Always use deploy/stow for dock_sled
This commit is contained in:
Scott Lahteine
parent
3b457c2dd3
commit
f6b09cf465
1 changed files with 125 additions and 143 deletions
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@ -1655,6 +1655,10 @@ static void setup_for_endstop_move() {
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feedrate = old_feedrate;
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}
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inline void do_blocking_move_to_x(float x) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
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}
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inline void do_blocking_move_to_z(float z) {
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
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}
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@ -1684,6 +1688,63 @@ static void setup_for_endstop_move() {
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#endif
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#if HAS_BED_PROBE
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inline void raise_z_after_probing() {
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#if Z_RAISE_AFTER_PROBING > 0
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()");
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#endif
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
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#endif
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}
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#endif
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#if ENABLED(Z_PROBE_SLED)
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#ifndef SLED_DOCKING_OFFSET
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#define SLED_DOCKING_OFFSET 0
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#endif
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/**
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* Method to dock/undock a sled designed by Charles Bell.
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*
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* dock[in] If true, move to MAX_X and engage the electromagnet
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* offset[in] The additional distance to move to adjust docking location
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*/
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static void dock_sled(bool dock, int offset = 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("dock_sled(", dock);
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SERIAL_ECHOLNPGM(")");
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}
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#endif
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if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
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axis_unhomed_error(true);
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return;
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}
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if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
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float oldXpos = current_position[X_AXIS]; // save x position
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if (dock) {
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raise_z_after_probing(); // raise Z
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// Dock sled a bit closer to ensure proper capturing
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
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digitalWrite(SLED_PIN, LOW); // turn off magnet
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}
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else {
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float z_loc = current_position[Z_AXIS];
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if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
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digitalWrite(SLED_PIN, HIGH); // turn on magnet
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}
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do_blocking_move_to_x(oldXpos); // return to position before docking
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}
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#endif // Z_PROBE_SLED
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#if HAS_BED_PROBE
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static void deploy_z_probe() {
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@ -1694,7 +1755,11 @@ static void setup_for_endstop_move() {
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if (endstops.z_probe_enabled) return;
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#if HAS_Z_SERVO_ENDSTOP
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(false);
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#elif HAS_Z_SERVO_ENDSTOP
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// Make room for Z Servo
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raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
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@ -1792,7 +1857,11 @@ static void setup_for_endstop_move() {
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if (!endstops.z_probe_enabled) return;
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#if HAS_Z_SERVO_ENDSTOP
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(true);
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#elif HAS_Z_SERVO_ENDSTOP
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// Make room for the servo
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raise_z_for_servo(Z_RAISE_AFTER_PROBING);
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@ -2040,19 +2109,6 @@ static void setup_for_endstop_move() {
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do_blocking_move_to(x, y, current_position[Z_AXIS]);
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}
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inline void do_blocking_move_to_x(float x) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
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}
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inline void raise_z_after_probing() {
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#if Z_RAISE_AFTER_PROBING > 0
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()");
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#endif
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
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#endif
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}
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static void clean_up_after_endstop_move() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops.not_homing()");
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@ -2229,55 +2285,6 @@ static void setup_for_endstop_move() {
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}
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#endif
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#if ENABLED(Z_PROBE_SLED)
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#ifndef SLED_DOCKING_OFFSET
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#define SLED_DOCKING_OFFSET 0
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#endif
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/**
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* Method to dock/undock a sled designed by Charles Bell.
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*
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* dock[in] If true, move to MAX_X and engage the electromagnet
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* offset[in] The additional distance to move to adjust docking location
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*/
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static void dock_sled(bool dock, int offset = 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("dock_sled(", dock);
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SERIAL_ECHOLNPGM(")");
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}
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#endif
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if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
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axis_unhomed_error(true);
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return;
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}
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if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
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float oldXpos = current_position[X_AXIS]; // save x position
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if (dock) {
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raise_z_after_probing(); // raise Z
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// Dock sled a bit closer to ensure proper capturing
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
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digitalWrite(SLED_PIN, LOW); // turn off magnet
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}
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else {
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float z_loc = current_position[Z_AXIS];
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if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
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digitalWrite(SLED_PIN, HIGH); // turn on magnet
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}
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do_blocking_move_to_x(oldXpos); // return to position before docking
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endstops.enable_z_probe(!dock); // logically disable docked probe
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}
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#endif // Z_PROBE_SLED
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/**
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* Home an individual axis
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*/
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@ -2306,24 +2313,13 @@ static void homeaxis(AxisEnum axis) {
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current_position[axis] = 0;
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sync_plan_position();
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#if ENABLED(Z_PROBE_SLED)
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#define _Z_DEPLOY (dock_sled(false))
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#define _Z_STOW (dock_sled(true))
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#elif (ENABLED(AUTO_BED_LEVELING_FEATURE) && HAS_Z_SERVO_ENDSTOP) || ENABLED(FIX_MOUNTED_PROBE)
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#define _Z_DEPLOY (deploy_z_probe())
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#define _Z_STOW (stow_z_probe())
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#elif HAS_Z_SERVO_ENDSTOP
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#define _Z_DEPLOY do{ raise_z_for_servo(Z_RAISE_BEFORE_PROBING); DEPLOY_Z_SERVO(); endstops.z_probe_enabled = true; }while(0)
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#define _Z_STOW do{ raise_z_for_servo(Z_RAISE_AFTER_PROBING); STOW_Z_SERVO(); endstops.z_probe_enabled = false; }while(0)
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#endif
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// Homing Z towards the bed? Deploy the Z probe or endstop.
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#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
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#if HAS_BED_PROBE
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if (axis == Z_AXIS && axis_home_dir < 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_DEPLOY));
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > deploy_z_probe()");
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#endif
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_Z_DEPLOY;
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deploy_z_probe();
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}
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#endif
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@ -2441,12 +2437,12 @@ static void homeaxis(AxisEnum axis) {
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axis_homed[axis] = true;
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// Put away the Z probe
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#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
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#if HAS_BED_PROBE
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if (axis == Z_AXIS && axis_home_dir < 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_STOW));
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > stow_z_probe()");
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#endif
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_Z_STOW;
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stow_z_probe();
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}
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#endif
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@ -3468,9 +3464,7 @@ inline void gcode_G28() {
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#endif // !DELTA
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}
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(false); // engage (un-dock) the Z probe
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#elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && HAS_Z_SERVO_ENDSTOP)
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#if HAS_BED_PROBE
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deploy_z_probe();
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#endif
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@ -3721,14 +3715,7 @@ inline void gcode_G28() {
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#endif // !AUTO_BED_LEVELING_GRID
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#if ENABLED(DELTA)
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// Allen Key Probe for Delta
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#if ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_ENDSTOP
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stow_z_probe();
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#else
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raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
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#endif
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#else // !DELTA
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#if DISABLED(DELTA)
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if (verbose_level > 0)
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planner.bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
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@ -3788,7 +3775,7 @@ inline void gcode_G28() {
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#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
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+ Z_RAISE_AFTER_PROBING
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#endif
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;
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;
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// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
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sync_plan_position();
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@ -3796,18 +3783,13 @@ inline void gcode_G28() {
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if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
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#endif
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}
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// Sled assembly for Cartesian bots
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(true); // dock the sled
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#elif !HAS_Z_SERVO_ENDSTOP && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
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// Raise Z axis for non-delta and non servo based probes
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raise_z_after_probing();
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#endif
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#endif // !DELTA
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#if ENABLED(MECHANICAL_PROBE)
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#if DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) && !HAS_Z_SERVO_ENDSTOP
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raise_z_after_probing();
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#endif
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#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(MECHANICAL_PROBE)
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stow_z_probe();
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#endif
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@ -3838,39 +3820,39 @@ inline void gcode_G28() {
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KEEPALIVE_STATE(IN_HANDLER);
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}
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#if DISABLED(Z_PROBE_SLED) // could be avoided
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/**
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* G30: Do a single Z probe at the current XY
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*/
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inline void gcode_G30() {
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deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
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stepper.synchronize();
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// TODO: clear the leveling matrix or the planner will be set incorrectly
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setup_for_endstop_move(); // Too late. Must be done before deploying.
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run_z_probe();
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SERIAL_PROTOCOLPGM("Bed X: ");
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SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
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SERIAL_PROTOCOLPGM(" Y: ");
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SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
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SERIAL_PROTOCOLPGM(" Z: ");
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SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
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SERIAL_EOL;
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clean_up_after_endstop_move(); // Too early. must be done after the stowing.
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stow_z_probe(); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
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report_current_position();
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}
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#endif //!Z_PROBE_SLED
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#endif //AUTO_BED_LEVELING_FEATURE
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#if HAS_BED_PROBE
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/**
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* G30: Do a single Z probe at the current XY
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*/
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inline void gcode_G30() {
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deploy_z_probe();
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stepper.synchronize();
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// TODO: clear the leveling matrix or the planner will be set incorrectly
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setup_for_endstop_move(); // Too late. Must be done before deploying.
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run_z_probe();
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SERIAL_PROTOCOLPGM("Bed X: ");
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SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
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SERIAL_PROTOCOLPGM(" Y: ");
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SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
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SERIAL_PROTOCOLPGM(" Z: ");
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SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
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SERIAL_EOL;
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clean_up_after_endstop_move(); // Too early. must be done after the stowing.
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stow_z_probe();
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report_current_position();
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}
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#endif // HAS_BED_PROBE
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/**
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* G92: Set current position to given X Y Z E
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*/
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@ -6875,24 +6857,24 @@ void process_next_command() {
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break;
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#endif
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if HAS_BED_PROBE
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#if DISABLED(Z_PROBE_SLED)
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case 30: // G30 Single Z probe
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gcode_G30();
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break;
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case 30: // G30 Single Z probe
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gcode_G30();
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break;
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#else // Z_PROBE_SLED
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#if ENABLED(Z_PROBE_SLED)
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case 31: // G31: dock the sled
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stow_z_probe();
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break;
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case 32: // G32: undock the sled
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dock_sled(codenum == 31);
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deploy_z_probe();
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break;
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#endif // Z_PROBE_SLED
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#endif // AUTO_BED_LEVELING_FEATURE
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#endif // HAS_BED_PROBE
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case 90: // G90
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relative_mode = false;
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