From ad09d6a60f53c5666d688421ada06a0d58352d4c Mon Sep 17 00:00:00 2001 From: Richard Wackerbarth Date: Tue, 12 May 2015 04:54:28 -0500 Subject: [PATCH] 3 Step Allen Key Probe --- Marlin/Marlin_main.cpp | 119 ++++++++++++++++++++++++++++++----------- 1 file changed, 88 insertions(+), 31 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index cea5de6cb9..1b498ca0dc 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1296,27 +1296,9 @@ static void setup_for_endstop_move() { } #elif defined(Z_PROBE_ALLEN_KEY) + feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE; - feedrate = homing_feedrate[X_AXIS]; - - // Move to the start position to initiate deployment - destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X; - destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y; - destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z; - prepare_move_raw(); // this will also set_current_to_destination - - // Home X to touch the belt - feedrate = homing_feedrate[X_AXIS]/10; - destination[X_AXIS] = 0; - prepare_move_raw(); // this will also set_current_to_destination - - // Home Y for safety - feedrate = homing_feedrate[X_AXIS]/2; - destination[Y_AXIS] = 0; - prepare_move_raw(); // this will also set_current_to_destination - - st_synchronize(); - + // If endstop is already false, the probe is deployed #ifdef Z_PROBE_ENDSTOP bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); if (z_probe_endstop) @@ -1325,6 +1307,65 @@ static void setup_for_endstop_move() { if (z_min_endstop) #endif { + + // Move to the start position to initiate deployment + destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X; + destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y; + destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z; + prepare_move_raw(); // this will also set_current_to_destination + + // Move to engage deployment + if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE) { + feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE; + } + if (Z_PROBE_ALLEN_KEY_DEPLOY_2_X != Z_PROBE_ALLEN_KEY_DEPLOY_1_X) { + destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_X; + } + if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Y != Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) { + destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y; + } + if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Z != Z_PROBE_ALLEN_KEY_DEPLOY_1_Z) { + destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Z; + } + prepare_move_raw(); + + #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3_X + if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE) { + feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE; + } + + // Move to trigger deployment + if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE) { + feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE; + } + if (Z_PROBE_ALLEN_KEY_DEPLOY_3_X != Z_PROBE_ALLEN_KEY_DEPLOY_2_X) { + destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_X; + } + if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Y != Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) { + destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Y; + } + if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Z != Z_PROBE_ALLEN_KEY_DEPLOY_2_Z) { + destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Z; + } + prepare_move_raw(); + #endif + } + + // Partially Home X,Y for safety + destination[X_AXIS] = destination[X_AXIS]*0.75; + destination[Y_AXIS] = destination[Y_AXIS]*0.75; + prepare_move_raw(); // this will also set_current_to_destination + + st_synchronize(); + + #ifdef Z_PROBE_ENDSTOP + z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); + if (z_probe_endstop) + #else + z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); + if (z_min_endstop) + #endif + { if (IsRunning()) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Z-Probe failed to engage!"); @@ -1366,25 +1407,41 @@ static void setup_for_endstop_move() { #elif defined(Z_PROBE_ALLEN_KEY) // Move up for safety - feedrate = homing_feedrate[X_AXIS]; + feedrate = Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE; destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING; prepare_move_raw(); // this will also set_current_to_destination // Move to the start position to initiate retraction - destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_X; - destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Y; - destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Z; - prepare_move_raw(); // this will also set_current_to_destination + destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_X; + destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Y; + destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Z; + prepare_move_raw(); // Move the nozzle down to push the probe into retracted position - feedrate = homing_feedrate[Z_AXIS]/10; - destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_STOW_DEPTH; - prepare_move_raw(); // this will also set_current_to_destination + if (Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE) { + feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE; + } + if (Z_PROBE_ALLEN_KEY_STOW_2_X != Z_PROBE_ALLEN_KEY_STOW_1_X) { + destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_X; + } + if (Z_PROBE_ALLEN_KEY_STOW_2_Y != Z_PROBE_ALLEN_KEY_STOW_1_Y) { + destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Y; + } + destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z; + prepare_move_raw(); // Move up for safety - feedrate = homing_feedrate[Z_AXIS]/2; - destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_STOW_DEPTH * 2; - prepare_move_raw(); // this will also set_current_to_destination + if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE) { + feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE; + } + if (Z_PROBE_ALLEN_KEY_STOW_3_X != Z_PROBE_ALLEN_KEY_STOW_2_X) { + destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_X; + } + if (Z_PROBE_ALLEN_KEY_STOW_3_Y != Z_PROBE_ALLEN_KEY_STOW_2_Y) { + destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Y; + } + destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z; + prepare_move_raw(); // Home XY for safety feedrate = homing_feedrate[X_AXIS]/2;