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Simplified probe_pt (in G29)

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This commit is contained in:
Scott Lahteine 2016-06-23 20:22:28 -07:00
parent 89a2aa026b
commit 2a4f866561
1 changed files with 36 additions and 80 deletions
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116
Marlin/Marlin_main.cpp
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@ -3577,10 +3577,39 @@ inline void gcode_G28() {
} //xProbe
} //yProbe
#else // !AUTO_BED_LEVELING_GRID
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
#endif
// Probe at 3 arbitrary points
float z_at_pt_1 = probe_pt( ABL_PROBE_PT_1_X + home_offset[X_AXIS],
ABL_PROBE_PT_1_Y + home_offset[Y_AXIS],
stow_probe_after_each, verbose_level),
z_at_pt_2 = probe_pt( ABL_PROBE_PT_2_X + home_offset[X_AXIS],
ABL_PROBE_PT_2_Y + home_offset[Y_AXIS],
stow_probe_after_each, verbose_level),
z_at_pt_3 = probe_pt( ABL_PROBE_PT_3_X + home_offset[X_AXIS],
ABL_PROBE_PT_3_Y + home_offset[Y_AXIS],
stow_probe_after_each, verbose_level);
if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#endif // !AUTO_BED_LEVELING_GRID
// Raise to Z_RAISE_AFTER_PROBING. Stow the probe.
stow_z_probe();
// Restore state after probing
clean_up_after_endstop_or_probe_move();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
#endif
// Calculate leveling, print reports, correct the position
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if ENABLED(DELTA)
if (!dryrun) extrapolate_unprobed_bed_level();
@ -3676,41 +3705,7 @@ inline void gcode_G28() {
}
} //do_topography_map
#endif //!DELTA
#else // !AUTO_BED_LEVELING_GRID
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
#endif
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
const ProbeAction p1 = ProbeStay, p2 = ProbeStay, p3 = ProbeStay;
#else
// Actions for each probe
ProbeAction p1, p2, p3;
if (deploy_probe_for_each_reading)
p1 = p2 = p3 = ProbeDeployAndStow;
else
p1 = ProbeDeploy, p2 = ProbeStay, p3 = ProbeStow;
#endif
// Probe at 3 arbitrary points
float z_at_pt_1 = probe_pt( ABL_PROBE_PT_1_X + home_offset[X_AXIS],
ABL_PROBE_PT_1_Y + home_offset[Y_AXIS],
Z_RAISE_BEFORE_PROBING,
p1, verbose_level),
z_at_pt_2 = probe_pt( ABL_PROBE_PT_2_X + home_offset[X_AXIS],
ABL_PROBE_PT_2_Y + home_offset[Y_AXIS],
Z_RAISE_BETWEEN_PROBINGS,
p2, verbose_level),
z_at_pt_3 = probe_pt( ABL_PROBE_PT_3_X + home_offset[X_AXIS],
ABL_PROBE_PT_3_Y + home_offset[Y_AXIS],
Z_RAISE_BETWEEN_PROBINGS,
p3, verbose_level);
if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#endif // !AUTO_BED_LEVELING_GRID
#endif // AUTO_BED_LEVELING_GRID
#if DISABLED(DELTA)
if (verbose_level > 0)
@ -3725,13 +3720,12 @@ inline void gcode_G28() {
float 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],
real_z = stepper.get_axis_position_mm(Z_AXIS); //get the real Z (since planner.adjusted_position is now correcting the plane)
stepper_z = stepper.get_axis_position_mm(Z_AXIS); //get the real Z (since planner.adjusted_position is now correcting the plane)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
SERIAL_EOL;
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > stepper_z = ", stepper_z);
SERIAL_ECHOPAIR(" ... z_tmp = ", z_tmp);
SERIAL_EOL;
}
#endif
@ -3739,28 +3733,6 @@ inline void gcode_G28() {
// Apply the correction sending the Z probe offset
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
/*
* Get the current Z position and send it to the planner.
*
* >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z
* (most recent planner.set_position_mm/sync_plan_position)
*
* >> zprobe_zoffset : Z distance from nozzle to Z probe
* (set by default, M851, EEPROM, or Menu)
*
* >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted
* after the last probe
*
* >> Should home_offset[Z_AXIS] be included?
*
*
* Discussion: home_offset[Z_AXIS] was applied in G28 to set the
* starting Z. If Z is not tweaked in G29 -and- the Z probe in G29 is
* not actually "homing" Z... then perhaps it should not be included
* here. The purpose of home_offset[] is to adjust for inaccurate
* endstops, not for reasonably accurate probes. If it were added
* here, it could be seen as a compensating factor for the Z probe.
*/
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
@ -3768,30 +3740,16 @@ inline void gcode_G28() {
}
#endif
current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
#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"
// Adjust the current Z and send it to the planner.
current_position[Z_AXIS] += z_tmp - stepper_z;
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
#endif
}
#endif // !DELTA
// Final raise of Z axis after probing.
raise_z_after_probing();
// Stow the probe. Servo will raise if needed.
stow_z_probe();
// Restore state after probing
clean_up_after_endstop_or_probe_move();
#ifdef Z_PROBE_END_SCRIPT
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -3804,9 +3762,7 @@ inline void gcode_G28() {
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< gcode_G29");
}
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
#endif
bed_leveling_in_progress = false;