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88443c6b JM |
1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | #include "ZProbe.h" | |
9 | ||
10 | #include "Kernel.h" | |
11 | #include "BaseSolution.h" | |
12 | #include "Config.h" | |
13 | #include "Robot.h" | |
14 | #include "StepperMotor.h" | |
15 | #include "StreamOutputPool.h" | |
16 | #include "Gcode.h" | |
17 | #include "Conveyor.h" | |
18 | #include "Stepper.h" | |
19 | #include "checksumm.h" | |
20 | #include "ConfigValue.h" | |
21 | #include "SlowTicker.h" | |
22 | #include "Planner.h" | |
037c350d | 23 | #include "SerialMessage.h" |
9f6f04a5 JM |
24 | #include "PublicDataRequest.h" |
25 | #include "EndstopsPublicAccess.h" | |
26 | #include "PublicData.h" | |
ce9d2bda | 27 | #include "LevelingStrategy.h" |
a157d099 | 28 | #include "StepTicker.h" |
37102904 | 29 | #include "utils.h" |
a5542cae JM |
30 | |
31 | // strategies we know about | |
f6efadb0 | 32 | #include "DeltaCalibrationStrategy.h" |
a5542cae | 33 | #include "ThreePointStrategy.h" |
43b9b200 | 34 | #include "ZGridStrategy.h" |
88443c6b | 35 | |
88443c6b JM |
36 | #define enable_checksum CHECKSUM("enable") |
37 | #define probe_pin_checksum CHECKSUM("probe_pin") | |
38 | #define debounce_count_checksum CHECKSUM("debounce_count") | |
681a62d7 JM |
39 | #define slow_feedrate_checksum CHECKSUM("slow_feedrate") |
40 | #define fast_feedrate_checksum CHECKSUM("fast_feedrate") | |
b469231e | 41 | #define return_feedrate_checksum CHECKSUM("return_feedrate") |
681a62d7 | 42 | #define probe_height_checksum CHECKSUM("probe_height") |
f3b66360 | 43 | #define gamma_max_checksum CHECKSUM("gamma_max") |
88443c6b | 44 | |
681a62d7 | 45 | // from endstop section |
b7cd847e | 46 | #define delta_homing_checksum CHECKSUM("delta_homing") |
88443c6b JM |
47 | |
48 | #define X_AXIS 0 | |
49 | #define Y_AXIS 1 | |
50 | #define Z_AXIS 2 | |
51 | ||
dd0a7cfa JM |
52 | #define STEPPER THEKERNEL->robot->actuators |
53 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) | |
56ce2b5a JM |
54 | #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS) |
55 | ||
7d6fe308 JM |
56 | #define abs(a) ((a<0) ? -a : a) |
57 | ||
88443c6b JM |
58 | void ZProbe::on_module_loaded() |
59 | { | |
60 | // if the module is disabled -> do nothing | |
56ce2b5a | 61 | if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) { |
88443c6b JM |
62 | // as this module is not needed free up the resource |
63 | delete this; | |
64 | return; | |
65 | } | |
681a62d7 | 66 | this->running = false; |
88443c6b JM |
67 | |
68 | // load settings | |
69 | this->on_config_reload(this); | |
70 | // register event-handlers | |
88443c6b | 71 | register_for_event(ON_GCODE_RECEIVED); |
88443c6b | 72 | |
a157d099 | 73 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); }); |
88443c6b JM |
74 | } |
75 | ||
76 | void ZProbe::on_config_reload(void *argument) | |
77 | { | |
681a62d7 JM |
78 | this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input(); |
79 | this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0 )->as_number(); | |
80 | ||
ce9d2bda | 81 | // get strategies to load |
f6efadb0 JM |
82 | vector<uint16_t> modules; |
83 | THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum); | |
84 | for( auto cs : modules ){ | |
85 | if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){ | |
86 | bool found= false; | |
87 | // check with each known strategy and load it if it matches | |
88 | switch(cs) { | |
89 | case delta_calibration_strategy_checksum: | |
90 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
91 | found= true; | |
92 | break; | |
a5542cae JM |
93 | |
94 | case three_point_leveling_strategy_checksum: | |
95 | // NOTE this strategy is mutually exclusive with the delta calibration strategy | |
96 | this->strategies.push_back(new ThreePointStrategy(this)); | |
97 | found= true; | |
98 | break; | |
99 | ||
43b9b200 QH |
100 | case ZGrid_leveling_checksum: |
101 | this->strategies.push_back(new ZGridStrategy(this)); | |
102 | found= true; | |
103 | break; | |
104 | ||
f6efadb0 | 105 | // add other strategies here |
f6efadb0 | 106 | //case zheight_map_strategy: |
a5542cae | 107 | // this->strategies.push_back(new ZHeightMapStrategy(this)); |
f6efadb0 JM |
108 | // found= true; |
109 | // break; | |
110 | } | |
111 | if(found) this->strategies.back()->handleConfig(); | |
112 | } | |
113 | } | |
ce9d2bda | 114 | |
57e927fa | 115 | // need to know if we need to use delta kinematics for homing |
ce9d2bda | 116 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
ce9d2bda | 117 | |
f6efadb0 | 118 | // default for backwards compatibility add DeltaCalibrationStrategy if a delta |
57e927fa | 119 | // will be deprecated |
f6efadb0 | 120 | if(this->strategies.empty()) { |
57e927fa JM |
121 | if(this->is_delta) { |
122 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
123 | this->strategies.back()->handleConfig(); | |
124 | } | |
037c350d | 125 | } |
681a62d7 | 126 | |
f3b66360 | 127 | this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number(); |
681a62d7 JM |
128 | this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec |
129 | this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec | |
b469231e | 130 | this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec |
f3b66360 | 131 | this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance |
88443c6b JM |
132 | } |
133 | ||
fa7bcf7e | 134 | bool ZProbe::wait_for_probe(int& steps) |
88443c6b JM |
135 | { |
136 | unsigned int debounce = 0; | |
137 | while(true) { | |
138 | THEKERNEL->call_event(ON_IDLE); | |
aa896868 JM |
139 | if(THEKERNEL->is_halted()){ |
140 | // aborted by kill | |
141 | return false; | |
142 | } | |
143 | ||
88443c6b | 144 | // if no stepper is moving, moves are finished and there was no touch |
fa7bcf7e | 145 | if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) { |
88443c6b JM |
146 | return false; |
147 | } | |
148 | ||
149 | // if the touchprobe is active... | |
150 | if( this->pin.get() ) { | |
151 | //...increase debounce counter... | |
152 | if( debounce < debounce_count) { | |
153 | // ...but only if the counter hasn't reached the max. value | |
154 | debounce++; | |
155 | } else { | |
156 | // ...otherwise stop the steppers, return its remaining steps | |
fa7bcf7e JM |
157 | if(STEPPER[Z_AXIS]->is_moving()){ |
158 | steps= STEPPER[Z_AXIS]->get_stepped(); | |
159 | STEPPER[Z_AXIS]->move(0, 0); | |
160 | } | |
161 | if(is_delta) { | |
162 | for( int i = X_AXIS; i <= Y_AXIS; i++ ) { | |
163 | if ( STEPPER[i]->is_moving() ) { | |
164 | STEPPER[i]->move(0, 0); | |
165 | } | |
88443c6b JM |
166 | } |
167 | } | |
168 | return true; | |
169 | } | |
170 | } else { | |
171 | // The probe was not hit yet, reset debounce counter | |
172 | debounce = 0; | |
173 | } | |
174 | } | |
175 | } | |
88443c6b | 176 | |
771fb7b2 RM |
177 | // single probe with custom feedrate |
178 | // returns boolean value indicating if probe was triggered | |
36a21d48 | 179 | bool ZProbe::run_probe_feed(int& steps, float feedrate, float max_dist) |
88443c6b | 180 | { |
72833629 JM |
181 | // not a block move so disable the last tick setting |
182 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
183 | STEPPER[c]->set_moved_last_block(false); | |
184 | } | |
185 | ||
88443c6b JM |
186 | // Enable the motors |
187 | THEKERNEL->stepper->turn_enable_pins_on(); | |
771fb7b2 | 188 | this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec |
36a21d48 | 189 | float maxz= max_dist < 0 ? this->max_z*2 : max_dist; |
88443c6b JM |
190 | |
191 | // move Z down | |
6f6677fc | 192 | STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz |
b7cd847e JM |
193 | if(this->is_delta) { |
194 | // for delta need to move all three actuators | |
6f6677fc JM |
195 | STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0); |
196 | STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0); | |
b7cd847e JM |
197 | } |
198 | ||
797b4403 | 199 | // start acceleration processing |
7d6fe308 JM |
200 | this->running = true; |
201 | ||
fa7bcf7e | 202 | bool r = wait_for_probe(steps); |
681a62d7 | 203 | this->running = false; |
db00af9a JM |
204 | STEPPER[X_AXIS]->move(0, 0); |
205 | STEPPER[Y_AXIS]->move(0, 0); | |
206 | STEPPER[Z_AXIS]->move(0, 0); | |
88443c6b JM |
207 | return r; |
208 | } | |
209 | ||
771fb7b2 RM |
210 | // single probe with either fast or slow feedrate |
211 | // returns boolean value indicating if probe was triggered | |
212 | bool ZProbe::run_probe(int& steps, bool fast) | |
213 | { | |
214 | float feedrate = (fast ? this->fast_feedrate : this->slow_feedrate); | |
215 | return run_probe_feed(steps, feedrate); | |
216 | ||
217 | } | |
218 | ||
681a62d7 JM |
219 | bool ZProbe::return_probe(int steps) |
220 | { | |
221 | // move probe back to where it was | |
b469231e RM |
222 | |
223 | float fr; | |
224 | if(this->return_feedrate != 0) { // use return_feedrate if set | |
225 | fr = this->return_feedrate; | |
226 | } else { | |
227 | fr = this->slow_feedrate*2; // nominally twice slow feedrate | |
228 | if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate | |
229 | } | |
230 | ||
903725bb | 231 | this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec |
681a62d7 JM |
232 | bool dir= steps < 0; |
233 | steps= abs(steps); | |
234 | ||
6f6677fc | 235 | STEPPER[Z_AXIS]->move(dir, steps, 0); |
681a62d7 | 236 | if(this->is_delta) { |
6f6677fc JM |
237 | STEPPER[X_AXIS]->move(dir, steps, 0); |
238 | STEPPER[Y_AXIS]->move(dir, steps, 0); | |
681a62d7 | 239 | } |
7d6fe308 JM |
240 | |
241 | this->running = true; | |
fa7bcf7e | 242 | while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) { |
681a62d7 JM |
243 | // wait for it to complete |
244 | THEKERNEL->call_event(ON_IDLE); | |
db00af9a JM |
245 | if(THEKERNEL->is_halted()){ |
246 | // aborted by kill | |
247 | break; | |
248 | } | |
681a62d7 JM |
249 | } |
250 | ||
251 | this->running = false; | |
db00af9a JM |
252 | STEPPER[X_AXIS]->move(0, 0); |
253 | STEPPER[Y_AXIS]->move(0, 0); | |
254 | STEPPER[Z_AXIS]->move(0, 0); | |
681a62d7 JM |
255 | |
256 | return true; | |
257 | } | |
258 | ||
97832d6d JM |
259 | bool ZProbe::doProbeAt(int &steps, float x, float y) |
260 | { | |
261 | int s; | |
262 | // move to xy | |
263 | coordinated_move(x, y, NAN, getFastFeedrate()); | |
264 | if(!run_probe(s)) return false; | |
265 | ||
266 | // return to original Z | |
267 | return_probe(s); | |
268 | steps = s; | |
269 | ||
270 | return true; | |
271 | } | |
fc7b9a7b | 272 | |
0e44e7d7 JM |
273 | float ZProbe::probeDistance(float x, float y) |
274 | { | |
275 | int s; | |
276 | if(!doProbeAt(s, x, y)) return NAN; | |
277 | return zsteps_to_mm(s); | |
278 | } | |
279 | ||
88443c6b JM |
280 | void ZProbe::on_gcode_received(void *argument) |
281 | { | |
282 | Gcode *gcode = static_cast<Gcode *>(argument); | |
88443c6b | 283 | |
57e927fa | 284 | if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) { |
36a21d48 | 285 | |
25dc6344 | 286 | // make sure the probe is defined and not already triggered before moving motors |
36a21d48 | 287 | if(!this->pin.connected()) { |
25dc6344 JM |
288 | gcode->stream->printf("ZProbe not connected.\n"); |
289 | return; | |
290 | } | |
291 | if(this->pin.get()) { | |
292 | gcode->stream->printf("ZProbe triggered before move, aborting command.\n"); | |
293 | return; | |
294 | } | |
295 | ||
681a62d7 | 296 | if( gcode->g == 30 ) { // simple Z probe |
17f26e01 | 297 | // NOTE currently this will not work for rotary deltas, use G38.2/3 Z instead |
88443c6b JM |
298 | // first wait for an empty queue i.e. no moves left |
299 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
300 | ||
681a62d7 | 301 | int steps; |
771fb7b2 RM |
302 | bool probe_result; |
303 | if(gcode->has_letter('F')) { | |
304 | probe_result = run_probe_feed(steps, gcode->get_value('F') / 60); | |
305 | } else { | |
306 | probe_result = run_probe(steps); | |
307 | } | |
308 | ||
309 | if(probe_result) { | |
cea695db | 310 | gcode->stream->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps), steps); |
bd96f4d7 JM |
311 | // move back to where it started, unless a Z is specified |
312 | if(gcode->has_letter('Z')) { | |
313 | // set Z to the specified value, and leave probe where it is | |
314 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS); | |
681a62d7 JM |
315 | } else { |
316 | return_probe(steps); | |
bd96f4d7 | 317 | } |
681a62d7 | 318 | } else { |
bd96f4d7 | 319 | gcode->stream->printf("ZProbe not triggered\n"); |
88443c6b | 320 | } |
fc7b9a7b | 321 | |
ce9d2bda | 322 | } else { |
aaf0c0ee | 323 | if(!gcode->has_letter('P')) { |
fc92f0ac JM |
324 | // find the first strategy to handle the gcode |
325 | for(auto s : strategies){ | |
326 | if(s->handleGcode(gcode)) { | |
327 | return; | |
328 | } | |
329 | } | |
330 | gcode->stream->printf("No strategy found to handle G%d\n", gcode->g); | |
331 | ||
332 | }else{ | |
aaf0c0ee JM |
333 | // P paramater selects which strategy to send the code to |
334 | // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on. | |
335 | uint16_t i= gcode->get_value('P'); | |
336 | if(i < strategies.size()) { | |
fc92f0ac | 337 | if(!strategies[i]->handleGcode(gcode)){ |
aaf0c0ee | 338 | gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g); |
fc92f0ac | 339 | } |
ce9d2bda | 340 | return; |
fc92f0ac JM |
341 | |
342 | }else{ | |
aaf0c0ee | 343 | gcode->stream->printf("strategy #%d is not loaded\n", i); |
037c350d | 344 | } |
fc7b9a7b | 345 | } |
88443c6b JM |
346 | } |
347 | ||
6c0193b3 | 348 | } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error |
36a21d48 JM |
349 | // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe |
350 | if(gcode->subcode != 2 && gcode->subcode != 3) { | |
07186543 | 351 | gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n"); |
36a21d48 JM |
352 | return; |
353 | } | |
354 | ||
355 | // make sure the probe is defined and not already triggered before moving motors | |
356 | if(!this->pin.connected()) { | |
e714bd32 | 357 | gcode->stream->printf("error:ZProbe not connected.\n"); |
36a21d48 JM |
358 | return; |
359 | } | |
17f26e01 | 360 | |
36a21d48 | 361 | if(this->pin.get()) { |
e714bd32 | 362 | gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n"); |
36a21d48 JM |
363 | return; |
364 | } | |
365 | ||
366 | // first wait for an empty queue i.e. no moves left | |
367 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
368 | ||
7484e84a JM |
369 | // turn off any compensation transform |
370 | auto savect= THEKERNEL->robot->compensationTransform; | |
371 | THEKERNEL->robot->compensationTransform= nullptr; | |
372 | ||
36a21d48 JM |
373 | if(gcode->has_letter('X')) { |
374 | // probe in the X axis | |
a2f1ce04 | 375 | probe_XYZ(gcode, X_AXIS); |
36a21d48 JM |
376 | |
377 | }else if(gcode->has_letter('Y')) { | |
378 | // probe in the Y axis | |
a2f1ce04 | 379 | probe_XYZ(gcode, Y_AXIS); |
36a21d48 JM |
380 | |
381 | }else if(gcode->has_letter('Z')) { | |
a2f1ce04 JM |
382 | // probe in the Z axis |
383 | probe_XYZ(gcode, Z_AXIS); | |
36a21d48 | 384 | |
36a21d48 | 385 | }else{ |
e714bd32 | 386 | gcode->stream->printf("error:at least one of X Y or Z must be specified\n"); |
36a21d48 | 387 | } |
7484e84a JM |
388 | |
389 | // restore compensationTransform | |
390 | THEKERNEL->robot->compensationTransform= savect; | |
391 | ||
36a21d48 JM |
392 | return; |
393 | ||
88443c6b JM |
394 | } else if(gcode->has_m) { |
395 | // M code processing here | |
3434eac0 RM |
396 | int c; |
397 | switch (gcode->m) { | |
398 | case 119: | |
399 | c = this->pin.get(); | |
400 | gcode->stream->printf(" Probe: %d", c); | |
401 | gcode->add_nl = true; | |
402 | break; | |
403 | ||
404 | case 670: | |
405 | if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S'); | |
406 | if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K'); | |
407 | if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R'); | |
408 | if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z'); | |
409 | if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H'); | |
410 | break; | |
411 | ||
412 | case 500: // save settings | |
413 | case 503: // print settings | |
fc92f0ac JM |
414 | gcode->stream->printf(";Probe feedrates Slow/fast(K)/Return (mm/sec) max_z (mm) height (mm):\nM670 S%1.2f K%1.2f R%1.2f Z%1.2f H%1.2f\n", |
415 | this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height); | |
416 | ||
3434eac0 RM |
417 | // fall through is intended so leveling strategies can handle m-codes too |
418 | ||
419 | default: | |
420 | for(auto s : strategies){ | |
421 | if(s->handleGcode(gcode)) { | |
422 | return; | |
423 | } | |
ce9d2bda | 424 | } |
bd96f4d7 | 425 | } |
88443c6b JM |
426 | } |
427 | } | |
428 | ||
17f26e01 | 429 | // special way to probe in the X or Y or Z direction using planned moves, shoul dwork with any kinematics |
a2f1ce04 | 430 | void ZProbe::probe_XYZ(Gcode *gcode, int axis) |
37102904 JM |
431 | { |
432 | // enable the probe checking in the stepticker | |
433 | THEKERNEL->step_ticker->probe_fnc= [this]() { return this->pin.get(); }; | |
434 | ||
435 | // get probe feedrate if specified | |
436 | float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate; | |
437 | ||
438 | // do a regular move which will stop as soon as the probe is triggered, or the distance is reached | |
439 | if(axis == X_AXIS) { | |
440 | coordinated_move(gcode->get_value('X'), 0, 0, rate, true); | |
441 | ||
442 | }else if(axis == Y_AXIS) { | |
443 | coordinated_move(0, gcode->get_value('Y'), 0, rate, true); | |
444 | ||
a2f1ce04 JM |
445 | }else if(axis == Z_AXIS) { |
446 | coordinated_move(0, 0, gcode->get_value('Z'), rate, true); | |
447 | ||
37102904 JM |
448 | }else{ |
449 | // this is an error | |
450 | THEKERNEL->step_ticker->probe_fnc= nullptr; | |
451 | return; | |
452 | } | |
453 | ||
454 | // now wait for the move to finish | |
455 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
456 | ||
457 | float pos[3]; | |
458 | { | |
459 | // get the current position | |
460 | ActuatorCoordinates current_position{ | |
461 | THEKERNEL->robot->actuators[X_AXIS]->get_current_position(), | |
462 | THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(), | |
463 | THEKERNEL->robot->actuators[Z_AXIS]->get_current_position() | |
464 | }; | |
465 | ||
466 | // get machine position from the actuator position using FK | |
467 | THEKERNEL->robot->arm_solution->actuator_to_cartesian(current_position, pos); | |
468 | } | |
469 | ||
470 | // see if probe was triggered | |
17f26e01 | 471 | // handle debounce here, 200ms should be enough Note this won't filter noise just handles real debounce after hit |
37102904 | 472 | safe_delay(200); |
4440e123 | 473 | uint8_t probeok= this->pin.get() ? 1 : 0; |
b76a9926 | 474 | |
17f26e01 | 475 | // print results using the GRBL format |
b76a9926 | 476 | gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok); |
4440e123 | 477 | THEKERNEL->robot->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok)); |
b76a9926 JM |
478 | |
479 | if(!probeok && gcode->subcode == 2) { | |
37102904 JM |
480 | // issue error if probe was not triggered and subcode == 2 |
481 | gcode->stream->printf("ALARM:Probe fail\n"); | |
482 | THEKERNEL->call_event(ON_HALT, nullptr); | |
483 | } | |
484 | ||
b76a9926 JM |
485 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought |
486 | THEKERNEL->robot->reset_position_from_current_actuator_position(); | |
37102904 JM |
487 | |
488 | // disable probe checking | |
489 | THEKERNEL->step_ticker->probe_fnc= nullptr; | |
490 | } | |
491 | ||
88443c6b | 492 | // Called periodically to change the speed to match acceleration |
a157d099 | 493 | void ZProbe::acceleration_tick(void) |
88443c6b | 494 | { |
a157d099 | 495 | if(!this->running) return; // nothing to do |
fa7bcf7e | 496 | if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS); |
88443c6b | 497 | |
fa7bcf7e JM |
498 | if(is_delta) { |
499 | // deltas needs to move all actuators | |
500 | for ( int c = X_AXIS; c <= Y_AXIS; c++ ) { | |
501 | if( !STEPPER[c]->is_moving() ) continue; | |
502 | accelerate(c); | |
503 | } | |
504 | } | |
88443c6b | 505 | |
a157d099 | 506 | return; |
fa7bcf7e | 507 | } |
88443c6b | 508 | |
fa7bcf7e JM |
509 | void ZProbe::accelerate(int c) |
510 | { uint32_t current_rate = STEPPER[c]->get_steps_per_second(); | |
c8f4ee77 | 511 | uint32_t target_rate = floorf(this->current_feedrate); |
88443c6b | 512 | |
c5fe1787 JM |
513 | // Z may have a different acceleration to X and Y |
514 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); | |
fa7bcf7e | 515 | if( current_rate < target_rate ) { |
a157d099 | 516 | uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c)); |
fa7bcf7e JM |
517 | current_rate = min( target_rate, current_rate + rate_increase ); |
518 | } | |
519 | if( current_rate > target_rate ) { | |
520 | current_rate = target_rate; | |
88443c6b JM |
521 | } |
522 | ||
fa7bcf7e | 523 | // steps per second |
d6ba35b8 | 524 | STEPPER[c]->set_speed(current_rate); |
88443c6b | 525 | } |
681a62d7 JM |
526 | |
527 | // issue a coordinated move directly to robot, and return when done | |
528 | // Only move the coordinates that are passed in as not nan | |
e0be983d | 529 | // NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts |
037c350d | 530 | void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative) |
681a62d7 JM |
531 | { |
532 | char buf[32]; | |
037c350d JM |
533 | char cmd[64]; |
534 | ||
535 | if(relative) strcpy(cmd, "G91 G0 "); | |
e0be983d | 536 | else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system |
037c350d | 537 | |
681a62d7 | 538 | if(!isnan(x)) { |
037c350d | 539 | int n = snprintf(buf, sizeof(buf), " X%1.3f", x); |
681a62d7 JM |
540 | strncat(cmd, buf, n); |
541 | } | |
542 | if(!isnan(y)) { | |
037c350d | 543 | int n = snprintf(buf, sizeof(buf), " Y%1.3f", y); |
681a62d7 JM |
544 | strncat(cmd, buf, n); |
545 | } | |
546 | if(!isnan(z)) { | |
037c350d | 547 | int n = snprintf(buf, sizeof(buf), " Z%1.3f", z); |
681a62d7 JM |
548 | strncat(cmd, buf, n); |
549 | } | |
550 | ||
551 | // use specified feedrate (mm/sec) | |
037c350d | 552 | int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min |
681a62d7 | 553 | strncat(cmd, buf, n); |
037c350d JM |
554 | if(relative) strcat(cmd, " G90"); |
555 | ||
556 | //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd); | |
681a62d7 | 557 | |
037c350d JM |
558 | // send as a command line as may have multiple G codes in it |
559 | struct SerialMessage message; | |
560 | message.message = cmd; | |
561 | message.stream = &(StreamOutput::NullStream); | |
562 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
681a62d7 JM |
563 | THEKERNEL->conveyor->wait_for_empty_queue(); |
564 | } | |
565 | ||
566 | // issue home command | |
567 | void ZProbe::home() | |
568 | { | |
569 | Gcode gc("G28", &(StreamOutput::NullStream)); | |
570 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); | |
571 | } | |
57e927fa JM |
572 | |
573 | float ZProbe::zsteps_to_mm(float steps) | |
574 | { | |
575 | return steps / Z_STEPS_PER_MM; | |
576 | } |