Z_PROBE_REPEATABILITY test
Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
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2 changed files with 277 additions and 2 deletions
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@ -375,7 +375,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
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#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
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//============================= Bed Auto Leveling ===========================
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//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
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#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
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#define Z_PROBE_REPEATABILITY_TEST // Delete the comment to enable (remove // at the start of the line)
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#ifdef ENABLE_AUTO_BED_LEVELING
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@ -894,7 +894,7 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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// but the bed at 0 so we don't go below it.
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// put the bed at 0 so we don't go below it.
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current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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@ -1862,6 +1862,280 @@ void process_commands()
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}
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}
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break;
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// M48 Z-Probe repeatability measurement function.
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//
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// Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
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//
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// This function assumes the bed has been homed. Specificaly, that a G28 command
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// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
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// Any information generated by a prior G29 Bed leveling command will be lost and need to be
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// regenerated.
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//
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// The number of samples will default to 10 if not specified. You can use upper or lower case
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// letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
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// N for its communication protocol and will get horribly confused if you send it a capital N.
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//
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#ifdef ENABLE_AUTO_BED_LEVELING
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#ifdef Z_PROBE_REPEATABILITY_TEST
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case 48: // M48 Z-Probe repeatability
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{
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#if Z_MIN_PIN == -1
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#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
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#endif
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double sum=0.0;
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double mean=0.0;
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double sigma=0.0;
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double sample_set[50];
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int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ;
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double X_current, Y_current, Z_current;
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double X_probe_location, Y_probe_location, Z_start_location, ext_position;
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if (code_seen('V') || code_seen('v')) {
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verbose_level = code_value();
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if (verbose_level<0 || verbose_level>4 ) {
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SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
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goto Sigma_Exit;
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}
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}
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if (verbose_level > 0) {
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SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
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SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
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}
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if (code_seen('n')) {
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n_samples = code_value();
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if (n_samples<4 || n_samples>50 ) {
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SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
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goto Sigma_Exit;
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}
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}
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X_current = X_probe_location = st_get_position_mm(X_AXIS);
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Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
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Z_current = st_get_position_mm(Z_AXIS);
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Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
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ext_position = st_get_position_mm(E_AXIS);
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if (code_seen('E') || code_seen('e') )
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engage_probe_for_each_reading++;
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if (code_seen('X') || code_seen('x') ) {
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X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
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if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
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SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
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goto Sigma_Exit;
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}
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}
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if (code_seen('Y') || code_seen('y') ) {
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Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
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if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
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SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
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goto Sigma_Exit;
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}
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}
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if (code_seen('L') || code_seen('l') ) {
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n_legs = code_value();
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if ( n_legs==1 )
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n_legs = 2;
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if ( n_legs<0 || n_legs>15 ) {
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SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
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goto Sigma_Exit;
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}
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}
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//
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// Do all the preliminary setup work. First raise the probe.
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//
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st_synchronize();
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plan_bed_level_matrix.set_to_identity();
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plan_buffer_line( X_current, Y_current, Z_start_location,
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ext_position,
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homing_feedrate[Z_AXIS]/60,
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active_extruder);
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st_synchronize();
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//
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// Now get everything to the specified probe point So we can safely do a probe to
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// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
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// use that as a starting point for each probe.
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//
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if (verbose_level > 2)
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SERIAL_PROTOCOL("Positioning probe for the test.\n");
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plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
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ext_position,
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homing_feedrate[X_AXIS]/60,
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active_extruder);
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st_synchronize();
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current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
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current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
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current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
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current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
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//
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// OK, do the inital probe to get us close to the bed.
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// Then retrace the right amount and use that in subsequent probes
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//
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engage_z_probe();
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setup_for_endstop_move();
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run_z_probe();
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current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
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Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
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plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
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ext_position,
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homing_feedrate[X_AXIS]/60,
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active_extruder);
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st_synchronize();
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current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
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if (engage_probe_for_each_reading)
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retract_z_probe();
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for( n=0; n<n_samples; n++) {
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do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
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if ( n_legs) {
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double radius=0.0, theta=0.0, x_sweep, y_sweep;
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int rotational_direction, l;
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rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
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radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
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theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
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//SERIAL_ECHOPAIR("starting radius: ",radius);
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//SERIAL_ECHOPAIR(" theta: ",theta);
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//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
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//SERIAL_PROTOCOLLNPGM("");
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for( l=0; l<n_legs-1; l++) {
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if (rotational_direction==1)
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theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
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else
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theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
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radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
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if ( radius<0.0 )
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radius = -radius;
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X_current = X_probe_location + cos(theta) * radius;
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Y_current = Y_probe_location + sin(theta) * radius;
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if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
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X_current = X_MIN_POS;
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if ( X_current>X_MAX_POS)
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X_current = X_MAX_POS;
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if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
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Y_current = Y_MIN_POS;
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if ( Y_current>Y_MAX_POS)
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Y_current = Y_MAX_POS;
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if (verbose_level>3 ) {
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SERIAL_ECHOPAIR("x: ", X_current);
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SERIAL_ECHOPAIR("y: ", Y_current);
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SERIAL_PROTOCOLLNPGM("");
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}
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do_blocking_move_to( X_current, Y_current, Z_current );
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}
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do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
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}
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if (engage_probe_for_each_reading) {
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engage_z_probe();
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delay(1000);
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}
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setup_for_endstop_move();
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run_z_probe();
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sample_set[n] = current_position[Z_AXIS];
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//
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// Get the current mean for the data points we have so far
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//
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sum=0.0;
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for( j=0; j<=n; j++) {
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sum = sum + sample_set[j];
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}
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mean = sum / (double (n+1));
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//
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// Now, use that mean to calculate the standard deviation for the
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// data points we have so far
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//
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sum=0.0;
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for( j=0; j<=n; j++) {
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sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
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}
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sigma = sqrt( sum / (double (n+1)) );
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if (verbose_level > 1) {
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SERIAL_PROTOCOL(n+1);
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SERIAL_PROTOCOL(" of ");
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SERIAL_PROTOCOL(n_samples);
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SERIAL_PROTOCOLPGM(" z: ");
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SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
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}
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if (verbose_level > 2) {
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SERIAL_PROTOCOL(" mean: ");
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SERIAL_PROTOCOL_F(mean,6);
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SERIAL_PROTOCOL(" sigma: ");
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SERIAL_PROTOCOL_F(sigma,6);
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}
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if (verbose_level > 0)
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SERIAL_PROTOCOLPGM("\n");
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plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
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current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
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st_synchronize();
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if (engage_probe_for_each_reading) {
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retract_z_probe();
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delay(1000);
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}
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}
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retract_z_probe();
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delay(1000);
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clean_up_after_endstop_move();
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// enable_endstops(true);
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if (verbose_level > 0) {
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SERIAL_PROTOCOLPGM("Mean: ");
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SERIAL_PROTOCOL_F(mean, 6);
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SERIAL_PROTOCOLPGM("\n");
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}
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SERIAL_PROTOCOLPGM("Standard Deviation: ");
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SERIAL_PROTOCOL_F(sigma, 6);
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SERIAL_PROTOCOLPGM("\n\n");
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Sigma_Exit:
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break;
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}
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#endif // Z_PROBE_REPEATABILITY_TEST
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#endif // ENABLE_AUTO_BED_LEVELING
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case 104: // M104
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if(setTargetedHotend(104)){
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break;
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