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Just-in-time declaration style in M48

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This commit is contained in:
Scott Lahteine 2016-06-18 01:41:57 -07:00
parent e35583888c
commit 4edf813bde
1 changed files with 42 additions and 66 deletions
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52
Marlin/Marlin_main.cpp
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@ -4201,57 +4201,41 @@ inline void gcode_M42() {
return; return;
} }
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50]; int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
int8_t verbose_level = 1, n_samples = 10, n_legs = 0, schizoid_flag = 0;
if (code_seen('V')) {
verbose_level = code_value_byte();
if (verbose_level < 0 || verbose_level > 4) { if (verbose_level < 0 || verbose_level > 4) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n"); SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
return; return;
} }
}
if (verbose_level > 0) if (verbose_level > 0)
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n"); SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
if (code_seen('P')) { int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
n_samples = code_value_byte();
if (n_samples < 4 || n_samples > 50) { if (n_samples < 4 || n_samples > 50) {
SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n"); SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
return; return;
} }
}
float X_current = current_position[X_AXIS], float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS], Y_current = current_position[Y_AXIS],
Z_current = current_position[Z_AXIS], Z_start_location = current_position[Z_AXIS] + Z_RAISE_BEFORE_PROBING;
X_probe_location = X_current + X_PROBE_OFFSET_FROM_EXTRUDER,
Y_probe_location = Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER,
Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
bool deploy_probe_for_each_reading = code_seen('E'); bool deploy_probe_for_each_reading = code_seen('E');
if (code_seen('X')) { float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
X_probe_location = code_value_axis_units(X_AXIS);
#if DISABLED(DELTA) #if DISABLED(DELTA)
if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) { if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
out_of_range_error(PSTR("X")); out_of_range_error(PSTR("X"));
return; return;
} }
#endif #endif
}
if (code_seen('Y')) { float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
Y_probe_location = code_value_axis_units(Y_AXIS);
#if DISABLED(DELTA) #if DISABLED(DELTA)
if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) { if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
out_of_range_error(PSTR("Y")); out_of_range_error(PSTR("Y"));
return; return;
} }
#endif #else
}
#if ENABLED(DELTA)
if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) { if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n"); SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n");
return; return;
@ -4259,20 +4243,15 @@ inline void gcode_M42() {
#endif #endif
bool seen_L = code_seen('L'); bool seen_L = code_seen('L');
uint8_t n_legs = seen_L ? code_value_byte() : 0;
if (seen_L) {
n_legs = code_value_byte();
if (n_legs < 0 || n_legs > 15) { if (n_legs < 0 || n_legs > 15) {
SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n"); SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
return; return;
} }
if (n_legs == 1) n_legs = 2; if (n_legs == 1) n_legs = 2;
}
if (code_seen('S')) { bool schizoid_flag = code_seen('S');
schizoid_flag++; if (schizoid_flag && !seen_L) n_legs = 7;
if (!seen_L) n_legs = 7;
}
/** /**
* Now get everything to the specified probe point So we can safely do a * Now get everything to the specified probe point So we can safely do a
@ -4307,13 +4286,14 @@ inline void gcode_M42() {
raise_z_after_probing(); raise_z_after_probing();
for (uint8_t n = 0; n < n_samples; n++) {
randomSeed(millis()); randomSeed(millis());
double mean, sigma, sample_set[n_samples];
for (uint8_t n = 0; n < n_samples; n++) {
delay(500); delay(500);
if (n_legs) { if (n_legs) {
float radius, angle = random(0.0, 360.0);
int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
float angle = random(0.0, 360.0),
radius = random( radius = random(
#if ENABLED(DELTA) #if ENABLED(DELTA)
DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3 DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
@ -4404,7 +4384,7 @@ inline void gcode_M42() {
/** /**
* Get the current mean for the data points we have so far * Get the current mean for the data points we have so far
*/ */
sum = 0.0; double sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j]; for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1); mean = sum / (n + 1);
@ -4437,19 +4417,15 @@ inline void gcode_M42() {
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
} // End of probe loop code } // End of probe loop code
// raise_z_after_probing();
if (verbose_level > 0) { if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: "); SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6); SERIAL_PROTOCOL_F(mean, 6);
SERIAL_EOL; SERIAL_EOL;
delay(25);
} }
SERIAL_PROTOCOLPGM("Standard Deviation: "); SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6); SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL; SERIAL_EOL; SERIAL_EOL; SERIAL_EOL;
delay(25);
clean_up_after_endstop_move(); clean_up_after_endstop_move();