diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 8390a5f840b0011a7c3d0f60146b9639ebbea254..24ce89659614e1e334caf5180c1988cf08de60cc 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1200,22 +1200,24 @@ static void retract_z_probe() {
#endif
}
+enum ProbeAction { ProbeEngageRetract, ProbeEngage, ProbeStay, ProbeRetract };
+
/// Probe bed height at position (x,y), returns the measured z value
-static float probe_pt(float x, float y, float z_before, int retract_action=0) {
+static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract) {
// move to right place
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
-#ifndef Z_PROBE_SLED
- if ((retract_action==0) || (retract_action==1))
- engage_z_probe(); // Engage Z Servo endstop if available
-#endif // Z_PROBE_SLED
+ #ifndef Z_PROBE_SLED
+ if (retract_action == ProbeEngageRetract || retract_action == ProbeEngage) engage_z_probe();
+ #endif
+
run_z_probe();
float measured_z = current_position[Z_AXIS];
-#ifndef Z_PROBE_SLED
- if ((retract_action==0) || (retract_action==3))
- retract_z_probe();
-#endif // Z_PROBE_SLED
+
+ #ifndef Z_PROBE_SLED
+ if (retract_action == ProbeEngageRetract || retract_action == ProbeRetract) retract_z_probe();
+ #endif
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" x: ");
@@ -1376,6 +1378,11 @@ void refresh_cmd_timeout(void)
#endif //FWRETRACT
#ifdef Z_PROBE_SLED
+
+ #ifndef SLED_DOCKING_OFFSET
+ #define SLED_DOCKING_OFFSET 0
+ #endif
+
//
// Method to dock/undock a sled designed by Charles Bell.
//
@@ -1719,193 +1726,286 @@ void process_commands()
break;
#ifdef ENABLE_AUTO_BED_LEVELING
+
+ #if Z_MIN_PIN == -1
+ #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling!!! Z_MIN_PIN must point to a valid hardware pin."
+ #endif
+
+ /**
+ * Enhanced G29 Auto Bed Leveling Probe Routine
+ *
+ * Parameters With AUTO_BED_LEVELING_GRID:
+ *
+ * P Set the size of the grid that will be probed (P x P points).
+ * Example: "G29 P4"
+ *
+ * V Set the verbose level (0-4). Example: "G29 V3"
+ *
+ * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
+ * This is useful for manual bed leveling and finding flaws in the bed (to
+ * assist with part placement).
+ *
+ * F Set the Front limit of the probing grid
+ * B Set the Back limit of the probing grid
+ * L Set the Left limit of the probing grid
+ * R Set the Right limit of the probing grid
+ *
+ * Global Parameters:
+ *
+ * E/e By default G29 engages / disengages the probe for each point.
+ * Include "E" to engage and disengage the probe just once.
+ * There's no extra effect if you have a fixed probe.
+ * Usage: "G29 E" or "G29 e"
+ *
+ */
+
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
- // Override probing area by providing [F]ront [B]ack [L]eft [R]ight Grid[P]oints values
- {
- #if Z_MIN_PIN == -1
- #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
- #endif
+ {
+ // Use one of these defines to specify the origin
+ // for a topographical map to be printed for your bed.
+ #define ORIGIN_BACK_LEFT 1
+ #define ORIGIN_FRONT_RIGHT 2
+ #define ORIGIN_BACK_RIGHT 3
+ #define ORIGIN_FRONT_LEFT 4
+ #define TOPO_ORIGIN ORIGIN_FRONT_LEFT
+
+ // Prevent user from running a G29 without first homing in X and Y
+ if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS])) {
+ LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+ break; // abort G29, since we don't know where we are
+ }
- // Prevent user from running a G29 without first homing in X and Y
- if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
- {
- LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
- break; // abort G29, since we don't know where we are
- }
+ bool enhanced_g29 = code_seen('E') || code_seen('e');
-#ifdef Z_PROBE_SLED
- dock_sled(false);
-#endif // Z_PROBE_SLED
- st_synchronize();
- // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
- //vector_3 corrected_position = plan_get_position_mm();
- //corrected_position.debug("position before G29");
- plan_bed_level_matrix.set_to_identity();
- vector_3 uncorrected_position = plan_get_position();
- //uncorrected_position.debug("position durring G29");
- current_position[X_AXIS] = uncorrected_position.x;
- current_position[Y_AXIS] = uncorrected_position.y;
- current_position[Z_AXIS] = uncorrected_position.z;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- setup_for_endstop_move();
+ #ifdef AUTO_BED_LEVELING_GRID
- feedrate = homing_feedrate[Z_AXIS];
-#ifdef AUTO_BED_LEVELING_GRID
- // probe at the points of a lattice grid
- int left_probe_bed_position=LEFT_PROBE_BED_POSITION;
- int right_probe_bed_position=RIGHT_PROBE_BED_POSITION;
- int back_probe_bed_position=BACK_PROBE_BED_POSITION;
- int front_probe_bed_position=FRONT_PROBE_BED_POSITION;
- int auto_bed_leveling_grid_points=AUTO_BED_LEVELING_GRID_POINTS;
- if (code_seen('L')) left_probe_bed_position=(int)code_value();
- if (code_seen('R')) right_probe_bed_position=(int)code_value();
- if (code_seen('B')) back_probe_bed_position=(int)code_value();
- if (code_seen('F')) front_probe_bed_position=(int)code_value();
- if (code_seen('P')) auto_bed_leveling_grid_points=(int)code_value();
+ // Example Syntax: G29 N4 V2 E T
+ int verbose_level = 1;
- int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
- int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
+ bool topo_flag = code_seen('T') || code_seen('t');
+ if (code_seen('V') || code_seen('v')) {
+ verbose_level = code_value();
+ if (verbose_level < 0 || verbose_level > 4) {
+ SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
+ break;
+ }
+ if (verbose_level > 0) {
+ SERIAL_PROTOCOLPGM("Enhanced G29 Auto_Bed_Leveling Code V1.25:\n");
+ SERIAL_PROTOCOLPGM("Full support at http://3dprintboard.com\n");
+ if (verbose_level > 2) topo_flag = true;
+ }
+ }
- // solve the plane equation ax + by + d = z
- // A is the matrix with rows [x y 1] for all the probed points
- // B is the vector of the Z positions
- // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
- // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
+ int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : AUTO_BED_LEVELING_GRID_POINTS;
+ if (auto_bed_leveling_grid_points < 2 || auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS) {
+ SERIAL_PROTOCOLPGM("?Number of probed points not plausible (2 minimum).\n");
+ break;
+ }
- // "A" matrix of the linear system of equations
- double eqnAMatrix[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points*3];
+ int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION;
+ int right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION;
+ int back_probe_bed_position = code_seen('B') ? code_value_long() : BACK_PROBE_BED_POSITION;
+ int front_probe_bed_position = code_seen('F') ? code_value_long() : FRONT_PROBE_BED_POSITION;
- // "B" vector of Z points
- double eqnBVector[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points];
+ #endif
+ #ifdef Z_PROBE_SLED
+ dock_sled(false); // engage (un-dock) the probe
+ #endif
+ st_synchronize();
+ // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
+ //vector_3 corrected_position = plan_get_position_mm();
+ //corrected_position.debug("position before G29");
+ plan_bed_level_matrix.set_to_identity();
+ vector_3 uncorrected_position = plan_get_position();
+ //uncorrected_position.debug("position durring G29");
+ current_position[X_AXIS] = uncorrected_position.x;
+ current_position[Y_AXIS] = uncorrected_position.y;
+ current_position[Z_AXIS] = uncorrected_position.z;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ setup_for_endstop_move();
- int probePointCounter = 0;
- bool zig = true;
+ feedrate = homing_feedrate[Z_AXIS];
- for (int yProbe=front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing)
+ #ifdef AUTO_BED_LEVELING_GRID
+ // probe at the points of a lattice grid
- {
- int xProbe, xInc;
- if (zig)
- {
- xProbe = left_probe_bed_position;
- //xEnd = right_probe_bed_position;
- xInc = xGridSpacing;
- zig = false;
- } else // zag
- {
- xProbe = right_probe_bed_position;
- //xEnd = left_probe_bed_position;
- xInc = -xGridSpacing;
- zig = true;
- }
+ int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
+ int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
- for (int xCount=0; xCount < auto_bed_leveling_grid_points; xCount++)
- {
- float z_before;
- if (probePointCounter == 0)
- {
- // raise before probing
- z_before = Z_RAISE_BEFORE_PROBING;
- } else
- {
- // raise extruder
- z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
- }
-
- float measured_z;
- //Enhanced G29 - Do not retract servo between probes
- if (code_seen('E') || code_seen('e') )
- {
- if ((yProbe==FRONT_PROBE_BED_POSITION) && (xCount==0))
- {
- measured_z = probe_pt(xProbe, yProbe, z_before,1);
- } else if ((yProbe==FRONT_PROBE_BED_POSITION + (yGridSpacing * (AUTO_BED_LEVELING_GRID_POINTS-1))) && (xCount == AUTO_BED_LEVELING_GRID_POINTS-1))
- {
- measured_z = probe_pt(xProbe, yProbe, z_before,3);
- } else {
- measured_z = probe_pt(xProbe, yProbe, z_before,2);
- }
- } else {
- measured_z = probe_pt(xProbe, yProbe, z_before);
- }
-
- eqnBVector[probePointCounter] = measured_z;
-
- eqnAMatrix[probePointCounter + 0*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = xProbe;
- eqnAMatrix[probePointCounter + 1*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = yProbe;
- eqnAMatrix[probePointCounter + 2*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = 1;
- probePointCounter++;
- xProbe += xInc;
- }
+ // solve the plane equation ax + by + d = z
+ // A is the matrix with rows [x y 1] for all the probed points
+ // B is the vector of the Z positions
+ // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
+ // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
+
+ int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
+
+ double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
+ eqnBVector[abl2], // "B" vector of Z points
+ mean = 0.0;
+
+ int probePointCounter = 0;
+ bool zig = true;
+
+ for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) {
+ int xProbe, xInc;
+
+ if (zig)
+ xProbe = left_probe_bed_position, xInc = xGridSpacing;
+ else
+ xProbe = right_probe_bed_position, xInc = -xGridSpacing;
+
+ // If topo_flag is set then don't zig-zag. Just scan in one direction.
+ // This gets the probe points in more readable order.
+ if (!topo_flag) zig = !zig;
+
+ for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) {
+ // raise extruder
+ float z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,
+ measured_z;
+
+ // Enhanced G29 - Do not retract servo between probes
+ ProbeAction act;
+ if (enhanced_g29) {
+ if (yProbe == front_probe_bed_position && xCount == 0)
+ act = ProbeEngage;
+ else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1)
+ act = ProbeRetract;
+ else
+ act = ProbeStay;
}
- clean_up_after_endstop_move();
+ else
+ act = ProbeEngageRetract;
- // solve lsq problem
- double *plane_equation_coefficients = qr_solve(auto_bed_leveling_grid_points*auto_bed_leveling_grid_points, 3, eqnAMatrix, eqnBVector);
+ measured_z = probe_pt(xProbe, yProbe, z_before, act);
- SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
- SERIAL_PROTOCOL(plane_equation_coefficients[0]);
- SERIAL_PROTOCOLPGM(" b: ");
- SERIAL_PROTOCOL(plane_equation_coefficients[1]);
- SERIAL_PROTOCOLPGM(" d: ");
- SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
+ mean += measured_z;
+ eqnBVector[probePointCounter] = measured_z;
+ eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
+ eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
+ eqnAMatrix[probePointCounter + 2 * abl2] = 1;
- set_bed_level_equation_lsq(plane_equation_coefficients);
+ probePointCounter++;
+ xProbe += xInc;
- free(plane_equation_coefficients);
+ } //xProbe
-#else // AUTO_BED_LEVELING_GRID not defined
+ } //yProbe
- // Probe at 3 arbitrary points
- // Enhanced G29
-
- float z_at_pt_1, z_at_pt_2, z_at_pt_3;
-
- if (code_seen('E') || code_seen('e')) {
- // probe 1
- z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING,1);
- // probe 2
- z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,2);
- // probe 3
- z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,3);
- }
- else {
- // probe 1
- z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
- // probe 2
- z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
- // probe 3
- z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
- }
- clean_up_after_endstop_move();
- set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
+ clean_up_after_endstop_move();
+ // solve lsq problem
+ double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
+
+ mean /= abl2;
+
+ if (verbose_level) {
+ SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
+ SERIAL_PROTOCOL(plane_equation_coefficients[0]);
+ SERIAL_PROTOCOLPGM(" b: ");
+ SERIAL_PROTOCOL(plane_equation_coefficients[1]);
+ SERIAL_PROTOCOLPGM(" d: ");
+ SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
+ if (verbose_level > 2) {
+ SERIAL_PROTOCOLPGM("Mean of sampled points: ");
+ SERIAL_PROTOCOL_F(mean, 6);
+ SERIAL_PROTOCOLPGM(" \n");
+ }
+ }
-#endif // AUTO_BED_LEVELING_GRID
- st_synchronize();
+ if (topo_flag) {
- // The following code correct the Z height difference from z-probe position and hotend tip position.
- // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
- // When the bed is uneven, this height must be corrected.
- real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
- x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
- y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
- z_tmp = current_position[Z_AXIS];
+ int xx, yy;
- apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
- current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-#ifdef Z_PROBE_SLED
- dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel.
-#endif // Z_PROBE_SLED
+ SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
+ #if TOPO_ORIGIN == ORIGIN_FRONT_LEFT
+ for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
+ #else
+ for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
+ #endif
+ {
+ #if TOPO_ORIGIN == ORIGIN_BACK_RIGHT
+ for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
+ #else
+ for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
+ #endif
+ {
+ int ind =
+ #if TOPO_ORIGIN == ORIGIN_BACK_RIGHT || TOPO_ORIGIN == ORIGIN_FRONT_LEFT
+ yy * auto_bed_leveling_grid_points + xx
+ #elif TOPO_ORIGIN == ORIGIN_BACK_LEFT
+ xx * auto_bed_leveling_grid_points + yy
+ #elif TOPO_ORIGIN == ORIGIN_FRONT_RIGHT
+ abl2 - xx * auto_bed_leveling_grid_points - yy - 1
+ #endif
+ ;
+ float diff = eqnBVector[ind] - mean;
+ if (diff >= 0.0)
+ SERIAL_PROTOCOLPGM(" +"); // Watch column alignment in Pronterface
+ else
+ SERIAL_PROTOCOLPGM(" -");
+ SERIAL_PROTOCOL_F(diff, 5);
+ } // xx
+ SERIAL_PROTOCOLPGM("\n");
+ } // yy
+ SERIAL_PROTOCOLPGM("\n");
+
+ } //topo_flag
+
+
+ set_bed_level_equation_lsq(plane_equation_coefficients);
+ free(plane_equation_coefficients);
+
+ #else // !AUTO_BED_LEVELING_GRID
+
+ // Probe at 3 arbitrary points
+ float z_at_pt_1, z_at_pt_2, z_at_pt_3;
+
+ if (enhanced_g29) {
+ // Basic Enhanced G29
+ z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage);
+ z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay);
+ z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract);
}
- break;
+ else {
+ z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
+ z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
+ z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
+ }
+ clean_up_after_endstop_move();
+ set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
+
+ #endif // !AUTO_BED_LEVELING_GRID
+
+ st_synchronize();
+
+ if (verbose_level > 0)
+ plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
+
+ // The following code correct the Z height difference from z-probe position and hotend tip position.
+ // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
+ // When the bed is uneven, this height must be corrected.
+ real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
+ x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
+ y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
+ z_tmp = current_position[Z_AXIS];
+
+ apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
+ current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+
+ #ifdef Z_PROBE_SLED
+ dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
+ #endif
+ }
+ break;
+
#ifndef Z_PROBE_SLED
case 30: // G30 Single Z Probe
{