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Unify run_z_probe #4356

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Jul 20, 2016
Merged

Unify run_z_probe #4356

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09a3cc3
Unify run_z_probe
AnHardt Jul 18, 2016
4a6ed5e
Use HOMING_FEEDRATE_Z for Z_PROBE_SPEED_FAST
thinkyhead Jul 20, 2016
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4 changes: 4 additions & 0 deletions Marlin/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -499,6 +499,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
Expand Down
103 changes: 26 additions & 77 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1584,16 +1584,15 @@ static void set_axis_is_at_home(AxisEnum axis) {
/**
* Some planner shorthand inline functions
*/
inline float set_homing_bump_feedrate(AxisEnum axis) {
inline float get_homing_bump_feedrate(AxisEnum axis) {
const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
int hbd = homing_bump_divisor[axis];
if (hbd < 1) {
hbd = 10;
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
}
feedrate_mm_m = homing_feedrate_mm_m[axis] / hbd;
return feedrate_mm_m;
return homing_feedrate_mm_m[axis] / hbd;
}
//
// line_to_current_position
Expand All @@ -1613,7 +1612,7 @@ inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
current_position[axis] = where;
feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis];
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
stepper.synchronize(); // The lost one
stepper.synchronize();
feedrate_mm_m = old_feedrate_mm_m;
}

Expand Down Expand Up @@ -2061,85 +2060,35 @@ static void clean_up_after_endstop_or_probe_move() {
// at the height where the probe triggered.
static float run_z_probe() {

float old_feedrate_mm_m = feedrate_mm_m;

// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
refresh_cmd_timeout();

#if ENABLED(DELTA)

float start_z = current_position[Z_AXIS];
long start_steps = stepper.position(Z_AXIS);

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 1", current_position);
#endif

// move down slowly until you find the bed
feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS] / 4;
destination[Z_AXIS] = -10;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags

/**
* We have to let the planner know where we are right now as it
* is not where we said to go.
*/
long stop_steps = stepper.position(Z_AXIS);
float mm = start_z - float(start_steps - stop_steps) / planner.axis_steps_per_mm[Z_AXIS];
current_position[Z_AXIS] = mm;

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position);
#endif

#else // !DELTA

#if ENABLED(AUTO_BED_LEVELING_FEATURE)
planner.bed_level_matrix.set_to_identity();
#endif

feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS];

// Move down until the Z probe (or endstop?) is triggered
float zPosition = -(Z_MAX_LENGTH + 10);
line_to_z(zPosition);
stepper.synchronize();

// Tell the planner where we ended up - Get this from the stepper handler
zPosition = stepper.get_axis_position_mm(Z_AXIS);
planner.set_position_mm(
current_position[X_AXIS], current_position[Y_AXIS], zPosition,
current_position[E_AXIS]
);

// move up the retract distance
zPosition += home_bump_mm(Z_AXIS);
line_to_z(zPosition);
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags

// move back down slowly to find bed
set_homing_bump_feedrate(Z_AXIS);

zPosition -= home_bump_mm(Z_AXIS) * 2;
line_to_z(zPosition);
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags

// Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
planner.bed_level_matrix.set_to_identity();
#endif

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", 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
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS];
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@ghost ghost Jul 20, 2016 •
edited by ghost
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By the way, is this intented?
feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS]; is being commented out factitiously a bit.


#endif // !DELTA
// 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);

SYNC_PLAN_POSITION_KINEMATIC();
// 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
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are

feedrate_mm_m = old_feedrate_mm_m;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
#endif

return current_position[Z_AXIS];
}
Expand Down Expand Up @@ -2424,7 +2373,7 @@ static void homeaxis(AxisEnum axis) {
line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);

// Move slowly towards the endstop until triggered
line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
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4 changes: 4 additions & 0 deletions Marlin/example_configurations/Cartesio/Configuration.h
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Expand Up @@ -499,6 +499,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
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4 changes: 4 additions & 0 deletions Marlin/example_configurations/Felix/Configuration.h
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Expand Up @@ -481,6 +481,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/Felix/DUAL/Configuration.h
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Expand Up @@ -479,6 +479,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
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4 changes: 4 additions & 0 deletions Marlin/example_configurations/Hephestos/Configuration.h
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Expand Up @@ -491,6 +491,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/Hephestos_2/Configuration.h
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Expand Up @@ -493,6 +493,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
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4 changes: 4 additions & 0 deletions Marlin/example_configurations/K8200/Configuration.h
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Expand Up @@ -516,6 +516,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/K8400/Configuration.h
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Expand Up @@ -499,6 +499,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/K8400/Dual-head/Configuration.h
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Expand Up @@ -499,6 +499,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
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4 changes: 4 additions & 0 deletions Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
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Expand Up @@ -499,6 +499,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
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4 changes: 4 additions & 0 deletions Marlin/example_configurations/RigidBot/Configuration.h
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Expand Up @@ -496,6 +496,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
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4 changes: 4 additions & 0 deletions Marlin/example_configurations/SCARA/Configuration.h
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Expand Up @@ -507,6 +507,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
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4 changes: 4 additions & 0 deletions Marlin/example_configurations/TAZ4/Configuration.h
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Expand Up @@ -520,6 +520,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
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4 changes: 4 additions & 0 deletions Marlin/example_configurations/WITBOX/Configuration.h
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Expand Up @@ -491,6 +491,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/adafruit/ST7565/Configuration.h
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Expand Up @@ -499,6 +499,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/delta/biv2.5/Configuration.h
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Expand Up @@ -541,6 +541,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 4000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

// Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
// Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/delta/generic/Configuration.h
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Expand Up @@ -541,6 +541,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 4000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

// Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
// Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/delta/kossel_mini/Configuration.h
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Expand Up @@ -541,6 +541,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 4000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

// Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
// Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/delta/kossel_pro/Configuration.h
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Expand Up @@ -532,6 +532,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

// Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
// Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/delta/kossel_xl/Configuration.h
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Expand Up @@ -539,6 +539,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

// Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
// Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/makibox/Configuration.h
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Expand Up @@ -502,6 +502,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
Expand Down
4 changes: 4 additions & 0 deletions Marlin/example_configurations/tvrrug/Round2/Configuration.h
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Expand Up @@ -489,6 +489,10 @@

// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when probing
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the second approach when probing
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)

//
// Allen Key Probe is defined in the Delta example configurations.
Expand Down