Enhancements to G425 (#13159)
- Turn off bed leveling prior to calibrating.
- This prevents lateral probes from having a Z component that
triggers the Z endstop and causes the motion to be aborted.
- Got rid of static const float arrays "dimension" and "true_center"
- Frees up 24 bytes of SRAM
- Changed incorrect use of "bool" for float in backlash macros.
- Replaced arguments with 0.0f and 1.0f for clarity.
- Now only disables soft endstops (since calibration cube is outside of bed)
- Not necessary to disable global endstops
This commit is contained in:
Marcio Teixeira
Scott Lahteine
parent
84fc400aba
commit
31c240a8db
1 changed files with 61 additions and 44 deletions
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@ -30,6 +30,8 @@
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#include "../../module/planner.h"
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#include "../../module/tool_change.h"
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#include "../../module/endstops.h"
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#include "../../feature/bedlevel/bedlevel.h"
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/**
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* G425 backs away from the calibration object by various distances
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@ -60,8 +62,9 @@
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enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES };
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struct measurements_t {
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static const float dimensions[XYZ];
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static const float true_center[XYZ]; // This cannot be constexpr since it is accessed by index in probe_side
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static constexpr float dimensions[XYZ] = CALIBRATION_OBJECT_DIMENSIONS;
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static constexpr float true_center[XYZ] = CALIBRATION_OBJECT_CENTER;
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float obj_center[XYZ] = CALIBRATION_OBJECT_CENTER;
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float obj_side[NUM_SIDES];
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@ -71,16 +74,13 @@ struct measurements_t {
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float nozzle_outer_dimension[2] = {CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER};
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};
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const float measurements_t::true_center[XYZ] = CALIBRATION_OBJECT_CENTER;
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const float measurements_t::dimensions[] = CALIBRATION_OBJECT_DIMENSIONS;
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#define TEMPORARY_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable); TemporaryGlobalEndstopsState tges(enable)
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#define TEMPORARY_BED_LEVELING_STATE(enable) TemporaryBedLevelingState tbls(enable)
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#define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
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#if ENABLED(BACKLASH_GCODE)
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#define TEMPORARY_BACKLASH_STATE(enable) REMEMBER(tbst, backlash_correction, enable)
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#define TEMPORARY_BACKLASH_CORRECTION(value) REMEMBER(tbst, backlash_correction, value)
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#else
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#define TEMPORARY_BACKLASH_STATE(enable)
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#define TEMPORARY_BACKLASH_CORRECTION(value)
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#endif
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#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
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@ -89,6 +89,20 @@ const float measurements_t::dimensions[] = CALIBRATION_OBJECT_DIMENSIONS;
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#define TEMPORARY_BACKLASH_SMOOTHING(value)
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#endif
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/**
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* A class to save and change the bed leveling state,
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* then restore it when it goes out of scope.
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*/
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class TemporaryBedLevelingState {
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bool saved;
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public:
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TemporaryBedLevelingState(const bool enable) : saved(planner.leveling_active) {
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set_bed_leveling_enabled(enable);
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}
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~TemporaryBedLevelingState() { set_bed_leveling_enabled(saved); }
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};
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/**
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* Move to a particular location. Up to three individual axes
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* and their destinations can be specified, in any order.
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@ -121,10 +135,10 @@ inline void move_to(
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* uncertainty in - How far away from the object top to park
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*/
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inline void park_above_object(measurements_t &m, const float uncertainty) {
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/* Move to safe distance above calibration object */
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// Move to safe distance above calibration object
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move_to(Z_AXIS, m.obj_center[Z_AXIS] + m.dimensions[Z_AXIS] / 2 + uncertainty);
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/* Move to center of calibration object in XY */
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// Move to center of calibration object in XY
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move_to(X_AXIS, m.obj_center[X_AXIS], Y_AXIS, m.obj_center[Y_AXIS]);
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}
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@ -228,6 +242,7 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state,
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* to find out height of edge
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*/
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inline void probe_side(measurements_t &m, const float uncertainty, const side_t side, const bool probe_top_at_edge=false) {
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const float dimensions[] = CALIBRATION_OBJECT_DIMENSIONS;
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AxisEnum axis;
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float dir;
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@ -236,7 +251,7 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
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switch(side) {
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case TOP: {
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const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
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m.obj_center[Z_AXIS] = measurement - m.dimensions[Z_AXIS] / 2;
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m.obj_center[Z_AXIS] = measurement - dimensions[Z_AXIS] / 2;
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m.obj_side[TOP] = measurement;
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return;
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}
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@ -250,18 +265,18 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
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if (probe_top_at_edge) {
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// Probe top nearest the side we are probing
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move_to(axis, m.obj_center[axis] + (-dir) * (m.dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]));
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move_to(axis, m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]));
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m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
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m.obj_center[Z_AXIS] = m.obj_side[TOP] - m.dimensions[Z_AXIS] / 2;
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m.obj_center[Z_AXIS] = m.obj_side[TOP] - dimensions[Z_AXIS] / 2;
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}
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// Move to safe distance to the side of the calibration object
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move_to(axis, m.obj_center[axis] + (-dir) * (m.dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty));
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move_to(axis, m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty));
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// Plunge below the side of the calibration object and measure
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move_to(Z_AXIS, m.obj_side[TOP] - CALIBRATION_NOZZLE_TIP_HEIGHT * 0.7);
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const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
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m.obj_center[axis] = measurement + dir * (m.dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
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m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
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m.obj_side[side] = measurement;
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}
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@ -272,14 +287,11 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
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* uncertainty in - How far away from the calibration object to begin probing
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*/
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inline void probe_sides(measurements_t &m, const float uncertainty) {
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TEMPORARY_ENDSTOP_STATE(false);
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#ifdef CALIBRATION_MEASURE_AT_TOP_EDGES
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constexpr bool probe_top_at_edge = true;
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#else
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/* Probing at the exact center only works if the center is flat. Probing on a washer
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* or bolt will require probing the top near the side edges, away from the center.
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*/
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// Probing at the exact center only works if the center is flat. Probing on a washer
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// or bolt will require probing the top near the side edges, away from the center.
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constexpr bool probe_top_at_edge = false;
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probe_side(m, uncertainty, TOP);
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#endif
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@ -287,9 +299,11 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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#ifdef CALIBRATION_MEASURE_RIGHT
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probe_side(m, uncertainty, RIGHT, probe_top_at_edge);
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#endif
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#ifdef CALIBRATION_MEASURE_FRONT
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probe_side(m, uncertainty, FRONT, probe_top_at_edge);
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#endif
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#ifdef CALIBRATION_MEASURE_LEFT
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probe_side(m, uncertainty, LEFT, probe_top_at_edge);
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#endif
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@ -297,7 +311,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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probe_side(m, uncertainty, BACK, probe_top_at_edge);
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#endif
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/* Compute the measured center of the calibration object. */
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// Compute the measured center of the calibration object.
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#if HAS_X_CENTER
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m.obj_center[X_AXIS] = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2;
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#endif
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@ -305,8 +319,8 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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m.obj_center[Y_AXIS] = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2;
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#endif
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/* Compute the outside diameter of the nozzle at the height
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* at which it makes contact with the calibration object */
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// Compute the outside diameter of the nozzle at the height
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// at which it makes contact with the calibration object
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#if HAS_X_CENTER
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m.nozzle_outer_dimension[X_AXIS] = m.obj_side[RIGHT] - m.obj_side[LEFT] - m.dimensions[X_AXIS];
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#endif
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@ -316,8 +330,8 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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park_above_object(m, uncertainty);
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/* The positional error is the difference between the known calibration
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* object location and the measured calibration object location */
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// The difference between the known and the measured location
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// of the calibration object is the positional error
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m.pos_error[X_AXIS] =
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#if HAS_X_CENTER
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m.true_center[X_AXIS] - m.obj_center[X_AXIS];
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@ -434,9 +448,9 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
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// Backlash compensation should be off while measuring backlash
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{
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// New scope for TEMPORARY_BACKLASH_STATE
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TEMPORARY_BACKLASH_STATE(false);
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TEMPORARY_BACKLASH_SMOOTHING(0);
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// New scope for TEMPORARY_BACKLASH_CORRECTION
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TEMPORARY_BACKLASH_CORRECTION(0.0f);
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TEMPORARY_BACKLASH_SMOOTHING(0.0f);
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probe_sides(m, uncertainty);
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@ -466,9 +480,9 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
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// directions to take up any backlash
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{
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// New scope for TEMPORARY_BACKLASH_STATE
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TEMPORARY_BACKLASH_STATE(true);
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TEMPORARY_BACKLASH_SMOOTHING(0);
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// New scope for TEMPORARY_BACKLASH_CORRECTION
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TEMPORARY_BACKLASH_CORRECTION(1.0f);
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TEMPORARY_BACKLASH_SMOOTHING(0.0f);
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move_to(
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X_AXIS, current_position[X_AXIS] + 3,
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Y_AXIS, current_position[Y_AXIS] + 3,
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@ -484,8 +498,9 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
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}
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inline void update_measurements(measurements_t &m, const AxisEnum axis) {
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const float true_center[XYZ] = CALIBRATION_OBJECT_CENTER;
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current_position[axis] += m.pos_error[axis];
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m.obj_center[axis] = m.true_center[axis];
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m.obj_center[axis] = true_center[axis];
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m.pos_error[axis] = 0;
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}
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@ -501,8 +516,8 @@ inline void update_measurements(measurements_t &m, const AxisEnum axis) {
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* - Call calibrate_backlash() beforehand for best accuracy
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*/
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inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const uint8_t extruder) {
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TEMPORARY_BACKLASH_STATE(true);
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TEMPORARY_BACKLASH_SMOOTHING(0);
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TEMPORARY_BACKLASH_CORRECTION(1.0f);
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TEMPORARY_BACKLASH_SMOOTHING(0.0f);
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#if HOTENDS > 1
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set_nozzle(m, extruder);
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@ -510,7 +525,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
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probe_sides(m, uncertainty);
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/* Adjust the hotend offset */
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// Adjust the hotend offset
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#if HOTENDS > 1
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#if HAS_X_CENTER
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hotend_offset[X_AXIS][extruder] += m.pos_error[X_AXIS];
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@ -545,8 +560,8 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
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* uncertainty in - How far away from the object to begin probing
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*/
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inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty) {
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TEMPORARY_BACKLASH_STATE(true);
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TEMPORARY_BACKLASH_SMOOTHING(0);
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TEMPORARY_BACKLASH_CORRECTION(1.0f);
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TEMPORARY_BACKLASH_SMOOTHING(0.0f);
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HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
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@ -574,23 +589,22 @@ inline void calibrate_all() {
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reset_nozzle_offsets();
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#endif
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TEMPORARY_BACKLASH_STATE(true);
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TEMPORARY_BACKLASH_SMOOTHING(0);
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TEMPORARY_BACKLASH_CORRECTION(1.0f);
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TEMPORARY_BACKLASH_SMOOTHING(0.0f);
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/* Do a fast and rough calibration of the toolheads */
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// Do a fast and rough calibration of the toolheads
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calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNKNOWN);
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#if ENABLED(BACKLASH_GCODE)
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calibrate_backlash(m, CALIBRATION_MEASUREMENT_UNCERTAIN);
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#endif
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/* Cycle the toolheads so the servos settle into their "natural" positions */
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// Cycle the toolheads so the servos settle into their "natural" positions
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#if HOTENDS > 1
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HOTEND_LOOP() set_nozzle(m, e);
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#endif
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/* Do a slow and precise calibration of the toolheads */
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// Do a slow and precise calibration of the toolheads
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calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNCERTAIN);
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move_to(X_AXIS, 150); // Park nozzle away from calibration object
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@ -607,6 +621,9 @@ inline void calibrate_all() {
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* no args - Perform entire calibration sequence (backlash + position on all toolheads)
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*/
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void GcodeSuite::G425() {
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TEMPORARY_SOFT_ENDSTOP_STATE(false);
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TEMPORARY_BED_LEVELING_STATE(false);
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if (axis_unhomed_error()) return;
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measurements_t m;
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