diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index b7ad8f49a..975dfece0 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1300,6 +1300,10 @@ static void setup_for_endstop_move() { feedrate = oldFeedRate; } + inline void do_blocking_move_to_xy(float x, float y) { do_blocking_move_to(x, y, current_position[Z_AXIS]); } + inline void do_blocking_move_to_x(float x) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); } + inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); } + static void clean_up_after_endstop_move() { #ifdef ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false); @@ -1408,7 +1412,7 @@ static void setup_for_endstop_move() { #if Z_RAISE_AFTER_PROBING > 0 if (doRaise) { - do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position + do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position st_synchronize(); } #endif @@ -1494,8 +1498,8 @@ static void setup_for_endstop_move() { // Probe bed height at position (x,y), returns the measured z value static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) { // Move Z up to the z_before height, then move the probe to the given XY - do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); // this also updates current_position - do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); // this also updates current_position + do_blocking_move_to_z(z_before); // this also updates current_position + do_blocking_move_to_xy(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER); // this also updates current_position #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) if (probe_action & ProbeDeploy) deploy_z_probe(); @@ -1604,20 +1608,18 @@ static void setup_for_endstop_move() { return; } + float oldXpos = current_position[X_AXIS]; // save x position if (dock) { - float oldXpos = current_position[X_AXIS]; // save x position - do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // rise Z - do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1, current_position[Y_AXIS], current_position[Z_AXIS]); // Dock sled a bit closer to ensure proper capturing + do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // raise Z + do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); // Dock sled a bit closer to ensure proper capturing digitalWrite(SLED_PIN, LOW); // turn off magnet - do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking } else { - float oldXpos = current_position[X_AXIS]; // save x position float z_loc = current_position[Z_AXIS]; if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING; do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position digitalWrite(SLED_PIN, HIGH); // turn on magnet - do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking } + do_blocking_move_to_x(oldXpos); // return to position before docking } #endif // Z_PROBE_SLED @@ -2744,11 +2746,28 @@ inline void gcode_G28() { float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER, y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER, z_tmp = current_position[Z_AXIS], - real_z = st_get_position_mm(Z_AXIS); //get the real Z (since the auto bed leveling is already correcting the plane) + real_z = st_get_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane) apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the probe offset - //line below controls z probe offset, zprobe_zoffset is the actual offset that can be modified via m851 or is read from EEPROM - current_position[Z_AXIS] = z_tmp - real_z - zprobe_zoffset; // The difference is added to current position and sent to planner. + + // Get the current Z position and send it to the planner. + // + // >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z (most recent plan_set_position/sync_plan_position) + // + // >> zprobe_zoffset : Z distance from nozzle to probe (set by default, M851, EEPROM, or Menu) + // + // >> Z_RAISE_AFTER_PROBING : The distance the probe will have lifted after the last probe + // + // >> Should home_offset[Z_AXIS] be included? + // + // Discussion: home_offset[Z_AXIS] was applied in G28 to set the starting Z. + // If Z is not tweaked in G29 -and- the Z probe in G29 is not actually "homing" Z... + // then perhaps it should not be included here. The purpose of home_offset[] is to + // adjust for inaccurate endstops, not for reasonably accurate probes. If it were + // added here, it could be seen as a compensating factor for the Z probe. + // + current_position[Z_AXIS] = -zprobe_zoffset + Z_RAISE_AFTER_PROBING + (z_tmp - real_z); + // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The probe determines Z=0, not "Z home" sync_plan_position(); } #endif // !DELTA @@ -4542,8 +4561,7 @@ inline void gcode_M400() { st_synchronize(); } void raise_z_for_servo() { float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING; z_dest += axis_known_position[Z_AXIS] ? zprobe_zoffset : zpos; - if (zpos < z_dest) - do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_dest); // also updates current_position + if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position } #endif