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Merge pull request #4207 from AnHardt/AllenKey2

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Clean up, simplify and generalize the Allen-key-probe code.
This commit is contained in:
Scott Lahteine 2016-07-05 19:34:36 -07:00 committed by GitHub
commit cb17871a48
8 changed files with 292 additions and 221 deletions
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4
Marlin/Conditionals.h
View file

@ -753,6 +753,10 @@
#define HAS_BED_PROBE (PROBE_SELECTED && PROBE_PIN_CONFIGURED)
#if ENABLED(Z_PROBE_ALLEN_KEY)
#define PROBE_IS_TRIGGERED_WHEN_STOWED_TEST
#endif
/**
* Bed Probe dependencies
*/

448
Marlin/Marlin_main.cpp
View file

@ -1651,7 +1651,7 @@ static void clean_up_after_endstop_or_probe_move() {
* Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested
*/
static void do_blocking_move_to(float x, float y, float z) {
static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0) {
float old_feedrate = feedrate;
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -1660,7 +1660,7 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DELTA)
feedrate = XY_PROBE_FEEDRATE;
feedrate = (feed_rate != 0.0) ? feed_rate : XY_PROBE_FEEDRATE;
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
@ -1675,19 +1675,19 @@ static void clean_up_after_endstop_or_probe_move() {
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < z) {
feedrate = homing_feedrate[Z_AXIS];
feedrate = (feed_rate != 0.0) ? feed_rate : homing_feedrate[Z_AXIS];
current_position[Z_AXIS] = z;
line_to_current_position();
}
feedrate = XY_PROBE_FEEDRATE;
feedrate = (feed_rate != 0.0) ? feed_rate : XY_PROBE_FEEDRATE;
current_position[X_AXIS] = x;
current_position[Y_AXIS] = y;
line_to_current_position();
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > z) {
feedrate = homing_feedrate[Z_AXIS];
feedrate = (feed_rate != 0.0) ? feed_rate : homing_feedrate[Z_AXIS];
current_position[Z_AXIS] = z;
line_to_current_position();
}
@ -1699,12 +1699,12 @@ static void clean_up_after_endstop_or_probe_move() {
feedrate = old_feedrate;
}
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_x(float x, float feed_rate = 0.0) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], feed_rate);
}
inline void do_blocking_move_to_z(float z) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
inline void do_blocking_move_to_z(float z, float feed_rate = 0.0) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, feed_rate);
}
/**
@ -1735,7 +1735,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif //HAS_BED_PROBE
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
@ -1783,215 +1783,244 @@ static void clean_up_after_endstop_or_probe_move() {
}
#endif
if (axis_unhomed_error(true, false, false)) return;
float oldXpos = current_position[X_AXIS]; // save x position
// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
digitalWrite(SLED_PIN, !stow); // switch solenoid
do_blocking_move_to_x(oldXpos); // return to position before docking
}
#endif // Z_PROBE_SLED
#if ENABLED(Z_PROBE_ALLEN_KEY)
void run_deploy_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE);
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE);
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE);
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE);
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE);
#endif
}
void run_stow_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
#define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
#define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
#define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE);
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
#define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
#define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
#define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE);
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
#define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
#define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
#define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE);
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
#define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
#define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
#define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE);
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
#define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
#define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
#define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
#endif
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE);
#endif
}
#endif
#if HAS_BED_PROBE
static void deploy_z_probe() {
// TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
#if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
#else
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
#endif
#endif
#define DEPLOY_PROBE() set_probe_deployed( true )
#define STOW_PROBE() set_probe_deployed( false )
// returns false for ok and true for failure
static bool set_probe_deployed(bool deploy) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position);
if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
SERIAL_ECHOPAIR("deploy: ", deploy);
}
#endif
if (endstops.z_probe_enabled) return;
if (endstops.z_probe_enabled == deploy) return false;
// Make room for probe
do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
#if ENABLED(Z_PROBE_SLED)
dock_sled(false);
#elif HAS_Z_SERVO_ENDSTOP
// Engage Z Servo endstop if enabled
DEPLOY_Z_SERVO();
if (axis_unhomed_error(true, false, false)) { stop(); return true; }
#elif ENABLED(Z_PROBE_ALLEN_KEY)
float old_feedrate = feedrate;
if (axis_unhomed_error(true, true, true )) { stop(); return true; }
#endif
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
float oldXpos = current_position[X_AXIS]; // save x position
float oldYpos = current_position[Y_AXIS]; // save y position
#ifdef _TRIGGERED_WHEN_STOWED_TEST
// If endstop is already false, the Z probe is deployed
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop)
#else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop)
#endif
{
// Move to the start position to initiate deployment
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z;
prepare_move_to_destination(); // this will also set_current_to_destination
// Move to engage deployment
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE;
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_X != Z_PROBE_ALLEN_KEY_DEPLOY_1_X)
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_X;
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Y != Z_PROBE_ALLEN_KEY_DEPLOY_1_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y;
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Z != Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Z;
prepare_move_to_destination();
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
// Move to trigger deployment
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_X != Z_PROBE_ALLEN_KEY_DEPLOY_2_X)
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_X;
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Y != Z_PROBE_ALLEN_KEY_DEPLOY_2_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Y;
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Z != Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Z;
prepare_move_to_destination();
#endif
}
// Partially Home X,Y for safety
destination[X_AXIS] *= 0.75;
destination[Y_AXIS] *= 0.75;
prepare_move_to_destination(); // this will also set_current_to_destination
feedrate = old_feedrate;
stepper.synchronize();
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop)
#else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop)
#endif
{
if (IsRunning()) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
stop();
}
#else
// Nothing to be done. Just enable_z_probe below...
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
// Would a goto be less ugly?
//while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
// for a triggered when stowed manual probe.
#endif
endstops.enable_z_probe();
}
static void stow_z_probe() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
#endif
if (!endstops.z_probe_enabled) return;
// Make more room for the servo
do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
#if ENABLED(Z_PROBE_SLED)
dock_sled(true);
dock_sled(!deploy);
#elif HAS_Z_SERVO_ENDSTOP
// Change the Z servo angle
STOW_Z_SERVO();
servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[((deploy) ? 0 : 1)]);
#elif ENABLED(Z_PROBE_ALLEN_KEY)
float old_feedrate = feedrate;
// Move up for safety
feedrate = Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE;
#if _Z_RAISE_PROBE_DEPLOY_STOW > 0
destination[Z_AXIS] = current_position[Z_AXIS] + _Z_RAISE_PROBE_DEPLOY_STOW;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
#endif
// Move to the start position to initiate retraction
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Z;
prepare_move_to_destination();
// Move the nozzle down to push the Z probe into retracted position
if (Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
if (Z_PROBE_ALLEN_KEY_STOW_2_X != Z_PROBE_ALLEN_KEY_STOW_1_X)
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_X;
if (Z_PROBE_ALLEN_KEY_STOW_2_Y != Z_PROBE_ALLEN_KEY_STOW_1_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z;
prepare_move_to_destination();
// Move up for safety
if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
if (Z_PROBE_ALLEN_KEY_STOW_3_X != Z_PROBE_ALLEN_KEY_STOW_2_X)
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_X;
if (Z_PROBE_ALLEN_KEY_STOW_3_Y != Z_PROBE_ALLEN_KEY_STOW_2_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z;
prepare_move_to_destination();
// Home XY for safety
feedrate = homing_feedrate[X_AXIS] / 2;
destination[X_AXIS] = 0;
destination[Y_AXIS] = 0;
prepare_move_to_destination(); // this will also set_current_to_destination
feedrate = old_feedrate;
stepper.synchronize();
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
if (!z_probe_endstop)
#else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (!z_min_endstop)
#endif
{
if (IsRunning()) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
stop();
}
#else
// Nothing to do here. Just clear endstops.z_probe_enabled
if (!deploy) run_stow_moves_script();
else run_deploy_moves_script();
#else
// Nothing to be done. Just enable_z_probe below...
#endif
endstops.enable_z_probe(false);
#ifdef _TRIGGERED_WHEN_STOWED_TEST
}; // opened before the probe specific actions
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) {
if (IsRunning()) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
stop();
return true;
}
#endif
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
endstops.enable_z_probe( deploy );
return false;
}
// Do a single Z probe and return with current_position[Z_AXIS]
@ -2081,8 +2110,8 @@ static void clean_up_after_endstop_or_probe_move() {
return current_position[Z_AXIS];
}
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_xy(float x, float y, float feed_rate = 0.0) {
do_blocking_move_to(x, y, current_position[Z_AXIS], feed_rate);
}
//
@ -2124,7 +2153,7 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
deploy_z_probe();
if (DEPLOY_PROBE()) return NAN;
float measured_z = run_z_probe();
@ -2132,7 +2161,7 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
stow_z_probe();
if (STOW_PROBE()) return NAN;
}
else {
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2340,7 +2369,7 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
deploy_z_probe();
if (DEPLOY_PROBE()) return;
}
#endif
@ -2467,7 +2496,7 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
stow_z_probe();
if (STOW_PROBE()) return;
}
#endif
@ -3381,12 +3410,7 @@ inline void gcode_G28() {
}
bool dryrun = code_seen('D');
#if ENABLED(Z_PROBE_ALLEN_KEY)
const bool stow_probe_after_each = false;
#else
bool stow_probe_after_each = code_seen('E');
#endif
bool stow_probe_after_each = code_seen('E');
#if ENABLED(AUTO_BED_LEVELING_GRID)
@ -3485,8 +3509,8 @@ inline void gcode_G28() {
setup_for_endstop_or_probe_move();
// Deploy the probe. Servo will raise if needed.
deploy_z_probe();
// Deploy the probe. Probe will raise if needed.
if (DEPLOY_PROBE()) return;
bed_leveling_in_progress = true;
@ -3591,7 +3615,7 @@ inline void gcode_G28() {
#endif // !AUTO_BED_LEVELING_GRID
// Raise to _Z_RAISE_PROBE_DEPLOY_STOW. Stow the probe.
stow_z_probe();
if (STOW_PROBE()) return;
// Restore state after probing
clean_up_after_endstop_or_probe_move();
@ -3798,12 +3822,12 @@ inline void gcode_G28() {
/**
* G31: Deploy the Z probe
*/
inline void gcode_G31() { deploy_z_probe(); }
inline void gcode_G31() { DEPLOY_PROBE(); }
/**
* G32: Stow the Z probe
*/
inline void gcode_G32() { stow_z_probe(); }
inline void gcode_G32() { STOW_PROBE(); }
#endif // Z_PROBE_SLED
@ -4144,11 +4168,7 @@ inline void gcode_M42() {
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS];
#if ENABLED(Z_PROBE_ALLEN_KEY)
const bool stow_probe_after_each = false;
#else
bool stow_probe_after_each = code_seen('E');
#endif
bool stow_probe_after_each = code_seen('E');
float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
#if DISABLED(DELTA)
@ -4315,7 +4335,7 @@ inline void gcode_M42() {
} // End of probe loop
stow_z_probe();
if (STOW_PROBE()) return;
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
@ -5891,12 +5911,12 @@ inline void gcode_M400() { stepper.synchronize(); }
/**
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() { deploy_z_probe(); }
inline void gcode_M401() { DEPLOY_PROBE(); }
/**
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() { stow_z_probe(); }
inline void gcode_M402() { STOW_PROBE(); }
#endif // HAS_BED_PROBE

11
Marlin/SanityCheck.h
View file

@ -425,14 +425,11 @@
#endif
/**
* Allen Key Z probe requires Delta and Auto Bed Leveling grid
* Allen Key
* Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis.
*/
#if ENABLED(Z_PROBE_ALLEN_KEY)
#if !ENABLED(DELTA)
#error "Z_PROBE_ALLEN_KEY is only usable with DELTA."
#elif ENABLED(MESH_BED_LEVELING) || (ENABLED(AUTO_BED_LEVELING_FEATURE) && !ENABLED(AUTO_BED_LEVELING_GRID))
#error "Z_PROBE_ALLEN_KEY can only use AUTO_BED_LEVELING_GRID leveling."
#endif
#if ENABLED(Z_PROBE_ALLEN_KEY) && (Z_HOME_DIR < 0) && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#error "You can't home to a z min endstop with a Z_PROBE_ALLEN_KEY"
#endif
/**

10
Marlin/example_configurations/delta/biv2.5/Configuration.h
View file

@ -518,6 +518,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE XY_PROBE_SPEED
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X Z_PROBE_ALLEN_KEY_DEPLOY_2_X * 0.75
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y Z_PROBE_ALLEN_KEY_DEPLOY_2_Y * 0.75
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_SPEED
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X 45.00 // Move right to trigger deploy pin
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y -125.00
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z 100.0
@ -538,6 +543,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
#define Z_PROBE_ALLEN_KEY_STOW_3_Z 100.0
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_SPEED
#define Z_PROBE_ALLEN_KEY_STOW_4_X 0.0
#define Z_PROBE_ALLEN_KEY_STOW_4_Y 0.0
#define Z_PROBE_ALLEN_KEY_STOW_4_Z Z_PROBE_ALLEN_KEY_STOW_3_Z
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_SPEED
#endif // Z_PROBE_ALLEN_KEY
// Enable Z_MIN_PROBE_ENDSTOP to use _both_ a Z Probe and a Z-min-endstop on the same machine.

10
Marlin/example_configurations/delta/generic/Configuration.h
View file

@ -517,6 +517,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_SPEED)/10
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X Z_PROBE_ALLEN_KEY_DEPLOY_2_X * 0.75
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y Z_PROBE_ALLEN_KEY_DEPLOY_2_Y * 0.75
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_SPEED
#define Z_PROBE_ALLEN_KEY_STOW_1_X -64.0 // Move the probe into position
#define Z_PROBE_ALLEN_KEY_STOW_1_Y 56.0
#define Z_PROBE_ALLEN_KEY_STOW_1_Z 23.0
@ -532,6 +537,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
#define Z_PROBE_ALLEN_KEY_STOW_3_Z 50.0
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_SPEED
#define Z_PROBE_ALLEN_KEY_STOW_4_X 0.0
#define Z_PROBE_ALLEN_KEY_STOW_4_Y 0.0
#define Z_PROBE_ALLEN_KEY_STOW_4_Z Z_PROBE_ALLEN_KEY_STOW_3_Z
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_SPEED
#endif // Z_PROBE_ALLEN_KEY
// Enable Z_MIN_PROBE_ENDSTOP to use _both_ a Z Probe and a Z-min-endstop on the same machine.

10
Marlin/example_configurations/delta/kossel_mini/Configuration.h
View file

@ -518,6 +518,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_SPEED/10)
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X Z_PROBE_ALLEN_KEY_DEPLOY_2_X * 0.75
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y Z_PROBE_ALLEN_KEY_DEPLOY_2_Y * 0.75
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_SPEED
#define Z_PROBE_ALLEN_KEY_STOW_DEPTH 20
// Move the probe into position
#define Z_PROBE_ALLEN_KEY_STOW_1_X -64.0
@ -535,6 +540,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
#define Z_PROBE_ALLEN_KEY_STOW_3_Z (Z_PROBE_ALLEN_KEY_STOW_1_Z+Z_PROBE_ALLEN_KEY_STOW_DEPTH)
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE (XY_PROBE_SPEED/2)
#define Z_PROBE_ALLEN_KEY_STOW_4_X 0.0
#define Z_PROBE_ALLEN_KEY_STOW_4_Y 0.0
#define Z_PROBE_ALLEN_KEY_STOW_4_Z Z_PROBE_ALLEN_KEY_STOW_3_Z
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_SPEED
#endif // Z_PROBE_ALLEN_KEY
// Enable Z_MIN_PROBE_ENDSTOP to use _both_ a Z Probe and a Z-min-endstop on the same machine.

10
Marlin/example_configurations/delta/kossel_pro/Configuration.h
View file

@ -509,6 +509,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE XY_PROBE_SPEED
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X Z_PROBE_ALLEN_KEY_DEPLOY_2_X * 0.75
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y Z_PROBE_ALLEN_KEY_DEPLOY_2_Y * 0.75
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_SPEED
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X 45.00 // Move right to trigger deploy pin
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y -125.00
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
@ -529,6 +534,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
#define Z_PROBE_ALLEN_KEY_STOW_3_Z 100.0
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_SPEED
#define Z_PROBE_ALLEN_KEY_STOW_4_X 0.0
#define Z_PROBE_ALLEN_KEY_STOW_4_Y 0.0
#define Z_PROBE_ALLEN_KEY_STOW_4_Z Z_PROBE_ALLEN_KEY_STOW_3_Z
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_SPEED
#endif // Z_PROBE_ALLEN_KEY
// Enable Z_MIN_PROBE_ENDSTOP to use _both_ a Z Probe and a Z-min-endstop on the same machine.

10
Marlin/example_configurations/delta/kossel_xl/Configuration.h
View file

@ -515,6 +515,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
//#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
//#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_SPEED)/10
//#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X Z_PROBE_ALLEN_KEY_DEPLOY_2_X * 0.75
//#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y Z_PROBE_ALLEN_KEY_DEPLOY_2_Y * 0.75
//#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
//#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_SPEED
//#define Z_PROBE_ALLEN_KEY_STOW_1_X -64.0 // Move the probe into position
//#define Z_PROBE_ALLEN_KEY_STOW_1_Y 56.0
//#define Z_PROBE_ALLEN_KEY_STOW_1_Z 23.0
@ -530,6 +535,11 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
//#define Z_PROBE_ALLEN_KEY_STOW_3_Z 50.0
//#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_SPEED
//#define Z_PROBE_ALLEN_KEY_STOW_4_X 0.0
//#define Z_PROBE_ALLEN_KEY_STOW_4_Y 0.0
//#define Z_PROBE_ALLEN_KEY_STOW_4_Z Z_PROBE_ALLEN_KEY_STOW_3_Z
//#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_SPEED
#endif // Z_PROBE_ALLEN_KEY
// Enable Z_MIN_PROBE_ENDSTOP to use _both_ a Z Probe and a Z-min-endstop on the same machine.