Fix homing and leveling
- Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
This commit is contained in:
Scott Lahteine
parent
be593b600b
commit
18bb6be80e
3 changed files with 148 additions and 152 deletions
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@ -4,6 +4,10 @@
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*/
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#ifndef CONDITIONALS_H
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#ifndef M_PI
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#define M_PI 3.1415926536
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#endif
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#ifndef CONFIGURATION_LCD // Get the LCD defines which are needed first
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#define CONFIGURATION_LCD
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@ -252,7 +256,7 @@
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* Advance calculated values
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*/
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#ifdef ADVANCE
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#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
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#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * M_PI)
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#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS] / EXTRUSION_AREA)
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#endif
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@ -29,6 +29,8 @@
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#define BIT(b) (1<<(b))
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#define TEST(n,b) (((n)&BIT(b))!=0)
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#define RADIANS(d) ((d)*M_PI/180.0)
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#define DEGREES(r) ((d)*180.0/M_PI)
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// Arduino < 1.0.0 does not define this, so we need to do it ourselves
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#ifndef analogInputToDigitalPin
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@ -1034,6 +1034,12 @@ inline void line_to_destination() {
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inline void sync_plan_position() {
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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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}
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#ifdef DELTA
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inline void sync_plan_position_delta() {
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calculate_delta(current_position);
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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}
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#endif
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#ifdef ENABLE_AUTO_BED_LEVELING
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@ -1109,8 +1115,7 @@ inline void sync_plan_position() {
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long stop_steps = st_get_position(Z_AXIS);
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float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
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current_position[Z_AXIS] = mm;
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calculate_delta(current_position);
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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sync_plan_position_delta();
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#else // !DELTA
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@ -1262,7 +1267,7 @@ inline void sync_plan_position() {
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if (servo_endstops[Z_AXIS] >= 0) {
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#if Z_RAISE_AFTER_PROBING > 0
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
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st_synchronize();
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#endif
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@ -1345,7 +1350,7 @@ inline void sync_plan_position() {
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#if Z_RAISE_BETWEEN_PROBINGS > 0
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if (retract_action == ProbeStay) {
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BETWEEN_PROBINGS);
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
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st_synchronize();
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}
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#endif
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@ -1550,62 +1555,57 @@ void refresh_cmd_timeout(void)
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}
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#ifdef FWRETRACT
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void retract(bool retracting, bool swapretract = false) {
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if(retracting && !retracted[active_extruder]) {
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destination[X_AXIS]=current_position[X_AXIS];
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destination[Y_AXIS]=current_position[Y_AXIS];
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destination[Z_AXIS]=current_position[Z_AXIS];
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destination[E_AXIS]=current_position[E_AXIS];
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if (swapretract) {
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current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
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} else {
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current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
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}
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plan_set_e_position(current_position[E_AXIS]);
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float oldFeedrate = feedrate;
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if (retracting == retracted[active_extruder]) return;
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float oldFeedrate = feedrate;
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for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i];
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if (retracting) {
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feedrate = retract_feedrate * 60;
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retracted[active_extruder]=true;
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prepare_move();
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if(retract_zlift > 0.01) {
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current_position[Z_AXIS]-=retract_zlift;
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#ifdef DELTA
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calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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#else
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sync_plan_position();
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#endif
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prepare_move();
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}
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feedrate = oldFeedrate;
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} else if(!retracting && retracted[active_extruder]) {
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destination[X_AXIS]=current_position[X_AXIS];
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destination[Y_AXIS]=current_position[Y_AXIS];
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destination[Z_AXIS]=current_position[Z_AXIS];
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destination[E_AXIS]=current_position[E_AXIS];
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if(retract_zlift > 0.01) {
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current_position[Z_AXIS]+=retract_zlift;
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#ifdef DELTA
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calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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#else
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sync_plan_position();
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#endif
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//prepare_move();
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}
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if (swapretract) {
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current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
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} else {
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current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
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}
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current_position[E_AXIS] += (swapretract ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
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plan_set_e_position(current_position[E_AXIS]);
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float oldFeedrate = feedrate;
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feedrate = retract_recover_feedrate * 60;
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retracted[active_extruder] = false;
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prepare_move();
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feedrate = oldFeedrate;
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if (retract_zlift > 0.01) {
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current_position[Z_AXIS] -= retract_zlift;
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#ifdef DELTA
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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prepare_move();
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}
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}
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} //retract
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#endif //FWRETRACT
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else {
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if (retract_zlift > 0.01) {
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current_position[Z_AXIS] + =retract_zlift;
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#ifdef DELTA
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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//prepare_move();
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}
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feedrate = retract_recover_feedrate * 60;
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float move_e = swapretract ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
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current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
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plan_set_e_position(current_position[E_AXIS]);
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prepare_move();
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}
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feedrate = oldFeedrate;
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retracted[active_extruder] = retract;
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} // retract()
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#endif // FWRETRACT
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#ifdef Z_PROBE_SLED
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@ -1613,40 +1613,32 @@ void refresh_cmd_timeout(void)
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#define SLED_DOCKING_OFFSET 0
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#endif
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//
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// Method to dock/undock a sled designed by Charles Bell.
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//
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// dock[in] If true, move to MAX_X and engage the electromagnet
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// offset[in] The additional distance to move to adjust docking location
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//
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static void dock_sled(bool dock, int offset=0) {
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int z_loc;
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if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
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return;
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}
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//
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// Method to dock/undock a sled designed by Charles Bell.
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//
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// dock[in] If true, move to MAX_X and engage the electromagnet
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// offset[in] The additional distance to move to adjust docking location
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//
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static void dock_sled(bool dock, int offset=0) {
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if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
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return;
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}
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if (dock) {
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
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current_position[Y_AXIS],
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current_position[Z_AXIS]);
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// turn off magnet
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digitalWrite(SERVO0_PIN, LOW);
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} else {
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if (current_position[Z_AXIS] < (Z_RAISE_BEFORE_PROBING + 5))
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z_loc = Z_RAISE_BEFORE_PROBING;
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else
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z_loc = current_position[Z_AXIS];
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
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Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
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// turn on magnet
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digitalWrite(SERVO0_PIN, HIGH);
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}
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}
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#endif
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if (dock) {
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], current_position[Z_AXIS]);
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digitalWrite(SERVO0_PIN, LOW); // turn off magnet
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} else {
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float z_loc = current_position[Z_AXIS];
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if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
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digitalWrite(SERVO0_PIN, HIGH); // turn on magnet
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}
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}
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#endif // Z_PROBE_SLED
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/**
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*
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@ -1798,8 +1790,7 @@ inline void gcode_G28() {
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HOMEAXIS(Y);
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HOMEAXIS(Z);
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calculate_delta(current_position);
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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sync_plan_position_delta();
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#else // NOT DELTA
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@ -1826,7 +1817,9 @@ inline void gcode_G28() {
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#endif
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#ifdef QUICK_HOME
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if (home_all_axis || (homeX && homeY)) { //first diagonal move
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if (home_all_axis || (homeX && homeY)) { // First diagonal move
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current_position[X_AXIS] = current_position[Y_AXIS] = 0;
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#ifdef DUAL_X_CARRIAGE
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@ -1837,21 +1830,20 @@ inline void gcode_G28() {
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#endif
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sync_plan_position();
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destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;
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destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
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feedrate = homing_feedrate[X_AXIS];
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if (homing_feedrate[Y_AXIS] < feedrate) feedrate = homing_feedrate[Y_AXIS];
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if (max_length(X_AXIS) > max_length(Y_AXIS)) {
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feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
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} else {
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feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
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}
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float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
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mlratio = mlx>mly ? mly/mlx : mlx/mly;
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destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
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destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
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feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
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line_to_destination();
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st_synchronize();
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axis_is_at_home(X_AXIS);
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axis_is_at_home(Y_AXIS);
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sync_plan_position();
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destination[X_AXIS] = current_position[X_AXIS];
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destination[Y_AXIS] = current_position[Y_AXIS];
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line_to_destination();
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@ -1865,7 +1857,7 @@ inline void gcode_G28() {
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current_position[Z_AXIS] = destination[Z_AXIS];
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#endif
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}
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#endif //QUICK_HOME
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#endif // QUICK_HOME
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// Home X
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if (home_all_axis || homeX) {
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@ -1947,7 +1939,7 @@ inline void gcode_G28() {
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&& cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
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&& cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
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current_position[Z_AXIS] = 0;
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plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
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plan_set_position(cpx, cpy, 0, current_position[E_AXIS]);
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
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feedrate = max_feedrate[Z_AXIS];
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line_to_destination();
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@ -1986,8 +1978,7 @@ inline void gcode_G28() {
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#endif // else DELTA
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#ifdef SCARA
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calculate_delta(current_position);
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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sync_plan_position_delta();
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#endif
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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@ -2826,9 +2817,7 @@ inline void gcode_M42() {
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inline void gcode_M48() {
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double sum = 0.0, mean = 0.0, sigma = 0.0, 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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int verbose_level = 1, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0;
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if (code_seen('V') || code_seen('v')) {
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verbose_level = code_value();
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@ -2849,11 +2838,12 @@ inline void gcode_M42() {
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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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double X_probe_location, Y_probe_location,
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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 = Z_current + 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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@ -2936,33 +2926,29 @@ inline void gcode_M42() {
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if (engage_probe_for_each_reading) retract_z_probe();
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for (n=0; n < n_samples; n++) {
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for (uint16_t 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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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;
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int l;
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int 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() % 360L) / (360. / (2 * 3.1415926)); // turn into radians
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unsigned long ms = millis();
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double radius = ms % (X_MAX_LENGTH / 4), // limit how far out to go
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theta = RADIANS(ms % 360L);
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float dir = (ms & 0x0001) ? 1 : -1; // clockwise or counter clockwise
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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_ECHOPAIR(" direction: ",dir);
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//SERIAL_EOL;
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float dir = rotational_direction ? 1 : -1;
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for (l = 0; l < n_legs - 1; l++) {
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theta += dir * (float)((unsigned long)millis() % 20L) / (360.0/(2*3.1415926)); // turn into radians
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radius += (float)(((long)((unsigned long) millis() % 10L)) - 5L);
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for (int l = 0; l < n_legs - 1; l++) {
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ms = millis();
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theta += RADIANS(dir * (ms % 20L));
|
||||
radius += (ms % 10L) - 5L;
|
||||
if (radius < 0.0) radius = -radius;
|
||||
|
||||
X_current = X_probe_location + cos(theta) * radius;
|
||||
Y_current = Y_probe_location + sin(theta) * radius;
|
||||
|
||||
// Make sure our X & Y are sane
|
||||
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
|
||||
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
|
||||
|
||||
|
|
@ -2972,10 +2958,13 @@ inline void gcode_M42() {
|
|||
SERIAL_EOL;
|
||||
}
|
||||
|
||||
do_blocking_move_to( X_current, Y_current, Z_current );
|
||||
}
|
||||
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
|
||||
}
|
||||
do_blocking_move_to(X_current, Y_current, Z_current);
|
||||
|
||||
} // n_legs loop
|
||||
|
||||
do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
|
||||
|
||||
} // n_legs
|
||||
|
||||
if (engage_probe_for_each_reading) {
|
||||
engage_z_probe();
|
||||
|
|
@ -2991,46 +2980,49 @@ inline void gcode_M42() {
|
|||
// Get the current mean for the data points we have so far
|
||||
//
|
||||
sum = 0.0;
|
||||
for (j=0; j<=n; j++) sum += sample_set[j];
|
||||
mean = sum / (double (n+1));
|
||||
for (int j = 0; j <= n; j++) sum += sample_set[j];
|
||||
mean = sum / (n + 1);
|
||||
|
||||
//
|
||||
// Now, use that mean to calculate the standard deviation for the
|
||||
// data points we have so far
|
||||
//
|
||||
sum = 0.0;
|
||||
for (j=0; j<=n; j++) sum += (sample_set[j]-mean) * (sample_set[j]-mean);
|
||||
sigma = sqrt( sum / (double (n+1)) );
|
||||
for (int j = 0; j <= n; j++) {
|
||||
float ss = sample_set[j] - mean;
|
||||
sum += ss * ss;
|
||||
}
|
||||
sigma = sqrt(sum / (n + 1));
|
||||
|
||||
if (verbose_level > 1) {
|
||||
SERIAL_PROTOCOL(n+1);
|
||||
SERIAL_PROTOCOL(" of ");
|
||||
SERIAL_PROTOCOLPGM(" of ");
|
||||
SERIAL_PROTOCOL(n_samples);
|
||||
SERIAL_PROTOCOLPGM(" z: ");
|
||||
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
|
||||
}
|
||||
|
||||
if (verbose_level > 2) {
|
||||
SERIAL_PROTOCOL(" mean: ");
|
||||
SERIAL_PROTOCOL_F(mean,6);
|
||||
SERIAL_PROTOCOL(" sigma: ");
|
||||
SERIAL_PROTOCOL_F(sigma,6);
|
||||
if (verbose_level > 2) {
|
||||
SERIAL_PROTOCOLPGM(" mean: ");
|
||||
SERIAL_PROTOCOL_F(mean,6);
|
||||
SERIAL_PROTOCOLPGM(" sigma: ");
|
||||
SERIAL_PROTOCOL_F(sigma,6);
|
||||
}
|
||||
}
|
||||
|
||||
if (verbose_level > 0) SERIAL_EOL;
|
||||
|
||||
plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location,
|
||||
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
|
||||
plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
|
||||
st_synchronize();
|
||||
|
||||
if (engage_probe_for_each_reading) {
|
||||
retract_z_probe();
|
||||
retract_z_probe();
|
||||
delay(1000);
|
||||
}
|
||||
}
|
||||
|
||||
retract_z_probe();
|
||||
delay(1000);
|
||||
if (!engage_probe_for_each_reading) {
|
||||
retract_z_probe();
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
clean_up_after_endstop_move();
|
||||
|
||||
|
|
@ -4674,9 +4666,7 @@ inline void gcode_T() {
|
|||
active_extruder = tmp_extruder;
|
||||
#endif // !DUAL_X_CARRIAGE
|
||||
#ifdef DELTA
|
||||
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
|
||||
//sent position to plan_set_position();
|
||||
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
|
||||
sync_plan_position_delta();
|
||||
#else
|
||||
sync_plan_position();
|
||||
#endif
|
||||
|
|
|
|||
Reference in a new issue