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" |
6d142b73 | 33 | //#include "ZGridStrategy.h" |
59d4d4ea | 34 | #include "DeltaGridStrategy.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; | |
90 | // check with each known strategy and load it if it matches | |
91 | switch(cs) { | |
92 | case delta_calibration_strategy_checksum: | |
93 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
94 | found= true; | |
95 | break; | |
a5542cae JM |
96 | |
97 | case three_point_leveling_strategy_checksum: | |
98 | // NOTE this strategy is mutually exclusive with the delta calibration strategy | |
99 | this->strategies.push_back(new ThreePointStrategy(this)); | |
100 | found= true; | |
101 | break; | |
102 | ||
6d142b73 JM |
103 | // case ZGrid_leveling_checksum: |
104 | // this->strategies.push_back(new ZGridStrategy(this)); | |
105 | // found= true; | |
106 | // break; | |
43b9b200 | 107 | |
59d4d4ea JM |
108 | case delta_grid_leveling_strategy_checksum: |
109 | this->strategies.push_back(new DeltaGridStrategy(this)); | |
110 | found= true; | |
111 | break; | |
f6efadb0 JM |
112 | } |
113 | if(found) this->strategies.back()->handleConfig(); | |
114 | } | |
115 | } | |
ce9d2bda | 116 | |
57e927fa | 117 | // need to know if we need to use delta kinematics for homing |
ce9d2bda | 118 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
d8198a57 | 119 | this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool(); |
ce9d2bda | 120 | |
f6efadb0 | 121 | // default for backwards compatibility add DeltaCalibrationStrategy if a delta |
57e927fa | 122 | // will be deprecated |
f6efadb0 | 123 | if(this->strategies.empty()) { |
57e927fa JM |
124 | if(this->is_delta) { |
125 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
126 | this->strategies.back()->handleConfig(); | |
127 | } | |
037c350d | 128 | } |
681a62d7 | 129 | |
f3b66360 | 130 | this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number(); |
681a62d7 JM |
131 | this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec |
132 | this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec | |
b469231e | 133 | this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec |
bac3c948 | 134 | this->reverse_z = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction |
f3b66360 | 135 | this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance |
88443c6b JM |
136 | } |
137 | ||
6d142b73 | 138 | uint32_t ZProbe::read_probe(uint32_t dummy) |
88443c6b | 139 | { |
6d142b73 | 140 | if(!probing || probe_detected) return 0; |
88443c6b | 141 | |
6d142b73 JM |
142 | if(STEPPER[Z_AXIS]->is_moving()) { |
143 | // if it is moving then we check the probe, and debounce it | |
144 | if(this->pin.get()) { | |
7778d1ce | 145 | if(debounce < debounce_ms) { |
88443c6b JM |
146 | debounce++; |
147 | } else { | |
6d142b73 JM |
148 | // we signal the motors to stop, which will preempt any moves on that axis |
149 | // we do all motors as it may be a delta | |
150 | for(auto &a : THEROBOT->actuators) a->stop_moving(); | |
151 | probe_detected= true; | |
152 | debounce= 0; | |
88443c6b | 153 | } |
6d142b73 | 154 | |
88443c6b | 155 | } else { |
6d142b73 JM |
156 | // The endstop was not hit yet |
157 | debounce= 0; | |
88443c6b JM |
158 | } |
159 | } | |
6d142b73 JM |
160 | |
161 | return 0; | |
88443c6b | 162 | } |
88443c6b | 163 | |
6d142b73 | 164 | // single probe in Z with custom feedrate |
771fb7b2 | 165 | // returns boolean value indicating if probe was triggered |
6d142b73 | 166 | bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse) |
88443c6b | 167 | { |
36a21d48 | 168 | float maxz= max_dist < 0 ? this->max_z*2 : max_dist; |
88443c6b | 169 | |
6d142b73 JM |
170 | probing= true; |
171 | probe_detected= false; | |
172 | debounce= 0; | |
173 | ||
174 | // save current actuator position so we can report how far we moved | |
175 | ActuatorCoordinates start_pos{ | |
176 | THEROBOT->actuators[X_AXIS]->get_current_position(), | |
177 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
178 | THEROBOT->actuators[Z_AXIS]->get_current_position() | |
179 | }; | |
180 | ||
88443c6b | 181 | // move Z down |
7778d1ce | 182 | THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled |
8fd0f38d | 183 | bool dir= (!reverse_z != reverse); // xor |
6d142b73 | 184 | float delta[3]= {0,0,0}; |
7778d1ce | 185 | delta[Z_AXIS]= dir ? -maxz : maxz; |
121094a5 | 186 | THEROBOT->delta_move(delta, feedrate, 3); |
b7cd847e | 187 | |
6d142b73 | 188 | // wait until finished |
04782655 | 189 | THECONVEYOR->wait_for_idle(); |
7778d1ce | 190 | THEROBOT->disable_segmentation= false; |
7d6fe308 | 191 | |
6d142b73 | 192 | // now see how far we moved, get delta in z we moved |
29e809e0 | 193 | // NOTE this works for deltas as well as all three actuators move the same amount in Z |
6d142b73 JM |
194 | mm= start_pos[2] - THEROBOT->actuators[2]->get_current_position(); |
195 | ||
196 | // set the last probe position to the actuator units moved during this home | |
197 | THEROBOT->set_last_probe_position( | |
198 | std::make_tuple( | |
199 | start_pos[0] - THEROBOT->actuators[0]->get_current_position(), | |
200 | start_pos[1] - THEROBOT->actuators[1]->get_current_position(), | |
201 | mm, | |
202 | probe_detected?1:0)); | |
203 | ||
7778d1ce JM |
204 | probing= false; |
205 | ||
206 | if(probe_detected) { | |
207 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought | |
208 | THEROBOT->reset_position_from_current_actuator_position(); | |
209 | } | |
6d142b73 JM |
210 | |
211 | return probe_detected; | |
88443c6b JM |
212 | } |
213 | ||
6d142b73 | 214 | bool ZProbe::return_probe(float mm, bool reverse) |
681a62d7 JM |
215 | { |
216 | // move probe back to where it was | |
b469231e RM |
217 | float fr; |
218 | if(this->return_feedrate != 0) { // use return_feedrate if set | |
219 | fr = this->return_feedrate; | |
220 | } else { | |
221 | fr = this->slow_feedrate*2; // nominally twice slow feedrate | |
222 | if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate | |
223 | } | |
224 | ||
6d142b73 | 225 | bool dir= ((mm < 0) != reverse_z); // xor |
93f20a8c | 226 | if(reverse) dir= !dir; |
681a62d7 | 227 | |
6d142b73 | 228 | float delta[3]= {0,0,0}; |
7778d1ce | 229 | delta[Z_AXIS]= dir ? -mm : mm; |
121094a5 | 230 | THEROBOT->delta_move(delta, fr, 3); |
7d6fe308 | 231 | |
6d142b73 | 232 | // wait until finished |
04782655 | 233 | THECONVEYOR->wait_for_idle(); |
681a62d7 JM |
234 | |
235 | return true; | |
236 | } | |
237 | ||
6d142b73 | 238 | bool ZProbe::doProbeAt(float &mm, float x, float y) |
97832d6d | 239 | { |
6d142b73 | 240 | float s; |
97832d6d JM |
241 | // move to xy |
242 | coordinated_move(x, y, NAN, getFastFeedrate()); | |
243 | if(!run_probe(s)) return false; | |
244 | ||
245 | // return to original Z | |
246 | return_probe(s); | |
6d142b73 | 247 | mm = s; |
97832d6d JM |
248 | |
249 | return true; | |
250 | } | |
fc7b9a7b | 251 | |
0e44e7d7 JM |
252 | float ZProbe::probeDistance(float x, float y) |
253 | { | |
6d142b73 | 254 | float s; |
0e44e7d7 | 255 | if(!doProbeAt(s, x, y)) return NAN; |
6d142b73 | 256 | return s; |
0e44e7d7 JM |
257 | } |
258 | ||
88443c6b JM |
259 | void ZProbe::on_gcode_received(void *argument) |
260 | { | |
261 | Gcode *gcode = static_cast<Gcode *>(argument); | |
88443c6b | 262 | |
57e927fa | 263 | if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) { |
36a21d48 | 264 | |
25dc6344 | 265 | // make sure the probe is defined and not already triggered before moving motors |
36a21d48 | 266 | if(!this->pin.connected()) { |
25dc6344 JM |
267 | gcode->stream->printf("ZProbe not connected.\n"); |
268 | return; | |
269 | } | |
270 | if(this->pin.get()) { | |
271 | gcode->stream->printf("ZProbe triggered before move, aborting command.\n"); | |
272 | return; | |
273 | } | |
274 | ||
681a62d7 | 275 | if( gcode->g == 30 ) { // simple Z probe |
88443c6b | 276 | // first wait for an empty queue i.e. no moves left |
04782655 | 277 | THEKERNEL->conveyor->wait_for_idle(); |
88443c6b | 278 | |
ccecf58b JM |
279 | // turn off any compensation transform |
280 | auto savect= THEROBOT->compensationTransform; | |
281 | THEROBOT->compensationTransform= nullptr; | |
282 | ||
771fb7b2 | 283 | bool probe_result; |
93f20a8c JM |
284 | bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction |
285 | float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate; | |
7778d1ce | 286 | float mm; |
6d142b73 | 287 | probe_result = run_probe(mm, rate, -1, reverse); |
771fb7b2 RM |
288 | |
289 | if(probe_result) { | |
078f76e0 | 290 | // the result is in actuator coordinates and raw steps |
6d142b73 | 291 | gcode->stream->printf("Z:%1.4f\n", mm); |
078f76e0 JM |
292 | |
293 | // set the last probe position to the current actuator units | |
c8bac202 JM |
294 | THEROBOT->set_last_probe_position(std::make_tuple( |
295 | THEROBOT->actuators[X_AXIS]->get_current_position(), | |
296 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
297 | THEROBOT->actuators[Z_AXIS]->get_current_position(), | |
078f76e0 JM |
298 | 1)); |
299 | ||
543c4b6d | 300 | // move back to where it started, unless a Z is specified (and not a rotary delta) |
93f20a8c | 301 | if(gcode->has_letter('Z') && !is_rdelta) { |
bd96f4d7 | 302 | // set Z to the specified value, and leave probe where it is |
c8bac202 | 303 | THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS); |
078f76e0 | 304 | |
681a62d7 | 305 | } else { |
078f76e0 | 306 | // return to pre probe position |
6d142b73 | 307 | return_probe(mm, reverse); |
bd96f4d7 | 308 | } |
078f76e0 | 309 | |
681a62d7 | 310 | } else { |
bd96f4d7 | 311 | gcode->stream->printf("ZProbe not triggered\n"); |
c8bac202 JM |
312 | THEROBOT->set_last_probe_position(std::make_tuple( |
313 | THEROBOT->actuators[X_AXIS]->get_current_position(), | |
314 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
315 | THEROBOT->actuators[Z_AXIS]->get_current_position(), | |
078f76e0 | 316 | 0)); |
88443c6b | 317 | } |
fc7b9a7b | 318 | |
ccecf58b JM |
319 | // restore compensationTransform |
320 | THEROBOT->compensationTransform= savect; | |
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 | |
04782655 | 367 | THEKERNEL->conveyor->wait_for_idle(); |
36a21d48 | 368 | |
7484e84a | 369 | // turn off any compensation transform |
c8bac202 JM |
370 | auto savect= THEROBOT->compensationTransform; |
371 | THEROBOT->compensationTransform= nullptr; | |
7484e84a | 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 | |
c8bac202 | 390 | THEROBOT->compensationTransform= savect; |
7484e84a | 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'); | |
39f1d9bd JM |
410 | if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin |
411 | invert_override= (gcode->get_value('I') != 0); | |
412 | pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa | |
413 | } | |
3434eac0 RM |
414 | break; |
415 | ||
416 | case 500: // save settings | |
417 | case 503: // print settings | |
fc92f0ac JM |
418 | 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", |
419 | this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height); | |
420 | ||
3434eac0 RM |
421 | // fall through is intended so leveling strategies can handle m-codes too |
422 | ||
423 | default: | |
424 | for(auto s : strategies){ | |
425 | if(s->handleGcode(gcode)) { | |
426 | return; | |
427 | } | |
ce9d2bda | 428 | } |
bd96f4d7 | 429 | } |
88443c6b JM |
430 | } |
431 | } | |
432 | ||
778093ce | 433 | // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics |
a2f1ce04 | 434 | void ZProbe::probe_XYZ(Gcode *gcode, int axis) |
37102904 | 435 | { |
778093ce JM |
436 | // enable the probe checking in the timer |
437 | probing= true; | |
438 | probe_detected= false; | |
c8bac202 | 439 | 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 JM |
440 | |
441 | // get probe feedrate if specified | |
442 | float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate; | |
443 | ||
778093ce JM |
444 | // do a regular move which will stop as soon as the probe is triggered, or the distance is reached |
445 | switch(axis) { | |
446 | case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break; | |
447 | case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break; | |
448 | case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break; | |
37102904 JM |
449 | } |
450 | ||
778093ce JM |
451 | // coordinated_move returns when the move is finished |
452 | ||
453 | // disable probe checking | |
454 | probing= false; | |
c8bac202 | 455 | THEROBOT->disable_segmentation= false; |
37102904 JM |
456 | |
457 | float pos[3]; | |
458 | { | |
459 | // get the current position | |
460 | ActuatorCoordinates current_position{ | |
c8bac202 JM |
461 | THEROBOT->actuators[X_AXIS]->get_current_position(), |
462 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
463 | THEROBOT->actuators[Z_AXIS]->get_current_position() | |
37102904 JM |
464 | }; |
465 | ||
466 | // get machine position from the actuator position using FK | |
c8bac202 | 467 | THEROBOT->arm_solution->actuator_to_cartesian(current_position, pos); |
37102904 JM |
468 | } |
469 | ||
778093ce | 470 | uint8_t probeok= this->probe_detected ? 1 : 0; |
b76a9926 | 471 | |
17f26e01 | 472 | // print results using the GRBL format |
b76a9926 | 473 | gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok); |
c8bac202 | 474 | THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok)); |
b76a9926 | 475 | |
93f20a8c JM |
476 | if(!probeok && gcode->subcode == 2) { |
477 | // issue error if probe was not triggered and subcode == 2 | |
478 | gcode->stream->printf("ALARM:Probe fail\n"); | |
479 | THEKERNEL->call_event(ON_HALT, nullptr); | |
37102904 | 480 | |
93f20a8c JM |
481 | }else if(probeok){ |
482 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought | |
c8bac202 | 483 | THEROBOT->reset_position_from_current_actuator_position(); |
778093ce | 484 | } |
37102904 JM |
485 | } |
486 | ||
681a62d7 JM |
487 | // issue a coordinated move directly to robot, and return when done |
488 | // Only move the coordinates that are passed in as not nan | |
6d142b73 | 489 | // NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets |
037c350d | 490 | void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative) |
681a62d7 JM |
491 | { |
492 | char buf[32]; | |
037c350d JM |
493 | char cmd[64]; |
494 | ||
495 | if(relative) strcpy(cmd, "G91 G0 "); | |
e0be983d | 496 | else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system |
037c350d | 497 | |
681a62d7 | 498 | if(!isnan(x)) { |
037c350d | 499 | int n = snprintf(buf, sizeof(buf), " X%1.3f", x); |
681a62d7 JM |
500 | strncat(cmd, buf, n); |
501 | } | |
502 | if(!isnan(y)) { | |
037c350d | 503 | int n = snprintf(buf, sizeof(buf), " Y%1.3f", y); |
681a62d7 JM |
504 | strncat(cmd, buf, n); |
505 | } | |
506 | if(!isnan(z)) { | |
037c350d | 507 | int n = snprintf(buf, sizeof(buf), " Z%1.3f", z); |
681a62d7 JM |
508 | strncat(cmd, buf, n); |
509 | } | |
510 | ||
511 | // use specified feedrate (mm/sec) | |
037c350d | 512 | int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min |
681a62d7 | 513 | strncat(cmd, buf, n); |
037c350d JM |
514 | if(relative) strcat(cmd, " G90"); |
515 | ||
516 | //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd); | |
681a62d7 | 517 | |
037c350d JM |
518 | // send as a command line as may have multiple G codes in it |
519 | struct SerialMessage message; | |
520 | message.message = cmd; | |
521 | message.stream = &(StreamOutput::NullStream); | |
522 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
04782655 | 523 | THEKERNEL->conveyor->wait_for_idle(); |
681a62d7 JM |
524 | } |
525 | ||
526 | // issue home command | |
527 | void ZProbe::home() | |
528 | { | |
529 | Gcode gc("G28", &(StreamOutput::NullStream)); | |
530 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); | |
531 | } |