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max error for searching in xy

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This commit is contained in:
PavelSindler 2018-03-03 20:05:43 +01:00
parent 98f0efbc66
commit 15a7699fe0
2 changed files with 73 additions and 18 deletions
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81
Firmware/mesh_bed_calibration.cpp
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@ -904,7 +904,9 @@ error:
#define FIND_BED_INDUCTION_SENSOR_POINT_X_RADIUS (8.f) #define FIND_BED_INDUCTION_SENSOR_POINT_X_RADIUS (8.f)
#define FIND_BED_INDUCTION_SENSOR_POINT_Y_RADIUS (4.f) #define FIND_BED_INDUCTION_SENSOR_POINT_Y_RADIUS (4.f)
#define FIND_BED_INDUCTION_SENSOR_POINT_XY_STEP (1.f) #define FIND_BED_INDUCTION_SENSOR_POINT_XY_STEP (1.f)
#define FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP (0.2f) #define FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP (2.f)
#define FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR (0.01f)
inline bool find_bed_induction_sensor_point_xy(int verbosity_level) inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
{ {
#ifdef SUPPORT_VERBOSITY #ifdef SUPPORT_VERBOSITY
@ -948,33 +950,70 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
enable_endstops(false); enable_endstops(false);
bool dir_positive = true; bool dir_positive = true;
float z_error = 2 * FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP;
float find_bed_induction_sensor_point_z_step = FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP;
float initial_z_position = current_position[Z_AXIS];
// go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60); // go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60);
go_xyz(x0, y0, current_position[Z_AXIS], feedrate); go_xyz(x0, y0, current_position[Z_AXIS], feedrate);
// Continously lower the Z axis. // Continously lower the Z axis.
endstops_hit_on_purpose(); endstops_hit_on_purpose();
enable_z_endstop(true); enable_z_endstop(true);
while (current_position[Z_AXIS] > -10.f) { while (current_position[Z_AXIS] > -10.f && z_error > FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR) {
// Do nsteps_y zig-zag movements. // Do nsteps_y zig-zag movements.
/*SERIAL_ECHOLNPGM("---------------");
SERIAL_ECHOPGM("Y coordinate:");
MYSERIAL.println(current_position[Y_AXIS]);
SERIAL_ECHOPGM("Z coordinate:");
MYSERIAL.println(current_position[Z_AXIS]);*/
SERIAL_ECHOPGM("z_error: ");
MYSERIAL.println(z_error);
current_position[Y_AXIS] = y0; current_position[Y_AXIS] = y0;
initial_z_position = current_position[Z_AXIS];
for (i = 0; i < (nsteps_y - 1); current_position[Y_AXIS] += (y1 - y0) / float(nsteps_y - 1), ++ i) { for (i = 0; i < (nsteps_y - 1); current_position[Y_AXIS] += (y1 - y0) / float(nsteps_y - 1), ++ i) {
// Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop. // Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop.
current_position[Z_AXIS] -= FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP / float(nsteps_y); current_position[Z_AXIS] -= find_bed_induction_sensor_point_z_step / float(nsteps_y - 1);
go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate); go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = ! dir_positive; dir_positive = ! dir_positive;
if (endstop_z_hit_on_purpose()) if (endstop_z_hit_on_purpose()) {
update_current_position_xyz();
z_error = 2 * (initial_z_position - current_position[Z_AXIS]);
if (z_error > FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR) {
find_bed_induction_sensor_point_z_step = z_error / 2;
current_position[Z_AXIS] += z_error;
enable_z_endstop(false);
go_xyz(x0, y0, current_position[Z_AXIS], feedrate);
enable_z_endstop(true);
}
goto endloop; goto endloop;
} }
}
initial_z_position = current_position[Z_AXIS];
for (i = 0; i < (nsteps_y - 1); current_position[Y_AXIS] -= (y1 - y0) / float(nsteps_y - 1), ++ i) { for (i = 0; i < (nsteps_y - 1); current_position[Y_AXIS] -= (y1 - y0) / float(nsteps_y - 1), ++ i) {
// Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop. // Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop.
current_position[Z_AXIS] -= FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP / float(nsteps_y); current_position[Z_AXIS] -= find_bed_induction_sensor_point_z_step / float(nsteps_y - 1);
go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate); go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = ! dir_positive; dir_positive = ! dir_positive;
if (endstop_z_hit_on_purpose()) if (endstop_z_hit_on_purpose()) {
update_current_position_xyz();
z_error = 2 * (initial_z_position - current_position[Z_AXIS]);
if (z_error > FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR) {
find_bed_induction_sensor_point_z_step = z_error / 2;
current_position[Z_AXIS] += z_error;
enable_z_endstop(false);
go_xyz(x0, y0, current_position[Z_AXIS], feedrate);
enable_z_endstop(true);
}
goto endloop; goto endloop;
} }
} }
endloop: endloop: ;
/*SERIAL_ECHOPGM("Y coordinate:");
MYSERIAL.println(current_position[Y_AXIS]);
SERIAL_ECHOPGM("Z coordinate:");
MYSERIAL.println(current_position[Z_AXIS]);*/
}
// endloop:
SERIAL_ECHO("First hit"); SERIAL_ECHO("First hit");
SERIAL_ECHO("- X: "); SERIAL_ECHO("- X: ");
MYSERIAL.print(current_position[X_AXIS]); MYSERIAL.print(current_position[X_AXIS]);
@ -995,16 +1034,19 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
// we have to let the planner know where we are right now as it is not where we said to go. // we have to let the planner know where we are right now as it is not where we said to go.
update_current_position_xyz(); update_current_position_xyz();
// Search in this plane for the first hit. Zig-zag first in X, then in Y axis. // Search in this plane for the first hit. Zig-zag first in X, then in Y axis.
for (int8_t iter = 0; iter < 3; ++ iter) { for (int8_t iter = 0; iter < 9; ++ iter) {
SERIAL_ECHOPGM("iter: "); SERIAL_ECHOPGM("iter: ");
MYSERIAL.println(iter); MYSERIAL.println(iter);
if (iter > 0) { if (iter > 0) {
// Slightly lower the Z axis to get a reliable trigger. // Slightly lower the Z axis to get a reliable trigger.
current_position[Z_AXIS] -= 0.02f; current_position[Z_AXIS] -= 0.005f;
go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60); go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60);
} }
SERIAL_ECHOPGM("current_position[Z_AXIS]: ");
MYSERIAL.println(current_position[Z_AXIS]);
// Do nsteps_y zig-zag movements. // Do nsteps_y zig-zag movements.
float a, b; float a, b;
enable_endstops(false); enable_endstops(false);
@ -1015,8 +1057,8 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
found = false; found = false;
for (i = 0, dir_positive = true; i < (nsteps_y - 1); current_position[Y_AXIS] += (y1 - y0) / float(nsteps_y - 1), ++ i, dir_positive = ! dir_positive) { for (i = 0, dir_positive = true; i < (nsteps_y - 1); current_position[Y_AXIS] += (y1 - y0) / float(nsteps_y - 1), ++ i, dir_positive = ! dir_positive) {
go_xy(dir_positive ? x1 : x0, current_position[Y_AXIS], feedrate); go_xy(dir_positive ? x1 : x0, current_position[Y_AXIS], feedrate);
SERIAL_ECHOPGM("current position Z: "); //SERIAL_ECHOPGM("current position Z: ");
MYSERIAL.println(current_position[Z_AXIS]); //MYSERIAL.println(current_position[Z_AXIS]);
if (endstop_z_hit_on_purpose()) { if (endstop_z_hit_on_purpose()) {
found = true; found = true;
break; break;
@ -1028,6 +1070,8 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
continue; continue;
} }
// SERIAL_ECHOLN("Search in Y - found"); // SERIAL_ECHOLN("Search in Y - found");
lcd_show_fullscreen_message_and_wait_P(PSTR("first Y1 found"));
lcd_update_enable(true);
a = current_position[Y_AXIS]; a = current_position[Y_AXIS];
enable_z_endstop(false); enable_z_endstop(false);
@ -1049,6 +1093,8 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
SERIAL_ECHOLN("Search in Y2 - not found"); SERIAL_ECHOLN("Search in Y2 - not found");
continue; continue;
} }
lcd_show_fullscreen_message_and_wait_P(PSTR("first Y2 found"));
lcd_update_enable(true);
// SERIAL_ECHOLN("Search in Y2 - found"); // SERIAL_ECHOLN("Search in Y2 - found");
b = current_position[Y_AXIS]; b = current_position[Y_AXIS];
current_position[Y_AXIS] = 0.5f * (a + b); current_position[Y_AXIS] = 0.5f * (a + b);
@ -1058,23 +1104,27 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
enable_z_endstop(false); enable_z_endstop(false);
go_xy(x0, current_position[Y_AXIS], feedrate); go_xy(x0, current_position[Y_AXIS], feedrate);
enable_z_endstop(true); enable_z_endstop(true);
go_xy(x1, current_position[Y_AXIS], feedrate); go_xy(x1, current_position[Y_AXIS], feedrate/10);
update_current_position_xyz(); update_current_position_xyz();
if (! endstop_z_hit_on_purpose()) { if (! endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 0 - not found"); // SERIAL_ECHOLN("Search X span 0 - not found");
continue; continue;
} }
lcd_show_fullscreen_message_and_wait_P(PSTR("X1 found"));
lcd_update_enable(true);
// SERIAL_ECHOLN("Search X span 0 - found"); // SERIAL_ECHOLN("Search X span 0 - found");
a = current_position[X_AXIS]; a = current_position[X_AXIS];
enable_z_endstop(false); enable_z_endstop(false);
go_xy(x1, current_position[Y_AXIS], feedrate); go_xy(x1, current_position[Y_AXIS], feedrate);
enable_z_endstop(true); enable_z_endstop(true);
go_xy(x0, current_position[Y_AXIS], feedrate); go_xy(x0, current_position[Y_AXIS], feedrate/10);
update_current_position_xyz(); update_current_position_xyz();
if (! endstop_z_hit_on_purpose()) { if (! endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 1 - not found"); // SERIAL_ECHOLN("Search X span 1 - not found");
continue; continue;
} }
lcd_show_fullscreen_message_and_wait_P(PSTR("X2 found"));
lcd_update_enable(true);
// SERIAL_ECHOLN("Search X span 1 - found"); // SERIAL_ECHOLN("Search X span 1 - found");
b = current_position[X_AXIS]; b = current_position[X_AXIS];
// Go to the center. // Go to the center.
@ -1095,6 +1145,8 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
// SERIAL_ECHOLN("Search Y2 span 0 - not found"); // SERIAL_ECHOLN("Search Y2 span 0 - not found");
continue; continue;
} }
lcd_show_fullscreen_message_and_wait_P(PSTR("Y1 found"));
lcd_update_enable(true);
// SERIAL_ECHOLN("Search Y2 span 0 - found"); // SERIAL_ECHOLN("Search Y2 span 0 - found");
a = current_position[Y_AXIS]; a = current_position[Y_AXIS];
enable_z_endstop(false); enable_z_endstop(false);
@ -1108,6 +1160,9 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
} }
// SERIAL_ECHOLN("Search Y2 span 1 - found"); // SERIAL_ECHOLN("Search Y2 span 1 - found");
b = current_position[Y_AXIS]; b = current_position[Y_AXIS];
lcd_show_fullscreen_message_and_wait_P(PSTR("Y2 found"));
lcd_update_enable(true);
// Go to the center. // Go to the center.
enable_z_endstop(false); enable_z_endstop(false);
current_position[Y_AXIS] = 0.5f * (a + b); current_position[Y_AXIS] = 0.5f * (a + b);

2
Firmware/stepper.cpp
View file

@ -270,7 +270,7 @@ bool endstop_z_hit_on_purpose()
{ {
bool hit = endstop_z_hit; bool hit = endstop_z_hit;
endstop_z_hit=false; endstop_z_hit=false;
if (hit == true) gcode_M114(); //if (hit == true) gcode_M114();
return hit; return hit;
} }