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https://github.com/MarlinFirmware/Marlin.git
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Merge branch 'ProbeDeployment' into Development
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commit
0c7bdf569c
@ -1296,27 +1296,9 @@ static void setup_for_endstop_move() {
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}
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#elif defined(Z_PROBE_ALLEN_KEY)
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feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
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feedrate = homing_feedrate[X_AXIS];
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// Move to the start position to initiate deployment
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
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prepare_move_raw(); // this will also set_current_to_destination
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// Home X to touch the belt
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feedrate = homing_feedrate[X_AXIS]/10;
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destination[X_AXIS] = 0;
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prepare_move_raw(); // this will also set_current_to_destination
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// Home Y for safety
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feedrate = homing_feedrate[X_AXIS]/2;
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destination[Y_AXIS] = 0;
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prepare_move_raw(); // this will also set_current_to_destination
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st_synchronize();
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// If endstop is already false, the probe is deployed
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#ifdef Z_PROBE_ENDSTOP
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bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
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if (z_probe_endstop)
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@ -1325,6 +1307,65 @@ static void setup_for_endstop_move() {
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if (z_min_endstop)
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#endif
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{
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// Move to the start position to initiate deployment
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X;
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y;
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z;
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prepare_move_raw(); // this will also set_current_to_destination
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// Move to engage deployment
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if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE) {
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feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE;
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}
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if (Z_PROBE_ALLEN_KEY_DEPLOY_2_X != Z_PROBE_ALLEN_KEY_DEPLOY_1_X) {
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_X;
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}
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if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Y != Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) {
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y;
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}
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if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Z != Z_PROBE_ALLEN_KEY_DEPLOY_1_Z) {
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Z;
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}
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prepare_move_raw();
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#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
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if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE) {
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feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
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}
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// Move to trigger deployment
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if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE) {
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feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
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}
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if (Z_PROBE_ALLEN_KEY_DEPLOY_3_X != Z_PROBE_ALLEN_KEY_DEPLOY_2_X) {
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_X;
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}
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if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Y != Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) {
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Y;
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}
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if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Z != Z_PROBE_ALLEN_KEY_DEPLOY_2_Z) {
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Z;
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}
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prepare_move_raw();
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#endif
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}
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// Partially Home X,Y for safety
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destination[X_AXIS] = destination[X_AXIS]*0.75;
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destination[Y_AXIS] = destination[Y_AXIS]*0.75;
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prepare_move_raw(); // this will also set_current_to_destination
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st_synchronize();
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#ifdef Z_PROBE_ENDSTOP
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z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
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if (z_probe_endstop)
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#else
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z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
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if (z_min_endstop)
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#endif
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{
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if (IsRunning()) {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
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@ -1366,25 +1407,41 @@ static void setup_for_endstop_move() {
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#elif defined(Z_PROBE_ALLEN_KEY)
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// Move up for safety
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feedrate = homing_feedrate[X_AXIS];
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feedrate = Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE;
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destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
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prepare_move_raw(); // this will also set_current_to_destination
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// Move to the start position to initiate retraction
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_X;
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Y;
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Z;
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prepare_move_raw(); // this will also set_current_to_destination
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_X;
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Y;
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Z;
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prepare_move_raw();
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// Move the nozzle down to push the probe into retracted position
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feedrate = homing_feedrate[Z_AXIS]/10;
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destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_STOW_DEPTH;
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prepare_move_raw(); // this will also set_current_to_destination
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if (Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE) {
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feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
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}
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if (Z_PROBE_ALLEN_KEY_STOW_2_X != Z_PROBE_ALLEN_KEY_STOW_1_X) {
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_X;
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}
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if (Z_PROBE_ALLEN_KEY_STOW_2_Y != Z_PROBE_ALLEN_KEY_STOW_1_Y) {
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Y;
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}
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z;
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prepare_move_raw();
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// Move up for safety
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feedrate = homing_feedrate[Z_AXIS]/2;
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destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_STOW_DEPTH * 2;
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prepare_move_raw(); // this will also set_current_to_destination
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if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE) {
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feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
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}
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if (Z_PROBE_ALLEN_KEY_STOW_3_X != Z_PROBE_ALLEN_KEY_STOW_2_X) {
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_X;
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}
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if (Z_PROBE_ALLEN_KEY_STOW_3_Y != Z_PROBE_ALLEN_KEY_STOW_2_Y) {
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Y;
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}
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z;
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prepare_move_raw();
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// Home XY for safety
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feedrate = homing_feedrate[X_AXIS]/2;
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@ -507,14 +507,34 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
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// Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
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#define Z_PROBE_ALLEN_KEY
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#ifdef Z_PROBE_ALLEN_KEY
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#define Z_PROBE_ALLEN_KEY_DEPLOY_X 30
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#define Z_PROBE_ALLEN_KEY_DEPLOY_Y DELTA_PRINTABLE_RADIUS
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#define Z_PROBE_ALLEN_KEY_DEPLOY_Z 100
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#define Z_PROBE_ALLEN_KEY_STOW_X -64
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#define Z_PROBE_ALLEN_KEY_STOW_Y 56
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#define Z_PROBE_ALLEN_KEY_STOW_Z 23
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// Kossel Mini
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_X 30.0
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y DELTA_PRINTABLE_RADIUS
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z 100.0
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_TRAVEL_SPEED
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X 0.0
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y DELTA_PRINTABLE_RADIUS
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_TRAVEL_SPEED/10)
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#define Z_PROBE_ALLEN_KEY_STOW_DEPTH 20
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// Move the probe into position
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#define Z_PROBE_ALLEN_KEY_STOW_1_X -64.0
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#define Z_PROBE_ALLEN_KEY_STOW_1_Y 56.0
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#define Z_PROBE_ALLEN_KEY_STOW_1_Z 23.0
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#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_TRAVEL_SPEED
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// Move the nozzle down further to push the probe into retracted position.
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#define Z_PROBE_ALLEN_KEY_STOW_2_X Z_PROBE_ALLEN_KEY_STOW_1_X
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#define Z_PROBE_ALLEN_KEY_STOW_2_Y Z_PROBE_ALLEN_KEY_STOW_1_Y
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#define Z_PROBE_ALLEN_KEY_STOW_2_Z (Z_PROBE_ALLEN_KEY_STOW_1_Z-Z_PROBE_ALLEN_KEY_STOW_DEPTH)
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#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_TRAVEL_SPEED/10)
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// Raise things back up slightly so we don't bump into anything
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#define Z_PROBE_ALLEN_KEY_STOW_3_X Z_PROBE_ALLEN_KEY_STOW_2_X
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#define Z_PROBE_ALLEN_KEY_STOW_3_Y Z_PROBE_ALLEN_KEY_STOW_2_Y
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#define Z_PROBE_ALLEN_KEY_STOW_3_Z (Z_PROBE_ALLEN_KEY_STOW_1_Z+Z_PROBE_ALLEN_KEY_STOW_DEPTH)
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#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE (XY_TRAVEL_SPEED/2)
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#endif
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//If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
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