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Merge pull request #3288 from thinkyhead/rc_servo_plus_delta

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Fix servo deploy/stow issues with G29 and Delta
This commit is contained in:
Scott Lahteine 2016-03-30 19:01:00 -07:00
commit 4f85226106
2 changed files with 46 additions and 49 deletions
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2
Marlin/Conditionals.h
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@ -339,7 +339,7 @@
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#endif
#define SERVO_LEVELING (defined(AUTO_BED_LEVELING_FEATURE) && defined(Z_ENDSTOP_SERVO_NR))
#define SERVO_LEVELING (ENABLED(AUTO_BED_LEVELING_FEATURE) && defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
/**
* Sled Options

93
Marlin/Marlin_main.cpp
View file

@ -1999,24 +1999,33 @@ static void homeaxis(AxisEnum axis) {
sync_plan_position();
#if ENABLED(Z_PROBE_SLED)
// Get Probe
if (axis == Z_AXIS) {
if (axis_home_dir < 0) dock_sled(false);
}
#define _Z_SERVO_TEST (axis != Z_AXIS) // deploy Z, servo.move XY
#define _Z_PROBE_SUBTEST false // Z will never be invoked
#define _Z_DEPLOY (dock_sled(false))
#define _Z_STOW (dock_sled(true))
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
// Deploy a Z probe if there is one, and homing towards the bed
if (axis == Z_AXIS) {
if (axis_home_dir < 0) deploy_z_probe();
}
#define _Z_SERVO_TEST (axis != Z_AXIS) // servo.move XY
#define _Z_PROBE_SUBTEST false // Z will never be invoked
#define _Z_DEPLOY (deploy_z_probe())
#define _Z_STOW (stow_z_probe())
#elif HAS_SERVO_ENDSTOPS
#define _Z_SERVO_TEST true // servo.move X, Y, Z
#define _Z_PROBE_SUBTEST (axis == Z_AXIS) // Z is a probe
#endif
if (axis == Z_AXIS) {
// If there's a Z probe that needs deployment...
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
// ...and homing Z towards the bed? Deploy it.
if (axis_home_dir < 0) _Z_DEPLOY;
#endif
}
#if HAS_SERVO_ENDSTOPS
// Engage Servo endstop if enabled
if (axis != Z_AXIS && servo_endstop_id[axis] >= 0) {
// Engage an X or Y Servo endstop if enabled
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
z_probe_is_active = true;
if (_Z_PROBE_SUBTEST) z_probe_is_active = true;
}
#endif
@ -2145,42 +2154,30 @@ static void homeaxis(AxisEnum axis) {
axis_known_position[axis] = true;
axis_homed[axis] = true;
#if ENABLED(Z_PROBE_SLED)
// bring Z probe back
if (axis == Z_AXIS) {
if (axis_home_dir < 0) dock_sled(true);
// Put away the Z probe
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
}
#endif
_Z_STOW;
}
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
// Deploy a Z probe if there is one, and homing towards the bed
if (axis == Z_AXIS) {
if (axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> SERVO_LEVELING > stow_z_probe");
}
#endif
stow_z_probe();
}
}
else
#endif
{
#if HAS_SERVO_ENDSTOPS
// Retract Servo endstop if enabled
if (servo_endstop_id[axis] >= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
}
#endif
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
z_probe_is_active = false;
}
#endif
}
// Retract Servo endstop if enabled
#if HAS_SERVO_ENDSTOPS
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
}
#endif
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
if (_Z_PROBE_SUBTEST) z_probe_is_active = false;
}
#endif
}
@ -3074,7 +3071,7 @@ inline void gcode_G28() {
#if ENABLED(Z_PROBE_SLED)
dock_sled(false); // engage (un-dock) the Z probe
#elif ENABLED(Z_PROBE_ALLEN_KEY) //|| SERVO_LEVELING
#elif ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && SERVO_LEVELING)
deploy_z_probe();
#endif
@ -3342,7 +3339,7 @@ inline void gcode_G28() {
#if ENABLED(DELTA)
// Allen Key Probe for Delta
#if ENABLED(Z_PROBE_ALLEN_KEY)
#if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
stow_z_probe();
#elif Z_RAISE_AFTER_PROBING > 0
raise_z_after_probing(); // ???