121 lines
3.3 KiB
C++
121 lines
3.3 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(G38_PROBE_TARGET)
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#include "../gcode.h"
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#include "../../module/endstops.h"
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#include "../../module/motion.h"
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#include "../../module/stepper.h"
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#include "../../module/probe.h"
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static bool G38_run_probe() {
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bool G38_pass_fail = false;
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#if MULTIPLE_PROBING > 1
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// Get direction of move and retract
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float retract_mm[XYZ];
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LOOP_XYZ(i) {
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float dist = destination[i] - current_position[i];
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retract_mm[i] = FABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
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}
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#endif
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stepper.synchronize(); // wait until the machine is idle
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// Move until destination reached or target hit
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endstops.enable(true);
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G38_move = true;
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G38_endstop_hit = false;
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prepare_move_to_destination();
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stepper.synchronize();
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G38_move = false;
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endstops.hit_on_purpose();
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set_current_from_steppers_for_axis(ALL_AXES);
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SYNC_PLAN_POSITION_KINEMATIC();
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if (G38_endstop_hit) {
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G38_pass_fail = true;
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#if MULTIPLE_PROBING > 1
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// Move away by the retract distance
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set_destination_from_current();
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LOOP_XYZ(i) destination[i] += retract_mm[i];
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endstops.enable(false);
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prepare_move_to_destination();
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stepper.synchronize();
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feedrate_mm_s /= 4;
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// Bump the target more slowly
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LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
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endstops.enable(true);
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G38_move = true;
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prepare_move_to_destination();
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stepper.synchronize();
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G38_move = false;
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set_current_from_steppers_for_axis(ALL_AXES);
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SYNC_PLAN_POSITION_KINEMATIC();
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#endif
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}
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endstops.hit_on_purpose();
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endstops.not_homing();
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return G38_pass_fail;
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}
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/**
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* G38.2 - probe toward workpiece, stop on contact, signal error if failure
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* G38.3 - probe toward workpiece, stop on contact
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*
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* Like G28 except uses Z min probe for all axes
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*/
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void GcodeSuite::G38(const bool is_38_2) {
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// Get X Y Z E F
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get_destination_from_command();
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setup_for_endstop_or_probe_move();
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// If any axis has enough movement, do the move
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LOOP_XYZ(i)
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if (FABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
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if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
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// If G38.2 fails throw an error
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if (!G38_run_probe() && is_38_2) {
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM("Failed to reach target");
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}
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break;
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}
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clean_up_after_endstop_or_probe_move();
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}
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#endif // G38_PROBE_TARGET
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