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Merge pull request #4081 from thinkyhead/rc_tweaky_m48_tweaks

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Cleanup of M48
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Roxy-3D 2016-06-18 22:21:16 -05:00 committed by GitHub
commit 96b8bcca84
1 changed files with 90 additions and 115 deletions
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205
Marlin/Marlin_main.cpp
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@ -3516,22 +3516,16 @@ inline void gcode_G28() {
float measured_z, float measured_z,
z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS]; z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS];
if (probePointCounter) { #if ENABLED(DEBUG_LEVELING_FEATURE)
#if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) { SERIAL_ECHOPGM("z_before = (");
SERIAL_ECHOPAIR("z_before = (between) ", (Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS])); if (probePointCounter)
SERIAL_EOL; SERIAL_ECHOPGM("between) ");
} else
#endif SERIAL_ECHOPGM("before) ");
} SERIAL_ECHOLN(z_before);
else { }
#if ENABLED(DEBUG_LEVELING_FEATURE) #endif
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("z_before = (before) ", Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS]);
SERIAL_EOL;
}
#endif
}
#if ENABLED(DELTA) #if ENABLED(DELTA)
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer. // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
@ -4199,57 +4193,41 @@ inline void gcode_M42() {
return; return;
} }
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50]; int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
int8_t verbose_level = 1, n_samples = 10, n_legs = 0, schizoid_flag = 0; if (verbose_level < 0 || verbose_level > 4) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
if (code_seen('V')) { return;
verbose_level = code_value_byte();
if (verbose_level < 0 || verbose_level > 4) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
return;
}
} }
if (verbose_level > 0) if (verbose_level > 0)
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n"); SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
if (code_seen('P')) { int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
n_samples = code_value_byte(); if (n_samples < 4 || n_samples > 50) {
if (n_samples < 4 || n_samples > 50) { SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n"); return;
return;
}
} }
float X_current = current_position[X_AXIS], float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS], Y_current = current_position[Y_AXIS],
Z_current = current_position[Z_AXIS], Z_start_location = current_position[Z_AXIS] + Z_RAISE_BEFORE_PROBING;
X_probe_location = X_current + X_PROBE_OFFSET_FROM_EXTRUDER,
Y_probe_location = Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER,
Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
bool deploy_probe_for_each_reading = code_seen('E'); bool deploy_probe_for_each_reading = code_seen('E');
if (code_seen('X')) { float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
X_probe_location = code_value_axis_units(X_AXIS); #if DISABLED(DELTA)
#if DISABLED(DELTA) if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) { out_of_range_error(PSTR("X"));
out_of_range_error(PSTR("X")); return;
return; }
} #endif
#endif
}
if (code_seen('Y')) { float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
Y_probe_location = code_value_axis_units(Y_AXIS); #if DISABLED(DELTA)
#if DISABLED(DELTA) if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) { out_of_range_error(PSTR("Y"));
out_of_range_error(PSTR("Y")); return;
return; }
} #else
#endif
}
#if ENABLED(DELTA)
if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) { if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n"); SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n");
return; return;
@ -4257,20 +4235,15 @@ inline void gcode_M42() {
#endif #endif
bool seen_L = code_seen('L'); bool seen_L = code_seen('L');
uint8_t n_legs = seen_L ? code_value_byte() : 0;
if (seen_L) { if (n_legs < 0 || n_legs > 15) {
n_legs = code_value_byte(); SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
if (n_legs < 0 || n_legs > 15) { return;
SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
return;
}
if (n_legs == 1) n_legs = 2;
} }
if (n_legs == 1) n_legs = 2;
if (code_seen('S')) { bool schizoid_flag = code_seen('S');
schizoid_flag++; if (schizoid_flag && !seen_L) n_legs = 7;
if (!seen_L) n_legs = 7;
}
/** /**
* Now get everything to the specified probe point So we can safely do a * Now get everything to the specified probe point So we can safely do a
@ -4299,26 +4272,29 @@ inline void gcode_M42() {
*/ */
setup_for_endstop_move(); setup_for_endstop_move();
probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, // Height before each probe (except the first)
float z_between = home_offset[Z_AXIS] + (deploy_probe_for_each_reading ? Z_RAISE_BEFORE_PROBING : Z_RAISE_BETWEEN_PROBINGS);
// Deploy the probe and probe the first point
probe_pt(X_probe_location, Y_probe_location,
home_offset[Z_AXIS] + Z_RAISE_BEFORE_PROBING,
deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy, deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy,
verbose_level); verbose_level);
raise_z_after_probing(); randomSeed(millis());
double mean, sigma, sample_set[n_samples];
for (uint8_t n = 0; n < n_samples; n++) { for (uint8_t n = 0; n < n_samples; n++) {
randomSeed(millis());
delay(500);
if (n_legs) { if (n_legs) {
float radius, angle = random(0.0, 360.0);
int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
float angle = random(0.0, 360.0),
radius = random( radius = random(
#if ENABLED(DELTA) #if ENABLED(DELTA)
DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3 DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
#else #else
5, X_MAX_LENGTH / 8 5, X_MAX_LENGTH / 8
#endif #endif
); );
if (verbose_level > 3) { if (verbose_level > 3) {
SERIAL_ECHOPAIR("Starting radius: ", radius); SERIAL_ECHOPAIR("Starting radius: ", radius);
@ -4383,26 +4359,21 @@ inline void gcode_M42() {
} // n_legs loop } // n_legs loop
} // n_legs } // n_legs
/** // The last probe will differ
* We don't really have to do this move, but if we don't we can see a bool last_probe = (n == n_samples - 1);
* funny shift in the Z Height because the user might not have the
* Z_RAISE_BEFORE_PROBING height identical to the Z_RAISE_BETWEEN_PROBING // Probe a single point
* height. This gets us back to the probe location at the same height that sample_set[n] = probe_pt(
* we have been running around the circle at. X_probe_location, Y_probe_location,
*/ z_between,
do_blocking_move_to_xy(X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER), Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER)); deploy_probe_for_each_reading ? ProbeDeployAndStow : last_probe ? ProbeStow : ProbeStay,
if (deploy_probe_for_each_reading) verbose_level
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level); );
else {
if (n == n_samples - 1)
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStow, verbose_level); else
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
}
/** /**
* Get the current mean for the data points we have so far * Get the current mean for the data points we have so far
*/ */
sum = 0.0; double sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j]; for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1); mean = sum / (n + 1);
@ -4416,38 +4387,42 @@ inline void gcode_M42() {
sum += ss * ss; sum += ss * ss;
} }
sigma = sqrt(sum / (n + 1)); sigma = sqrt(sum / (n + 1));
if (verbose_level > 1) { if (verbose_level > 0) {
SERIAL_PROTOCOL(n + 1); if (verbose_level > 1) {
SERIAL_PROTOCOLPGM(" of "); SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOL((int)n_samples); SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOLPGM(" z: "); SERIAL_PROTOCOL((int)n_samples);
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6); SERIAL_PROTOCOLPGM(" z: ");
delay(50); SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
if (verbose_level > 2) { delay(50);
SERIAL_PROTOCOLPGM(" mean: "); if (verbose_level > 2) {
SERIAL_PROTOCOL_F(mean, 6); SERIAL_PROTOCOLPGM(" mean: ");
SERIAL_PROTOCOLPGM(" sigma: "); SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOL_F(sigma, 6); SERIAL_PROTOCOLPGM(" sigma: ");
SERIAL_PROTOCOL_F(sigma, 6);
}
} }
SERIAL_EOL;
} }
if (verbose_level > 0) SERIAL_EOL;
delay(50);
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
} // End of probe loop code
// raise_z_after_probing(); // Raise before the next loop for the legs,
// or do the final raise after the last probe
if (n_legs || last_probe) {
do_blocking_move_to_z(last_probe ? home_offset[Z_AXIS] + Z_RAISE_AFTER_PROBING : z_between);
if (!last_probe) delay(500);
}
} // End of probe loop
if (verbose_level > 0) { if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: "); SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6); SERIAL_PROTOCOL_F(mean, 6);
SERIAL_EOL; SERIAL_EOL;
delay(25);
} }
SERIAL_PROTOCOLPGM("Standard Deviation: "); SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6); SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL; SERIAL_EOL; SERIAL_EOL; SERIAL_EOL;
delay(25);
clean_up_after_endstop_move(); clean_up_after_endstop_move();