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Patch and cleanup run_z_probe

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This commit is contained in:
Scott Lahteine 2016-07-22 13:50:31 -07:00
parent 39caef4279
commit b78590e63d
1 changed files with 15 additions and 18 deletions
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33
Marlin/Marlin_main.cpp
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@ -2087,9 +2087,9 @@ static void clean_up_after_endstop_or_probe_move() {
}
#if ENABLED(DELTA)
#define SET_CURRENT_FROM_STEPPERS() current_position[Z_AXIS] = z_before - stepper.get_axis_position_mm(Z_AXIS) + z_mm
#define Z_FROM_STEPPERS() z_before + stepper.get_axis_position_mm(Z_AXIS) - z_mm
#else
#define SET_CURRENT_FROM_STEPPERS() current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS)
#define Z_FROM_STEPPERS() stepper.get_axis_position_mm(Z_AXIS)
#endif
// Do a single Z probe and return with current_position[Z_AXIS]
@ -2104,31 +2104,28 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
#if ENABLED(DELTA)
float z_before = current_position[Z_AXIS];
float z_mm = stepper.get_axis_position_mm(Z_AXIS);
float z_before = current_position[Z_AXIS], // Current Z
z_mm = stepper.get_axis_position_mm(Z_AXIS); // Some tower's current position
#endif
current_position[Z_AXIS] = -(Z_MAX_LENGTH + 10);
do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_FAST);
endstops.hit_on_purpose(); // clear endstop hit flags
// Get the current stepper position after bumping an endstop
SET_CURRENT_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are
do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST);
endstops.hit_on_purpose();
current_position[Z_AXIS] = Z_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC();
// move up the retract distance
current_position[Z_AXIS] += home_bump_mm(Z_AXIS);
do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_FAST);
do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), Z_PROBE_SPEED_FAST);
#if ENABLED(DELTA)
z_before = current_position[Z_AXIS];
z_mm = stepper.get_axis_position_mm(Z_AXIS);
#endif
// move back down slowly to find bed
current_position[Z_AXIS] -= home_bump_mm(Z_AXIS) * 2;
do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_SLOW);
endstops.hit_on_purpose(); // clear endstop hit flags
// Get the current stepper position after bumping an endstop
SET_CURRENT_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are
do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW);
endstops.hit_on_purpose();
current_position[Z_AXIS] = Z_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);