From d2fcb3ee56ae28246488cb106c649bc09ab74a89 Mon Sep 17 00:00:00 2001
From: Charles Bell <cbell@Chucks-iMac-3.local>
Date: Fri, 1 Aug 2014 11:29:59 -0400
Subject: [PATCH] CAB: Added code for Z-probe with Z endstop mounted on a sled.
---
Marlin/Marlin_main.cpp | 73 ++++++++++++++++++++++++++++++++++++++----
1 file changed, 66 insertions(+), 7 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index b373e22137..b42cb952a2 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -78,6 +78,8 @@
// G28 - Home all Axis
// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
// G30 - Single Z Probe, probes bed at current XY location.
+// G31 - Dock sled (Z_PROBE_SLED only)
+// G32 - Undock sled (Z_PROBE_SLED only)
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to coordinates given
@@ -548,6 +550,10 @@ void setup()
#ifdef DIGIPOT_I2C
digipot_i2c_init();
#endif
+#ifdef Z_PROBE_SLED
+ pinMode(SERVO0_PIN, OUTPUT);
+ digitalWrite(SERVO0_PIN, LOW); // turn it off
+#endif // Z_PROBE_SLED
}
@@ -1035,10 +1041,14 @@ static float probe_pt(float x, float y, float z_before) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
+#ifndef Z_PROBE_SLED
engage_z_probe(); // Engage Z Servo endstop if available
+#endif // Z_PROBE_SLED
run_z_probe();
float measured_z = current_position[Z_AXIS];
+#ifndef Z_PROBE_SLED
retract_z_probe();
+#endif // Z_PROBE_SLED
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" x: ");
@@ -1071,6 +1081,7 @@ static void homeaxis(int axis) {
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+#ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
@@ -1083,7 +1094,7 @@ static void homeaxis(int axis) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
}
#endif
-
+#endif // Z_PROBE_SLED
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
@@ -1125,7 +1136,7 @@ static void homeaxis(int axis) {
}
#endif
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
- if (axis==Z_AXIS) retract_z_probe();
+// if (axis==Z_AXIS) retract_z_probe();
#endif
}
@@ -1180,6 +1191,42 @@ void refresh_cmd_timeout(void)
} //retract
#endif //FWRETRACT
+#ifdef ENABLE_AUTO_BED_LEVELING
+//
+// Method to dock/undock a sled designed by Charles Bell.
+//
+// dock[in] If true, move to MAX_X and engage the electromagnet
+// offset[in] The additional distance to move to adjust docking location
+//
+static void dock_sled(bool dock, int offset=0) {
+ int z_loc;
+
+ if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
+ LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+ return;
+ }
+
+ if (dock) {
+ do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
+ current_position[Y_AXIS],
+ current_position[Z_AXIS]);
+ // turn off magnet
+ digitalWrite(SERVO0_PIN, LOW);
+ } else {
+ if (current_position[Z_AXIS] < (Z_RAISE_BEFORE_PROBING + 5))
+ z_loc = Z_RAISE_BEFORE_PROBING;
+ else
+ z_loc = current_position[Z_AXIS];
+ do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
+ Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
+ // turn on magnet
+ digitalWrite(SERVO0_PIN, HIGH);
+ }
+}
+#endif
+
void process_commands()
{
unsigned long codenum; //throw away variable
@@ -1490,6 +1537,9 @@ void process_commands()
break; // abort G29, since we don't know where we are
}
+#ifdef Z_PROBE_SLED
+ dock_sled(false);
+#endif // Z_PROBE_SLED
st_synchronize();
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
@@ -1615,13 +1665,15 @@ void process_commands()
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+#ifdef Z_PROBE_SLED
+ dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel.
+#endif // Z_PROBE_SLED
}
break;
-
+#ifndef Z_PROBE_SLED
case 30: // G30 Single Z Probe
{
engage_z_probe(); // Engage Z Servo endstop if available
-
st_synchronize();
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move();
@@ -1639,10 +1691,17 @@ void process_commands()
SERIAL_PROTOCOLPGM("\n");
clean_up_after_endstop_move();
-
retract_z_probe(); // Retract Z Servo endstop if available
}
break;
+#else
+ case 31: // dock the sled
+ dock_sled(true);
+ break;
+ case 32: // undock the sled
+ dock_sled(false);
+ break;
+#endif // Z_PROBE_SLED
#endif // ENABLE_AUTO_BED_LEVELING
case 90: // G90
relative_mode = false;
@@ -1982,7 +2041,7 @@ void process_commands()
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
-
+
cancel_heatup = false;
#ifdef TEMP_RESIDENCY_TIME
@@ -2758,7 +2817,7 @@ void process_commands()
st_synchronize();
}
break;
-#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS)
+#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
case 401:
{
engage_z_probe(); // Engage Z Servo endstop if available