Commit | Line | Data |
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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" | |
88443c6b JM |
18 | #include "checksumm.h" |
19 | #include "ConfigValue.h" | |
20 | #include "SlowTicker.h" | |
21 | #include "Planner.h" | |
037c350d | 22 | #include "SerialMessage.h" |
9f6f04a5 JM |
23 | #include "PublicDataRequest.h" |
24 | #include "EndstopsPublicAccess.h" | |
25 | #include "PublicData.h" | |
ce9d2bda | 26 | #include "LevelingStrategy.h" |
a157d099 | 27 | #include "StepTicker.h" |
37102904 | 28 | #include "utils.h" |
a5542cae JM |
29 | |
30 | // strategies we know about | |
f6efadb0 | 31 | #include "DeltaCalibrationStrategy.h" |
a5542cae | 32 | #include "ThreePointStrategy.h" |
59d4d4ea | 33 | #include "DeltaGridStrategy.h" |
6c972e51 | 34 | #include "CartGridStrategy.h" |
88443c6b | 35 | |
88443c6b JM |
36 | #define enable_checksum CHECKSUM("enable") |
37 | #define probe_pin_checksum CHECKSUM("probe_pin") | |
7778d1ce | 38 | #define debounce_ms_checksum CHECKSUM("debounce_ms") |
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") |
93f20a8c | 44 | #define reverse_z_direction_checksum CHECKSUM("reverse_z") |
88443c6b | 45 | |
681a62d7 | 46 | // from endstop section |
b7cd847e | 47 | #define delta_homing_checksum CHECKSUM("delta_homing") |
d8198a57 | 48 | #define rdelta_homing_checksum CHECKSUM("rdelta_homing") |
88443c6b JM |
49 | |
50 | #define X_AXIS 0 | |
51 | #define Y_AXIS 1 | |
52 | #define Z_AXIS 2 | |
53 | ||
c8bac202 | 54 | #define STEPPER THEROBOT->actuators |
dd0a7cfa | 55 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) |
56ce2b5a JM |
56 | #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS) |
57 | ||
7d6fe308 JM |
58 | #define abs(a) ((a<0) ? -a : a) |
59 | ||
88443c6b JM |
60 | void ZProbe::on_module_loaded() |
61 | { | |
62 | // if the module is disabled -> do nothing | |
56ce2b5a | 63 | if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) { |
88443c6b JM |
64 | // as this module is not needed free up the resource |
65 | delete this; | |
66 | return; | |
67 | } | |
88443c6b JM |
68 | |
69 | // load settings | |
de5787e0 | 70 | this->config_load(); |
88443c6b | 71 | // register event-handlers |
88443c6b | 72 | register_for_event(ON_GCODE_RECEIVED); |
88443c6b | 73 | |
778093ce JM |
74 | // we read the probe in this timer, currently only for G38 probes. |
75 | probing= false; | |
76 | THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe); | |
88443c6b JM |
77 | } |
78 | ||
de5787e0 | 79 | void ZProbe::config_load() |
88443c6b | 80 | { |
681a62d7 | 81 | this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input(); |
7778d1ce | 82 | this->debounce_ms = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0 )->as_number(); |
681a62d7 | 83 | |
ce9d2bda | 84 | // get strategies to load |
f6efadb0 JM |
85 | vector<uint16_t> modules; |
86 | THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum); | |
87 | for( auto cs : modules ){ | |
88 | if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){ | |
89 | bool found= false; | |
9ad47eab JM |
90 | LevelingStrategy *ls= nullptr; |
91 | ||
f6efadb0 JM |
92 | // check with each known strategy and load it if it matches |
93 | switch(cs) { | |
94 | case delta_calibration_strategy_checksum: | |
9ad47eab | 95 | ls= new DeltaCalibrationStrategy(this); |
f6efadb0 JM |
96 | found= true; |
97 | break; | |
a5542cae JM |
98 | |
99 | case three_point_leveling_strategy_checksum: | |
100 | // NOTE this strategy is mutually exclusive with the delta calibration strategy | |
9ad47eab | 101 | ls= new ThreePointStrategy(this); |
a5542cae JM |
102 | found= true; |
103 | break; | |
104 | ||
59d4d4ea | 105 | case delta_grid_leveling_strategy_checksum: |
9ad47eab | 106 | ls= new DeltaGridStrategy(this); |
59d4d4ea JM |
107 | found= true; |
108 | break; | |
6c972e51 JL |
109 | |
110 | case cart_grid_leveling_strategy_checksum: | |
111 | ls= new CartGridStrategy(this); | |
112 | found= true; | |
113 | break; | |
f6efadb0 | 114 | } |
9ad47eab JM |
115 | if(found) { |
116 | if(ls->handleConfig()) { | |
117 | this->strategies.push_back(ls); | |
118 | }else{ | |
119 | delete ls; | |
120 | } | |
121 | } | |
f6efadb0 JM |
122 | } |
123 | } | |
ce9d2bda | 124 | |
57e927fa | 125 | // need to know if we need to use delta kinematics for homing |
ce9d2bda | 126 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
d8198a57 | 127 | this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool(); |
ce9d2bda | 128 | |
f6efadb0 | 129 | // default for backwards compatibility add DeltaCalibrationStrategy if a delta |
81c3ecbf | 130 | // may be deprecated |
f6efadb0 | 131 | if(this->strategies.empty()) { |
57e927fa JM |
132 | if(this->is_delta) { |
133 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
134 | this->strategies.back()->handleConfig(); | |
135 | } | |
037c350d | 136 | } |
681a62d7 | 137 | |
f3b66360 | 138 | this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number(); |
681a62d7 JM |
139 | this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec |
140 | this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec | |
b469231e | 141 | this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec |
bac3c948 | 142 | this->reverse_z = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction |
f3b66360 | 143 | this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance |
88443c6b JM |
144 | } |
145 | ||
6d142b73 | 146 | uint32_t ZProbe::read_probe(uint32_t dummy) |
88443c6b | 147 | { |
6d142b73 | 148 | if(!probing || probe_detected) return 0; |
88443c6b | 149 | |
8fe38353 JM |
150 | // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z |
151 | if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) { | |
6d142b73 JM |
152 | // if it is moving then we check the probe, and debounce it |
153 | if(this->pin.get()) { | |
7778d1ce | 154 | if(debounce < debounce_ms) { |
88443c6b JM |
155 | debounce++; |
156 | } else { | |
6d142b73 JM |
157 | // we signal the motors to stop, which will preempt any moves on that axis |
158 | // we do all motors as it may be a delta | |
159 | for(auto &a : THEROBOT->actuators) a->stop_moving(); | |
160 | probe_detected= true; | |
161 | debounce= 0; | |
88443c6b | 162 | } |
6d142b73 | 163 | |
88443c6b | 164 | } else { |
6d142b73 JM |
165 | // The endstop was not hit yet |
166 | debounce= 0; | |
88443c6b JM |
167 | } |
168 | } | |
6d142b73 JM |
169 | |
170 | return 0; | |
88443c6b | 171 | } |
88443c6b | 172 | |
6d142b73 | 173 | // single probe in Z with custom feedrate |
771fb7b2 | 174 | // returns boolean value indicating if probe was triggered |
6d142b73 | 175 | bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse) |
88443c6b | 176 | { |
965cc29a JM |
177 | if(this->pin.get()) { |
178 | // probe already triggered so abort | |
179 | return false; | |
180 | } | |
181 | ||
36a21d48 | 182 | float maxz= max_dist < 0 ? this->max_z*2 : max_dist; |
88443c6b | 183 | |
6d142b73 JM |
184 | probing= true; |
185 | probe_detected= false; | |
186 | debounce= 0; | |
187 | ||
188 | // save current actuator position so we can report how far we moved | |
189 | ActuatorCoordinates start_pos{ | |
190 | THEROBOT->actuators[X_AXIS]->get_current_position(), | |
191 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
192 | THEROBOT->actuators[Z_AXIS]->get_current_position() | |
193 | }; | |
194 | ||
88443c6b | 195 | // move Z down |
8fd0f38d | 196 | bool dir= (!reverse_z != reverse); // xor |
6d142b73 | 197 | float delta[3]= {0,0,0}; |
7778d1ce | 198 | delta[Z_AXIS]= dir ? -maxz : maxz; |
121094a5 | 199 | THEROBOT->delta_move(delta, feedrate, 3); |
b7cd847e | 200 | |
6d142b73 | 201 | // wait until finished |
04782655 | 202 | THECONVEYOR->wait_for_idle(); |
7d6fe308 | 203 | |
6d142b73 | 204 | // now see how far we moved, get delta in z we moved |
29e809e0 | 205 | // NOTE this works for deltas as well as all three actuators move the same amount in Z |
6d142b73 JM |
206 | mm= start_pos[2] - THEROBOT->actuators[2]->get_current_position(); |
207 | ||
208 | // set the last probe position to the actuator units moved during this home | |
209 | THEROBOT->set_last_probe_position( | |
210 | std::make_tuple( | |
211 | start_pos[0] - THEROBOT->actuators[0]->get_current_position(), | |
212 | start_pos[1] - THEROBOT->actuators[1]->get_current_position(), | |
213 | mm, | |
214 | probe_detected?1:0)); | |
215 | ||
7778d1ce JM |
216 | probing= false; |
217 | ||
218 | if(probe_detected) { | |
219 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought | |
220 | THEROBOT->reset_position_from_current_actuator_position(); | |
221 | } | |
6d142b73 JM |
222 | |
223 | return probe_detected; | |
88443c6b JM |
224 | } |
225 | ||
71f0df19 JM |
226 | // do probe then return to start position |
227 | bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse) | |
681a62d7 | 228 | { |
71f0df19 JM |
229 | float save_pos[3]; |
230 | THEROBOT->get_axis_position(save_pos); | |
231 | ||
232 | bool ok= run_probe(mm, feedrate, max_dist, reverse); | |
233 | ||
681a62d7 | 234 | // move probe back to where it was |
b469231e RM |
235 | float fr; |
236 | if(this->return_feedrate != 0) { // use return_feedrate if set | |
237 | fr = this->return_feedrate; | |
238 | } else { | |
239 | fr = this->slow_feedrate*2; // nominally twice slow feedrate | |
240 | if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate | |
241 | } | |
242 | ||
c42bad8f | 243 | // absolute move back to saved starting position |
71f0df19 | 244 | coordinated_move(save_pos[0], save_pos[1], save_pos[2], fr, false); |
681a62d7 | 245 | |
71f0df19 | 246 | return ok; |
681a62d7 JM |
247 | } |
248 | ||
6d142b73 | 249 | bool ZProbe::doProbeAt(float &mm, float x, float y) |
97832d6d | 250 | { |
97832d6d JM |
251 | // move to xy |
252 | coordinated_move(x, y, NAN, getFastFeedrate()); | |
71f0df19 | 253 | return run_probe_return(mm, slow_feedrate); |
97832d6d | 254 | } |
fc7b9a7b | 255 | |
88443c6b JM |
256 | void ZProbe::on_gcode_received(void *argument) |
257 | { | |
258 | Gcode *gcode = static_cast<Gcode *>(argument); | |
88443c6b | 259 | |
57e927fa | 260 | if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) { |
36a21d48 | 261 | |
25dc6344 | 262 | // make sure the probe is defined and not already triggered before moving motors |
36a21d48 | 263 | if(!this->pin.connected()) { |
7b18a698 | 264 | gcode->stream->printf("ZProbe pin not configured.\n"); |
25dc6344 JM |
265 | return; |
266 | } | |
965cc29a | 267 | |
25dc6344 JM |
268 | if(this->pin.get()) { |
269 | gcode->stream->printf("ZProbe triggered before move, aborting command.\n"); | |
270 | return; | |
271 | } | |
272 | ||
681a62d7 | 273 | if( gcode->g == 30 ) { // simple Z probe |
8fe38353 | 274 | // first wait for all moves to finish |
04782655 | 275 | THEKERNEL->conveyor->wait_for_idle(); |
88443c6b | 276 | |
71f0df19 | 277 | bool set_z= (gcode->has_letter('Z') && !is_rdelta); |
771fb7b2 | 278 | bool probe_result; |
93f20a8c JM |
279 | bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction |
280 | float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate; | |
7778d1ce | 281 | float mm; |
71f0df19 JM |
282 | |
283 | // if not setting Z then return probe to where it started, otherwise leave it where it is | |
284 | probe_result = (set_z ? run_probe(mm, rate, -1, reverse) : run_probe_return(mm, rate, -1, reverse)); | |
771fb7b2 RM |
285 | |
286 | if(probe_result) { | |
71f0df19 | 287 | // the result is in actuator coordinates moved |
6d142b73 | 288 | gcode->stream->printf("Z:%1.4f\n", mm); |
078f76e0 | 289 | |
71f0df19 | 290 | if(set_z) { |
fd2341bc JM |
291 | // set current Z to the specified value, shortcut for G92 Znnn |
292 | char buf[32]; | |
293 | int n = snprintf(buf, sizeof(buf), "G92 Z%f", gcode->get_value('Z')); | |
294 | string g(buf, n); | |
295 | Gcode gc(g, &(StreamOutput::NullStream)); | |
296 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); | |
bd96f4d7 | 297 | } |
078f76e0 | 298 | |
681a62d7 | 299 | } else { |
bd96f4d7 | 300 | gcode->stream->printf("ZProbe not triggered\n"); |
88443c6b | 301 | } |
fc7b9a7b | 302 | |
ce9d2bda | 303 | } else { |
aaf0c0ee | 304 | if(!gcode->has_letter('P')) { |
fc92f0ac JM |
305 | // find the first strategy to handle the gcode |
306 | for(auto s : strategies){ | |
307 | if(s->handleGcode(gcode)) { | |
308 | return; | |
309 | } | |
310 | } | |
311 | gcode->stream->printf("No strategy found to handle G%d\n", gcode->g); | |
312 | ||
313 | }else{ | |
aaf0c0ee JM |
314 | // P paramater selects which strategy to send the code to |
315 | // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on. | |
316 | uint16_t i= gcode->get_value('P'); | |
317 | if(i < strategies.size()) { | |
fc92f0ac | 318 | if(!strategies[i]->handleGcode(gcode)){ |
aaf0c0ee | 319 | gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g); |
fc92f0ac | 320 | } |
ce9d2bda | 321 | return; |
fc92f0ac JM |
322 | |
323 | }else{ | |
aaf0c0ee | 324 | gcode->stream->printf("strategy #%d is not loaded\n", i); |
037c350d | 325 | } |
fc7b9a7b | 326 | } |
88443c6b JM |
327 | } |
328 | ||
6c0193b3 | 329 | } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error |
36a21d48 JM |
330 | // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe |
331 | if(gcode->subcode != 2 && gcode->subcode != 3) { | |
07186543 | 332 | gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n"); |
36a21d48 JM |
333 | return; |
334 | } | |
335 | ||
336 | // make sure the probe is defined and not already triggered before moving motors | |
337 | if(!this->pin.connected()) { | |
e714bd32 | 338 | gcode->stream->printf("error:ZProbe not connected.\n"); |
36a21d48 JM |
339 | return; |
340 | } | |
17f26e01 | 341 | |
36a21d48 | 342 | if(this->pin.get()) { |
e714bd32 | 343 | gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n"); |
36a21d48 JM |
344 | return; |
345 | } | |
346 | ||
8fe38353 | 347 | // first wait for all moves to finish |
04782655 | 348 | THEKERNEL->conveyor->wait_for_idle(); |
36a21d48 JM |
349 | |
350 | if(gcode->has_letter('X')) { | |
351 | // probe in the X axis | |
a2f1ce04 | 352 | probe_XYZ(gcode, X_AXIS); |
36a21d48 JM |
353 | |
354 | }else if(gcode->has_letter('Y')) { | |
355 | // probe in the Y axis | |
a2f1ce04 | 356 | probe_XYZ(gcode, Y_AXIS); |
36a21d48 JM |
357 | |
358 | }else if(gcode->has_letter('Z')) { | |
a2f1ce04 JM |
359 | // probe in the Z axis |
360 | probe_XYZ(gcode, Z_AXIS); | |
36a21d48 | 361 | |
36a21d48 | 362 | }else{ |
e714bd32 | 363 | gcode->stream->printf("error:at least one of X Y or Z must be specified\n"); |
36a21d48 | 364 | } |
7484e84a | 365 | |
36a21d48 JM |
366 | return; |
367 | ||
88443c6b JM |
368 | } else if(gcode->has_m) { |
369 | // M code processing here | |
3434eac0 RM |
370 | int c; |
371 | switch (gcode->m) { | |
372 | case 119: | |
373 | c = this->pin.get(); | |
374 | gcode->stream->printf(" Probe: %d", c); | |
375 | gcode->add_nl = true; | |
376 | break; | |
377 | ||
378 | case 670: | |
379 | if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S'); | |
380 | if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K'); | |
381 | if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R'); | |
382 | if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z'); | |
383 | if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H'); | |
39f1d9bd JM |
384 | if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin |
385 | invert_override= (gcode->get_value('I') != 0); | |
386 | pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa | |
387 | } | |
3434eac0 RM |
388 | break; |
389 | ||
390 | case 500: // save settings | |
391 | case 503: // print settings | |
fc92f0ac JM |
392 | 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", |
393 | this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height); | |
394 | ||
3434eac0 RM |
395 | // fall through is intended so leveling strategies can handle m-codes too |
396 | ||
397 | default: | |
398 | for(auto s : strategies){ | |
399 | if(s->handleGcode(gcode)) { | |
400 | return; | |
401 | } | |
ce9d2bda | 402 | } |
bd96f4d7 | 403 | } |
88443c6b JM |
404 | } |
405 | } | |
406 | ||
778093ce | 407 | // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics |
a2f1ce04 | 408 | void ZProbe::probe_XYZ(Gcode *gcode, int axis) |
37102904 | 409 | { |
778093ce JM |
410 | // enable the probe checking in the timer |
411 | probing= true; | |
412 | probe_detected= false; | |
c8bac202 | 413 | THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y) |
37102904 | 414 | |
73cad2e1 JM |
415 | // get probe feedrate in mm/min and convert to mm/sec if specified |
416 | float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate; | |
37102904 | 417 | |
778093ce JM |
418 | // do a regular move which will stop as soon as the probe is triggered, or the distance is reached |
419 | switch(axis) { | |
420 | case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break; | |
421 | case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break; | |
422 | case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break; | |
37102904 JM |
423 | } |
424 | ||
778093ce JM |
425 | // coordinated_move returns when the move is finished |
426 | ||
427 | // disable probe checking | |
428 | probing= false; | |
c8bac202 | 429 | THEROBOT->disable_segmentation= false; |
37102904 | 430 | |
8fe38353 JM |
431 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought |
432 | // this also sets last_milestone to the machine coordinates it stopped at | |
433 | THEROBOT->reset_position_from_current_actuator_position(); | |
37102904 | 434 | float pos[3]; |
8fe38353 | 435 | THEROBOT->get_axis_position(pos, 3); |
37102904 | 436 | |
778093ce | 437 | uint8_t probeok= this->probe_detected ? 1 : 0; |
b76a9926 | 438 | |
17f26e01 | 439 | // print results using the GRBL format |
b76a9926 | 440 | gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok); |
c8bac202 | 441 | THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok)); |
b76a9926 | 442 | |
8fe38353 | 443 | if(probeok == 0 && gcode->subcode == 2) { |
93f20a8c JM |
444 | // issue error if probe was not triggered and subcode == 2 |
445 | gcode->stream->printf("ALARM:Probe fail\n"); | |
446 | THEKERNEL->call_event(ON_HALT, nullptr); | |
778093ce | 447 | } |
37102904 JM |
448 | } |
449 | ||
681a62d7 JM |
450 | // issue a coordinated move directly to robot, and return when done |
451 | // Only move the coordinates that are passed in as not nan | |
6d142b73 | 452 | // NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets |
037c350d | 453 | void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative) |
681a62d7 JM |
454 | { |
455 | char buf[32]; | |
037c350d JM |
456 | char cmd[64]; |
457 | ||
458 | if(relative) strcpy(cmd, "G91 G0 "); | |
e0be983d | 459 | else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system |
037c350d | 460 | |
681a62d7 | 461 | if(!isnan(x)) { |
037c350d | 462 | int n = snprintf(buf, sizeof(buf), " X%1.3f", x); |
681a62d7 JM |
463 | strncat(cmd, buf, n); |
464 | } | |
465 | if(!isnan(y)) { | |
037c350d | 466 | int n = snprintf(buf, sizeof(buf), " Y%1.3f", y); |
681a62d7 JM |
467 | strncat(cmd, buf, n); |
468 | } | |
469 | if(!isnan(z)) { | |
037c350d | 470 | int n = snprintf(buf, sizeof(buf), " Z%1.3f", z); |
681a62d7 JM |
471 | strncat(cmd, buf, n); |
472 | } | |
473 | ||
474 | // use specified feedrate (mm/sec) | |
037c350d | 475 | int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min |
681a62d7 | 476 | strncat(cmd, buf, n); |
037c350d JM |
477 | if(relative) strcat(cmd, " G90"); |
478 | ||
479 | //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd); | |
681a62d7 | 480 | |
037c350d JM |
481 | // send as a command line as may have multiple G codes in it |
482 | struct SerialMessage message; | |
483 | message.message = cmd; | |
484 | message.stream = &(StreamOutput::NullStream); | |
485 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
04782655 | 486 | THEKERNEL->conveyor->wait_for_idle(); |
681a62d7 JM |
487 | } |
488 | ||
489 | // issue home command | |
490 | void ZProbe::home() | |
491 | { | |
9a6cabd8 | 492 | Gcode gc(THEKERNEL->is_grbl_mode() ? "G28.2" : "G28", &(StreamOutput::NullStream)); |
681a62d7 JM |
493 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); |
494 | } |