOPS && !Z_PROBE_SLED #elif defined(SERVO_ENDSTOPS)
// Engage Servo endstop if enabled
if (servo_endstops[axis] > -1)
servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
#endif
// Set a flag for Z motor locking
#ifdef Z_DUAL_ENDSTOPS #ifdef Z_DUAL_ENDSTOPS
if (axis == Z_AXIS) In_Homing_Process(true); if (axis == Z_AXIS) In_Homing_Process(true);
#endif #endif
@ -1612,14 +1616,17 @@ static void homeaxis(AxisEnum axis) {
endstops_hit_on_purpose(); // clear endstop hit flags endstops_hit_on_purpose(); // clear endstop hit flags
axis_known_position[axis] = true; axis_known_position[axis] = true;
// Retract Servo endstop if enabled #if SERVO_LEVELING && !defined(Z_PROBE_SLED)
#ifdef SERVO_ENDSTOPS
// Stow the Z probe if it had been deployed
if (axis == Z_AXIS && axis_home_dir < 0) stow_z_probe();
#elif defined(SERVO_ENDSTOPS)
// Retract Servo endstop if enabled
if (servo_endstops[axis] > -1) if (servo_endstops[axis] > -1)
servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]); servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
#endif
#if SERVO_LEVELING && !defined(Z_PROBE_SLED)
if (axis == Z_AXIS) stow_z_probe();
#endif #endif
} }
@ -2996,7 +3003,7 @@ inline void gcode_M42() {
current_position[E_AXIS] = E_current = st_get_position_mm(E_AXIS); current_position[E_AXIS] = E_current = st_get_position_mm(E_AXIS);
// //
// OK, do the inital probe to get us close to the bed. // OK, do the initial probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes // Then retrace the right amount and use that in subsequent probes
// //
@ -3105,12 +3112,14 @@ inline void gcode_M42() {
plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder); plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize(); st_synchronize();
// Stow between
if (deploy_probe_for_each_reading) { if (deploy_probe_for_each_reading) {
stow_z_probe(); stow_z_probe();
delay(1000); delay(1000);
} }
} }
// Stow after
if (!deploy_probe_for_each_reading) { if (!deploy_probe_for_each_reading) {
stow_z_probe(); stow_z_probe();
delay(1000); delay(1000);
@ -4062,13 +4071,14 @@ inline void gcode_M226() {
if (code_seen('S')) { if (code_seen('S')) {
servo_position = code_value(); servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) { if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
Servo *srv = &servo[servo_index];
#if SERVO_LEVELING #if SERVO_LEVELING
servo[servo_index].attach(0); srv->attach(0);
#endif #endif
servo[servo_index].write(servo_position); srv->write(servo_position);
#if SERVO_LEVELING #if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY); delay(PROBE_SERVO_DEACTIVATION_DELAY);
servo[servo_index].detach(); srv->detach();
#endif #endif
} }
else { else {
@ -4372,12 +4382,12 @@ inline void gcode_M303() {
*/ */
inline void gcode_M400() { st_synchronize(); } inline void gcode_M400() { st_synchronize(); }
#if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED) #if defined(ENABLE_AUTO_BED_LEVELING) && !defined(Z_PROBE_SLED) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY))
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
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;
if (!axis_known_position[Z_AXIS]) z_dest += zpos; z_dest += axis_known_position[Z_AXIS] ? -zprobe_zoffset : zpos;
if (zpos < z_dest) if (zpos < z_dest)
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_dest); // also updates current_position do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_dest); // also updates current_position
} }
@ -4400,7 +4410,7 @@ inline void gcode_M400() { st_synchronize(); }
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
raise_z_for_servo(); raise_z_for_servo();
#endif #endif
stow_z_probe(); stow_z_probe(false);
} }
#endif #endif