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@ -1651,7 +1651,7 @@ static void clean_up_after_endstop_or_probe_move() {
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* Plan a move to (X, Y, Z) and set the current_position
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* The final current_position may not be the one that was requested
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*/
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static void do_blocking_move_to(float x, float y, float z) {
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static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0) {
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float old_feedrate = feedrate;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -1660,7 +1660,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#if ENABLED(DELTA)
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feedrate = XY_PROBE_FEEDRATE;
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feedrate = (feed_rate != 0.0) ? feed_rate : XY_PROBE_FEEDRATE;
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destination[X_AXIS] = x;
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destination[Y_AXIS] = y;
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@ -1675,19 +1675,19 @@ static void clean_up_after_endstop_or_probe_move() {
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// If Z needs to raise, do it before moving XY
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if (current_position[Z_AXIS] < z) {
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feedrate = homing_feedrate[Z_AXIS];
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feedrate = (feed_rate != 0.0) ? feed_rate : homing_feedrate[Z_AXIS];
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current_position[Z_AXIS] = z;
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line_to_current_position();
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}
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feedrate = XY_PROBE_FEEDRATE;
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feedrate = (feed_rate != 0.0) ? feed_rate : XY_PROBE_FEEDRATE;
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current_position[X_AXIS] = x;
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current_position[Y_AXIS] = y;
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line_to_current_position();
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// If Z needs to lower, do it after moving XY
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if (current_position[Z_AXIS] > z) {
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feedrate = homing_feedrate[Z_AXIS];
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feedrate = (feed_rate != 0.0) ? feed_rate : homing_feedrate[Z_AXIS];
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current_position[Z_AXIS] = z;
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line_to_current_position();
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}
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@ -1699,12 +1699,12 @@ static void clean_up_after_endstop_or_probe_move() {
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feedrate = old_feedrate;
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}
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inline void do_blocking_move_to_x(float x) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
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inline void do_blocking_move_to_x(float x, float feed_rate = 0.0) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], feed_rate);
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}
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inline void do_blocking_move_to_z(float z) {
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
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inline void do_blocking_move_to_z(float z, float feed_rate = 0.0) {
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, feed_rate);
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}
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/**
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@ -1735,7 +1735,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif //HAS_BED_PROBE
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#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
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#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
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static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
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const bool xx = x && !axis_homed[X_AXIS],
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yy = y && !axis_homed[Y_AXIS],
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@ -1783,215 +1783,244 @@ static void clean_up_after_endstop_or_probe_move() {
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}
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#endif
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if (axis_unhomed_error(true, false, false)) return;
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float oldXpos = current_position[X_AXIS]; // save x position
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// Dock sled a bit closer to ensure proper capturing
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
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digitalWrite(SLED_PIN, !stow); // switch solenoid
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do_blocking_move_to_x(oldXpos); // return to position before docking
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}
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#endif // Z_PROBE_SLED
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#if ENABLED(Z_PROBE_ALLEN_KEY)
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void run_deploy_moves_script() {
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE);
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE);
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE);
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE);
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE);
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#endif
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}
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void run_stow_moves_script() {
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#if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
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#define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
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#define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
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#define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE);
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
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#define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
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#define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
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#define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE);
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
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#define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
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#define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
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#define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE);
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
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#define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
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#define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
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#define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE);
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
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#define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
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#define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
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#define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
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#endif
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do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE);
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#endif
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}
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#endif
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#if HAS_BED_PROBE
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static void deploy_z_probe() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position);
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// TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
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#if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
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#if ENABLED(Z_MIN_PROBE_ENDSTOP)
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#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
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#else
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#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
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#endif
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#endif
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if (endstops.z_probe_enabled) return;
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#define DEPLOY_PROBE() set_probe_deployed( true )
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#define STOW_PROBE() set_probe_deployed( false )
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// returns false for ok and true for failure
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static bool set_probe_deployed(bool deploy) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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DEBUG_POS("set_probe_deployed", current_position);
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SERIAL_ECHOPAIR("deploy: ", deploy);
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}
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#endif
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if (endstops.z_probe_enabled == deploy) return false;
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// Make room for probe
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do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(false);
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#elif HAS_Z_SERVO_ENDSTOP
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// Engage Z Servo endstop if enabled
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DEPLOY_Z_SERVO();
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if (axis_unhomed_error(true, false, false)) { stop(); return true; }
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#elif ENABLED(Z_PROBE_ALLEN_KEY)
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|
float old_feedrate = feedrate;
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if (axis_unhomed_error(true, true, true )) { stop(); return true; }
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|
#endif
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|
|
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
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|
float oldXpos = current_position[X_AXIS]; // save x position
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|
float oldYpos = current_position[Y_AXIS]; // save y position
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|
|
#ifdef _TRIGGERED_WHEN_STOWED_TEST
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|
|
// If endstop is already false, the Z probe is deployed
|
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|
|
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
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|
|
bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
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|
|
if (z_probe_endstop)
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|
#else
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|
|
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
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|
|
if (z_min_endstop)
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|
|
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
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|
|
// Would a goto be less ugly?
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|
|
//while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
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|
|
// for a triggered when stowed manual probe.
|
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|
|
#endif
|
|
|
|
|
{
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|
|
// Move to the start position to initiate deployment
|
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|
|
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X;
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|
|
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y;
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|
|
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z;
|
|
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|
|
prepare_move_to_destination(); // this will also set_current_to_destination
|
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|
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|
|
// Move to engage deployment
|
|
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|
|
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)
|
|
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|
|
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE;
|
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|
|
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_X != Z_PROBE_ALLEN_KEY_DEPLOY_1_X)
|
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|
|
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_X;
|
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|
|
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Y != Z_PROBE_ALLEN_KEY_DEPLOY_1_Y)
|
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|
|
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y;
|
|
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|
|
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_to_destination();
|
|
|
|
|
|
|
|
|
|
#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_to_destination();
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Partially Home X,Y for safety
|
|
|
|
|
destination[X_AXIS] *= 0.75;
|
|
|
|
|
destination[Y_AXIS] *= 0.75;
|
|
|
|
|
prepare_move_to_destination(); // this will also set_current_to_destination
|
|
|
|
|
|
|
|
|
|
feedrate = old_feedrate;
|
|
|
|
|
|
|
|
|
|
stepper.synchronize();
|
|
|
|
|
|
|
|
|
|
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
|
|
|
|
|
z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_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!");
|
|
|
|
|
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
|
|
|
|
|
}
|
|
|
|
|
stop();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
|
|
// Nothing to be done. Just enable_z_probe below...
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
endstops.enable_z_probe();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static void stow_z_probe() {
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
if (!endstops.z_probe_enabled) return;
|
|
|
|
|
|
|
|
|
|
// Make more room for the servo
|
|
|
|
|
do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
|
|
|
|
|
|
|
|
|
|
#if ENABLED(Z_PROBE_SLED)
|
|
|
|
|
|
|
|
|
|
dock_sled(true);
|
|
|
|
|
|
|
|
|
|
dock_sled(!deploy);
|
|
|
|
|
#elif HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
|
|
|
|
|
// Change the Z servo angle
|
|
|
|
|
STOW_Z_SERVO();
|
|
|
|
|
|
|
|
|
|
servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[((deploy) ? 0 : 1)]);
|
|
|
|
|
#elif ENABLED(Z_PROBE_ALLEN_KEY)
|
|
|
|
|
|
|
|
|
|
float old_feedrate = feedrate;
|
|
|
|
|
|
|
|
|
|
// Move up for safety
|
|
|
|
|
feedrate = Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE;
|
|
|
|
|
|
|
|
|
|
#if _Z_RAISE_PROBE_DEPLOY_STOW > 0
|
|
|
|
|
destination[Z_AXIS] = current_position[Z_AXIS] + _Z_RAISE_PROBE_DEPLOY_STOW;
|
|
|
|
|
prepare_move_to_destination_raw(); // this will also set_current_to_destination
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Move to the start position to initiate retraction
|
|
|
|
|
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_to_destination();
|
|
|
|
|
|
|
|
|
|
// Move the nozzle down to push the Z probe into retracted position
|
|
|
|
|
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_to_destination();
|
|
|
|
|
|
|
|
|
|
// Move up for safety
|
|
|
|
|
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_to_destination();
|
|
|
|
|
|
|
|
|
|
// Home XY for safety
|
|
|
|
|
feedrate = homing_feedrate[X_AXIS] / 2;
|
|
|
|
|
destination[X_AXIS] = 0;
|
|
|
|
|
destination[Y_AXIS] = 0;
|
|
|
|
|
prepare_move_to_destination(); // this will also set_current_to_destination
|
|
|
|
|
|
|
|
|
|
feedrate = old_feedrate;
|
|
|
|
|
|
|
|
|
|
stepper.synchronize();
|
|
|
|
|
|
|
|
|
|
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
|
|
|
|
|
bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
|
|
|
|
|
if (!z_probe_endstop)
|
|
|
|
|
if (!deploy) run_stow_moves_script();
|
|
|
|
|
else run_deploy_moves_script();
|
|
|
|
|
#else
|
|
|
|
|
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
|
|
|
|
|
if (!z_min_endstop)
|
|
|
|
|
// Nothing to be done. Just enable_z_probe below...
|
|
|
|
|
#endif
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
#ifdef _TRIGGERED_WHEN_STOWED_TEST
|
|
|
|
|
}; // opened before the probe specific actions
|
|
|
|
|
|
|
|
|
|
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) {
|
|
|
|
|
if (IsRunning()) {
|
|
|
|
|
SERIAL_ERROR_START;
|
|
|
|
|
SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
|
|
|
|
|
SERIAL_ERRORLNPGM("Z-Probe failed");
|
|
|
|
|
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
|
|
|
|
|
}
|
|
|
|
|
stop();
|
|
|
|
|
return true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
|
|
// Nothing to do here. Just clear endstops.z_probe_enabled
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
endstops.enable_z_probe(false);
|
|
|
|
|
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
|
|
|
|
|
endstops.enable_z_probe( deploy );
|
|
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Do a single Z probe and return with current_position[Z_AXIS]
|
|
|
|
|
@ -2081,8 +2110,8 @@ static void clean_up_after_endstop_or_probe_move() {
|
|
|
|
|
return current_position[Z_AXIS];
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
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_xy(float x, float y, float feed_rate = 0.0) {
|
|
|
|
|
do_blocking_move_to(x, y, current_position[Z_AXIS], feed_rate);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
@ -2124,7 +2153,7 @@ static void clean_up_after_endstop_or_probe_move() {
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
|
|
|
|
|
#endif
|
|
|
|
|
deploy_z_probe();
|
|
|
|
|
if (DEPLOY_PROBE()) return NAN;
|
|
|
|
|
|
|
|
|
|
float measured_z = run_z_probe();
|
|
|
|
|
|
|
|
|
|
@ -2132,7 +2161,7 @@ static void clean_up_after_endstop_or_probe_move() {
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
|
|
|
|
|
#endif
|
|
|
|
|
stow_z_probe();
|
|
|
|
|
if (STOW_PROBE()) return NAN;
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}
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else {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -2340,7 +2369,7 @@ static void homeaxis(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
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#endif
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deploy_z_probe();
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if (DEPLOY_PROBE()) return;
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}
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#endif
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@ -2467,7 +2496,7 @@ static void homeaxis(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
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#endif
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stow_z_probe();
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if (STOW_PROBE()) return;
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}
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#endif
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@ -3381,12 +3410,7 @@ inline void gcode_G28() {
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}
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bool dryrun = code_seen('D');
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#if ENABLED(Z_PROBE_ALLEN_KEY)
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const bool stow_probe_after_each = false;
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#else
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bool stow_probe_after_each = code_seen('E');
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#endif
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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@ -3485,8 +3509,8 @@ inline void gcode_G28() {
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setup_for_endstop_or_probe_move();
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// Deploy the probe. Servo will raise if needed.
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deploy_z_probe();
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// Deploy the probe. Probe will raise if needed.
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if (DEPLOY_PROBE()) return;
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bed_leveling_in_progress = true;
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@ -3591,7 +3615,7 @@ inline void gcode_G28() {
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#endif // !AUTO_BED_LEVELING_GRID
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// Raise to _Z_RAISE_PROBE_DEPLOY_STOW. Stow the probe.
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|
|
stow_z_probe();
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if (STOW_PROBE()) return;
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// Restore state after probing
|
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|
|
clean_up_after_endstop_or_probe_move();
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|
|
@ -3798,12 +3822,12 @@ inline void gcode_G28() {
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|
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/**
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|
|
* G31: Deploy the Z probe
|
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*/
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|
|
inline void gcode_G31() { deploy_z_probe(); }
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inline void gcode_G31() { DEPLOY_PROBE(); }
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/**
|
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|
|
* G32: Stow the Z probe
|
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*/
|
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|
|
inline void gcode_G32() { stow_z_probe(); }
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|
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inline void gcode_G32() { STOW_PROBE(); }
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|
#endif // Z_PROBE_SLED
|
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|
@ -4144,11 +4168,7 @@ inline void gcode_M42() {
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|
|
float X_current = current_position[X_AXIS],
|
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|
|
Y_current = current_position[Y_AXIS];
|
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|
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|
|
#if ENABLED(Z_PROBE_ALLEN_KEY)
|
|
|
|
|
const bool stow_probe_after_each = false;
|
|
|
|
|
#else
|
|
|
|
|
bool stow_probe_after_each = code_seen('E');
|
|
|
|
|
#endif
|
|
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|
|
|
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|
|
float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
|
|
|
|
|
#if DISABLED(DELTA)
|
|
|
|
|
@ -4315,7 +4335,7 @@ inline void gcode_M42() {
|
|
|
|
|
|
|
|
|
|
} // End of probe loop
|
|
|
|
|
|
|
|
|
|
stow_z_probe();
|
|
|
|
|
if (STOW_PROBE()) return;
|
|
|
|
|
|
|
|
|
|
if (verbose_level > 0) {
|
|
|
|
|
SERIAL_PROTOCOLPGM("Mean: ");
|
|
|
|
|
@ -5891,12 +5911,12 @@ inline void gcode_M400() { stepper.synchronize(); }
|
|
|
|
|
/**
|
|
|
|
|
* M401: Engage Z Servo endstop if available
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_M401() { deploy_z_probe(); }
|
|
|
|
|
inline void gcode_M401() { DEPLOY_PROBE(); }
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* M402: Retract Z Servo endstop if enabled
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_M402() { stow_z_probe(); }
|
|
|
|
|
inline void gcode_M402() { STOW_PROBE(); }
|
|
|
|
|
|
|
|
|
|
#endif // HAS_BED_PROBE
|
|
|
|
|
|
|
|
|
|
|
Scott Lahteine
GitHub