From f6b09cf465ed0d05685028cb32d35c2488557b97 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Mon, 20 Jun 2016 15:50:51 -0700
Subject: [PATCH] Always use deploy/stow for dock_sled
---
Marlin/Marlin_main.cpp | 252 +++++++++++++++++++----------------------
1 file changed, 117 insertions(+), 135 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 4c7c0aaae8..0eba959b15 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1655,6 +1655,10 @@ static void setup_for_endstop_move() {
feedrate = old_feedrate;
}
+ 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);
}
@@ -1684,6 +1688,63 @@ static void setup_for_endstop_move() {
#endif
+#if HAS_BED_PROBE
+
+ inline void raise_z_after_probing() {
+ #if Z_RAISE_AFTER_PROBING > 0
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()");
+ #endif
+ do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
+ #endif
+ }
+#endif
+
+#if ENABLED(Z_PROBE_SLED)
+
+ #ifndef SLED_DOCKING_OFFSET
+ #define SLED_DOCKING_OFFSET 0
+ #endif
+
+ /**
+ * Method to dock/undock a sled designed by Charles Bell.
+ *
+ * dock[in] If true, move to MAX_X and engage the electromagnet
+ * offset[in] The additional distance to move to adjust docking location
+ */
+ static void dock_sled(bool dock, int offset = 0) {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPAIR("dock_sled(", dock);
+ SERIAL_ECHOLNPGM(")");
+ }
+ #endif
+
+ if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
+ axis_unhomed_error(true);
+ return;
+ }
+
+ if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
+
+ float oldXpos = current_position[X_AXIS]; // save x position
+ if (dock) {
+ raise_z_after_probing(); // raise Z
+ // Dock sled a bit closer to ensure proper capturing
+ do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
+ digitalWrite(SLED_PIN, LOW); // turn off magnet
+ }
+ else {
+ float z_loc = current_position[Z_AXIS];
+ 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
+ digitalWrite(SLED_PIN, HIGH); // turn on magnet
+ }
+ do_blocking_move_to_x(oldXpos); // return to position before docking
+ }
+
+#endif // Z_PROBE_SLED
+
#if HAS_BED_PROBE
static void deploy_z_probe() {
@@ -1694,7 +1755,11 @@ static void setup_for_endstop_move() {
if (endstops.z_probe_enabled) return;
- #if HAS_Z_SERVO_ENDSTOP
+ #if ENABLED(Z_PROBE_SLED)
+
+ dock_sled(false);
+
+ #elif HAS_Z_SERVO_ENDSTOP
// Make room for Z Servo
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
@@ -1792,7 +1857,11 @@ static void setup_for_endstop_move() {
if (!endstops.z_probe_enabled) return;
- #if HAS_Z_SERVO_ENDSTOP
+ #if ENABLED(Z_PROBE_SLED)
+
+ dock_sled(true);
+
+ #elif HAS_Z_SERVO_ENDSTOP
// Make room for the servo
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
@@ -2040,19 +2109,6 @@ static void setup_for_endstop_move() {
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 raise_z_after_probing() {
- #if Z_RAISE_AFTER_PROBING > 0
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()");
- #endif
- do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
- #endif
- }
-
static void clean_up_after_endstop_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops.not_homing()");
@@ -2229,55 +2285,6 @@ static void setup_for_endstop_move() {
}
#endif
-#if ENABLED(Z_PROBE_SLED)
-
- #ifndef SLED_DOCKING_OFFSET
- #define SLED_DOCKING_OFFSET 0
- #endif
-
- /**
- * Method to dock/undock a sled designed by Charles Bell.
- *
- * dock[in] If true, move to MAX_X and engage the electromagnet
- * offset[in] The additional distance to move to adjust docking location
- */
- static void dock_sled(bool dock, int offset = 0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("dock_sled(", dock);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
-
- if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
- axis_unhomed_error(true);
- return;
- }
-
- if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
-
- float oldXpos = current_position[X_AXIS]; // save x position
- if (dock) {
- raise_z_after_probing(); // raise Z
- // Dock sled a bit closer to ensure proper capturing
- do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
- digitalWrite(SLED_PIN, LOW); // turn off magnet
- }
- else {
- float z_loc = current_position[Z_AXIS];
- 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
- digitalWrite(SLED_PIN, HIGH); // turn on magnet
- }
- do_blocking_move_to_x(oldXpos); // return to position before docking
-
- endstops.enable_z_probe(!dock); // logically disable docked probe
- }
-
-#endif // Z_PROBE_SLED
-
-
-
/**
* Home an individual axis
*/
@@ -2306,24 +2313,13 @@ static void homeaxis(AxisEnum axis) {
current_position[axis] = 0;
sync_plan_position();
- #if ENABLED(Z_PROBE_SLED)
- #define _Z_DEPLOY (dock_sled(false))
- #define _Z_STOW (dock_sled(true))
- #elif (ENABLED(AUTO_BED_LEVELING_FEATURE) && HAS_Z_SERVO_ENDSTOP) || ENABLED(FIX_MOUNTED_PROBE)
- #define _Z_DEPLOY (deploy_z_probe())
- #define _Z_STOW (stow_z_probe())
- #elif HAS_Z_SERVO_ENDSTOP
- #define _Z_DEPLOY do{ raise_z_for_servo(Z_RAISE_BEFORE_PROBING); DEPLOY_Z_SERVO(); endstops.z_probe_enabled = true; }while(0)
- #define _Z_STOW do{ raise_z_for_servo(Z_RAISE_AFTER_PROBING); STOW_Z_SERVO(); endstops.z_probe_enabled = false; }while(0)
- #endif
-
// Homing Z towards the bed? Deploy the Z probe or endstop.
- #if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
+ #if HAS_BED_PROBE
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_DEPLOY));
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > deploy_z_probe()");
#endif
- _Z_DEPLOY;
+ deploy_z_probe();
}
#endif
@@ -2441,12 +2437,12 @@ static void homeaxis(AxisEnum axis) {
axis_homed[axis] = true;
// Put away the Z probe
- #if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
+ #if HAS_BED_PROBE
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_STOW));
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > stow_z_probe()");
#endif
- _Z_STOW;
+ stow_z_probe();
}
#endif
@@ -3468,9 +3464,7 @@ inline void gcode_G28() {
#endif // !DELTA
}
- #if ENABLED(Z_PROBE_SLED)
- dock_sled(false); // engage (un-dock) the Z probe
- #elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && HAS_Z_SERVO_ENDSTOP)
+ #if HAS_BED_PROBE
deploy_z_probe();
#endif
@@ -3721,14 +3715,7 @@ inline void gcode_G28() {
#endif // !AUTO_BED_LEVELING_GRID
- #if ENABLED(DELTA)
- // Allen Key Probe for Delta
- #if ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_ENDSTOP
- stow_z_probe();
- #else
- raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
- #endif
- #else // !DELTA
+ #if DISABLED(DELTA)
if (verbose_level > 0)
planner.bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
@@ -3788,7 +3775,7 @@ inline void gcode_G28() {
#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
+ Z_RAISE_AFTER_PROBING
#endif
- ;
+ ;
// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
sync_plan_position();
@@ -3796,18 +3783,13 @@ inline void gcode_G28() {
if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
#endif
}
-
- // Sled assembly for Cartesian bots
- #if ENABLED(Z_PROBE_SLED)
- dock_sled(true); // dock the sled
- #elif !HAS_Z_SERVO_ENDSTOP && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
- // Raise Z axis for non-delta and non servo based probes
- raise_z_after_probing();
- #endif
-
#endif // !DELTA
- #if ENABLED(MECHANICAL_PROBE)
+ #if DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) && !HAS_Z_SERVO_ENDSTOP
+ raise_z_after_probing();
+ #endif
+
+ #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(MECHANICAL_PROBE)
stow_z_probe();
#endif
@@ -3838,38 +3820,38 @@ inline void gcode_G28() {
KEEPALIVE_STATE(IN_HANDLER);
}
- #if DISABLED(Z_PROBE_SLED) // could be avoided
+#endif //AUTO_BED_LEVELING_FEATURE
- /**
- * G30: Do a single Z probe at the current XY
- */
- inline void gcode_G30() {
- deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
+#if HAS_BED_PROBE
- stepper.synchronize();
- // TODO: clear the leveling matrix or the planner will be set incorrectly
- setup_for_endstop_move(); // Too late. Must be done before deploying.
+ /**
+ * G30: Do a single Z probe at the current XY
+ */
+ inline void gcode_G30() {
+ deploy_z_probe();
- run_z_probe();
+ stepper.synchronize();
+ // TODO: clear the leveling matrix or the planner will be set incorrectly
+ setup_for_endstop_move(); // Too late. Must be done before deploying.
- SERIAL_PROTOCOLPGM("Bed X: ");
- SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
- SERIAL_EOL;
+ run_z_probe();
- clean_up_after_endstop_move(); // Too early. must be done after the stowing.
+ SERIAL_PROTOCOLPGM("Bed X: ");
+ SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
+ SERIAL_PROTOCOLPGM(" Y: ");
+ SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
+ SERIAL_PROTOCOLPGM(" Z: ");
+ SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
+ SERIAL_EOL;
- stow_z_probe(); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
+ clean_up_after_endstop_move(); // Too early. must be done after the stowing.
- report_current_position();
- }
+ stow_z_probe();
- #endif //!Z_PROBE_SLED
+ report_current_position();
+ }
-#endif //AUTO_BED_LEVELING_FEATURE
+#endif // HAS_BED_PROBE
/**
* G92: Set current position to given X Y Z E
@@ -6875,24 +6857,24 @@ void process_next_command() {
break;
#endif
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-
- #if DISABLED(Z_PROBE_SLED)
+ #if HAS_BED_PROBE
- case 30: // G30 Single Z probe
- gcode_G30();
- break;
+ case 30: // G30 Single Z probe
+ gcode_G30();
+ break;
- #else // Z_PROBE_SLED
+ #if ENABLED(Z_PROBE_SLED)
case 31: // G31: dock the sled
+ stow_z_probe();
+ break;
case 32: // G32: undock the sled
- dock_sled(codenum == 31);
+ deploy_z_probe();
break;
#endif // Z_PROBE_SLED
- #endif // AUTO_BED_LEVELING_FEATURE
+ #endif // HAS_BED_PROBE
case 90: // G90
relative_mode = false;
--
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