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Code Issues Releases Wiki Activity

Fix homing with probe feedrates

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This commit is contained in:
Scott Lahteine 2018-04-30 03:00:04 -05:00
parent 3e53754ccf
commit f4a7531ccb
1 changed files with 17 additions and 9 deletions
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26
Marlin/Marlin_main.cpp
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@ -1549,11 +1549,11 @@ static void set_axis_is_at_home(const AxisEnum axis) {
} }
/** /**
* Some planner shorthand inline functions * Homing bump feedrate (mm/s)
*/ */
inline float get_homing_bump_feedrate(const AxisEnum axis) { inline float get_homing_bump_feedrate(const AxisEnum axis) {
#if HOMING_Z_WITH_PROBE #if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS) return Z_PROBE_SPEED_SLOW; if (axis == Z_AXIS) return MMM_TO_MMS(Z_PROBE_SPEED_SLOW);
#endif #endif
static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR; static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR;
uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]); uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]);
@ -1565,6 +1565,10 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
return homing_feedrate(axis) / hbd; return homing_feedrate(axis) / hbd;
} }
/**
* Some planner shorthand inline functions
*/
/** /**
* Move the planner to the current position from wherever it last moved * Move the planner to the current position from wherever it last moved
* (or from wherever it has been told it is located). * (or from wherever it has been told it is located).
@ -2211,7 +2215,7 @@ void clean_up_after_endstop_or_probe_move() {
* @param fr_mm_s Feedrate in mm/s * @param fr_mm_s Feedrate in mm/s
* @return true to indicate an error * @return true to indicate an error
*/ */
static bool do_probe_move(const float z, const float fr_mm_m) { static bool do_probe_move(const float z, const float fr_mm_s) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
#endif #endif
@ -2236,7 +2240,7 @@ void clean_up_after_endstop_or_probe_move() {
#endif #endif
// Move down until probe triggered // Move down until probe triggered
do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m)); do_blocking_move_to_z(z, fr_mm_s);
// Check to see if the probe was triggered // Check to see if the probe was triggered
const bool probe_triggered = TEST(Endstops::endstop_hit_bits, const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
@ -2292,7 +2296,7 @@ void clean_up_after_endstop_or_probe_move() {
#if MULTIPLE_PROBING == 2 #if MULTIPLE_PROBING == 2
// Do a first probe at the fast speed // Do a first probe at the fast speed
if (do_probe_move(z_probe_low_point, Z_PROBE_SPEED_FAST)) return NAN; if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) return NAN;
float first_probe_z = current_position[Z_AXIS]; float first_probe_z = current_position[Z_AXIS];
@ -2312,7 +2316,7 @@ void clean_up_after_endstop_or_probe_move() {
if (current_position[Z_AXIS] > z) { if (current_position[Z_AXIS] > z) {
// If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
if (!do_probe_move(z, Z_PROBE_SPEED_FAST)) if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
} }
#endif #endif
@ -2323,7 +2327,7 @@ void clean_up_after_endstop_or_probe_move() {
#endif #endif
// move down slowly to find bed // move down slowly to find bed
if (do_probe_move(z_probe_low_point, Z_PROBE_SPEED_SLOW)) return NAN; if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) return NAN;
#if MULTIPLE_PROBING > 2 #if MULTIPLE_PROBING > 2
probes_total += current_position[Z_AXIS]; probes_total += current_position[Z_AXIS];
@ -3086,7 +3090,7 @@ static void homeaxis(const AxisEnum axis) {
// When homing Z with probe respect probe clearance // When homing Z with probe respect probe clearance
const float bump = axis_home_dir * ( const float bump = axis_home_dir * (
#if HOMING_Z_WITH_PROBE #if HOMING_Z_WITH_PROBE
(axis == Z_AXIS && (Z_HOME_BUMP_MM)) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) : (axis == Z_AXIS && (Z_HOME_BUMP_MM)) ? max(Z_CLEARANCE_BETWEEN_PROBES, Z_HOME_BUMP_MM) :
#endif #endif
home_bump_mm(axis) home_bump_mm(axis)
); );
@ -3097,7 +3101,11 @@ static void homeaxis(const AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
#endif #endif
do_homing_move(axis, -bump); do_homing_move(axis, -bump
#if HOMING_Z_WITH_PROBE
, MMM_TO_MMS(Z_PROBE_SPEED_FAST)
#endif
);
// Slow move towards endstop until triggered // Slow move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)