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Reduce find_closest_mesh_point_of_type a little

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This commit is contained in:
Scott Lahteine 2017-05-15 21:09:06 -05:00
parent f1a1c6873e
commit 4ec4ecff1a
1 changed files with 7 additions and 16 deletions
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23
Marlin/ubl_G29.cpp
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@ -1308,12 +1308,10 @@
mesh_index_pair out_mesh;
out_mesh.x_index = out_mesh.y_index = -1;
const float current_x = current_position[X_AXIS],
current_y = current_position[Y_AXIS];
// Get our reference position. Either the nozzle or probe location.
const float px = lx - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = ly - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
const float px = RAW_X_POSITION(lx) - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = RAW_Y_POSITION(ly) - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0),
raw_x = RAW_CURRENT_POSITION(X), raw_y = RAW_CURRENT_POSITION(Y);
float closest = far_flag ? -99999.99 : 99999.99;
@ -1327,27 +1325,20 @@
// We only get here if we found a Mesh Point of the specified type
const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[i]), // Check if we can probe this mesh location
rawy = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
const float mx = pgm_read_float(&ubl.mesh_index_to_xpos[i]), // Check if we can probe this mesh location
my = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
// If using the probe as the reference there are some unreachable locations.
// Also for round beds, there are grid points outside the bed that nozzle can't reach.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
bool reachable = probe_as_reference ?
position_is_reachable_by_probe_raw_xy( rawx, rawy ) :
position_is_reachable_raw_xy( rawx, rawy );
if ( ! reachable )
if ((probe_as_reference && position_is_reachable_by_probe_raw_xy(mx, my)) || position_is_reachable_raw_xy(mx, my))
continue;
// Reachable. Check if it's the closest location to the nozzle.
// Add in a weighting factor that considers the current location of the nozzle.
const float mx = LOGICAL_X_POSITION(rawx), // Check if we can probe this mesh location
my = LOGICAL_Y_POSITION(rawy);
float distance = HYPOT(px - mx, py - my) + HYPOT(current_x - mx, current_y - my) * 0.1;
float distance = HYPOT(px - mx, py - my) + HYPOT(raw_x - mx, raw_y - my) * 0.1;
/**
* If doing the far_flag action, we want to be as far as possible