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Add do_probe_move with Z fixes

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This commit is contained in:
Scott Lahteine 2016-08-19 01:10:41 -05:00
parent a1bad589c9
commit 7a4ccd7967
1 changed files with 27 additions and 9 deletions
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36
Marlin/Marlin_main.cpp
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@ -2127,6 +2127,28 @@ static void clean_up_after_endstop_or_probe_move() {
return false;
}
static void do_probe_move(float z, float fr_mm_m) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
#endif
// Move down until probe triggered
do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
// Clear endstop flags
endstops.hit_on_purpose();
// Get Z where the steppers were interrupted
set_current_from_steppers_for_axis(Z_AXIS);
// Tell the planner where we actually are
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
#endif
}
// Do a single Z probe and return with current_position[Z_AXIS]
// at the height where the probe triggered.
static float run_z_probe() {
@ -2143,12 +2165,11 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
#if ENABLED(PROBE_DOUBLE_TOUCH)
do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(Z_AXIS);
SYNC_PLAN_POSITION_KINEMATIC();
// move up the retract distance
// Do a first probe at the fast speed
do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
// move up by the bump distance
do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
#else
// move fast, close to the bed
@ -2156,10 +2177,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
// move down slowly to find bed
do_blocking_move_to_z(current_position[Z_AXIS] -2.0*home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_SLOW));
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(Z_AXIS);
SYNC_PLAN_POSITION_KINEMATIC();
do_probe_move(-10, Z_PROBE_SPEED_SLOW);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);