| 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" |
| 23 | #include "SerialMessage.h" |
| 24 | #include "PublicDataRequest.h" |
| 25 | #include "EndstopsPublicAccess.h" |
| 26 | #include "PublicData.h" |
| 27 | #include "LevelingStrategy.h" |
| 28 | #include "StepTicker.h" |
| 29 | |
| 30 | // strategies we know about |
| 31 | #include "DeltaCalibrationStrategy.h" |
| 32 | #include "ThreePointStrategy.h" |
| 33 | #include "ZGridStrategy.h" |
| 34 | |
| 35 | #define enable_checksum CHECKSUM("enable") |
| 36 | #define probe_pin_checksum CHECKSUM("probe_pin") |
| 37 | #define debounce_count_checksum CHECKSUM("debounce_count") |
| 38 | #define slow_feedrate_checksum CHECKSUM("slow_feedrate") |
| 39 | #define fast_feedrate_checksum CHECKSUM("fast_feedrate") |
| 40 | #define return_feedrate_checksum CHECKSUM("return_feedrate") |
| 41 | #define probe_height_checksum CHECKSUM("probe_height") |
| 42 | #define gamma_max_checksum CHECKSUM("gamma_max") |
| 43 | |
| 44 | // from endstop section |
| 45 | #define delta_homing_checksum CHECKSUM("delta_homing") |
| 46 | |
| 47 | #define X_AXIS 0 |
| 48 | #define Y_AXIS 1 |
| 49 | #define Z_AXIS 2 |
| 50 | |
| 51 | #define STEPPER THEKERNEL->robot->actuators |
| 52 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) |
| 53 | #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS) |
| 54 | |
| 55 | #define abs(a) ((a<0) ? -a : a) |
| 56 | |
| 57 | void ZProbe::on_module_loaded() |
| 58 | { |
| 59 | // if the module is disabled -> do nothing |
| 60 | if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) { |
| 61 | // as this module is not needed free up the resource |
| 62 | delete this; |
| 63 | return; |
| 64 | } |
| 65 | this->running = false; |
| 66 | |
| 67 | // load settings |
| 68 | this->on_config_reload(this); |
| 69 | // register event-handlers |
| 70 | register_for_event(ON_GCODE_RECEIVED); |
| 71 | |
| 72 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); }); |
| 73 | } |
| 74 | |
| 75 | void ZProbe::on_config_reload(void *argument) |
| 76 | { |
| 77 | this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input(); |
| 78 | this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0 )->as_number(); |
| 79 | |
| 80 | // get strategies to load |
| 81 | vector<uint16_t> modules; |
| 82 | THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum); |
| 83 | for( auto cs : modules ){ |
| 84 | if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){ |
| 85 | bool found= false; |
| 86 | // check with each known strategy and load it if it matches |
| 87 | switch(cs) { |
| 88 | case delta_calibration_strategy_checksum: |
| 89 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); |
| 90 | found= true; |
| 91 | break; |
| 92 | |
| 93 | case three_point_leveling_strategy_checksum: |
| 94 | // NOTE this strategy is mutually exclusive with the delta calibration strategy |
| 95 | this->strategies.push_back(new ThreePointStrategy(this)); |
| 96 | found= true; |
| 97 | break; |
| 98 | |
| 99 | case ZGrid_leveling_checksum: |
| 100 | this->strategies.push_back(new ZGridStrategy(this)); |
| 101 | found= true; |
| 102 | break; |
| 103 | |
| 104 | // add other strategies here |
| 105 | //case zheight_map_strategy: |
| 106 | // this->strategies.push_back(new ZHeightMapStrategy(this)); |
| 107 | // found= true; |
| 108 | // break; |
| 109 | } |
| 110 | if(found) this->strategies.back()->handleConfig(); |
| 111 | } |
| 112 | } |
| 113 | |
| 114 | // need to know if we need to use delta kinematics for homing |
| 115 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
| 116 | |
| 117 | // default for backwards compatibility add DeltaCalibrationStrategy if a delta |
| 118 | // will be deprecated |
| 119 | if(this->strategies.empty()) { |
| 120 | if(this->is_delta) { |
| 121 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); |
| 122 | this->strategies.back()->handleConfig(); |
| 123 | } |
| 124 | } |
| 125 | |
| 126 | this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number(); |
| 127 | this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec |
| 128 | this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec |
| 129 | this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec |
| 130 | this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance |
| 131 | } |
| 132 | |
| 133 | bool ZProbe::wait_for_probe(int& steps) |
| 134 | { |
| 135 | unsigned int debounce = 0; |
| 136 | while(true) { |
| 137 | THEKERNEL->call_event(ON_IDLE); |
| 138 | if(THEKERNEL->is_halted()){ |
| 139 | // aborted by kill |
| 140 | return false; |
| 141 | } |
| 142 | |
| 143 | // if no stepper is moving, moves are finished and there was no touch |
| 144 | if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) { |
| 145 | return false; |
| 146 | } |
| 147 | |
| 148 | // if the touchprobe is active... |
| 149 | if( this->pin.get() ) { |
| 150 | //...increase debounce counter... |
| 151 | if( debounce < debounce_count) { |
| 152 | // ...but only if the counter hasn't reached the max. value |
| 153 | debounce++; |
| 154 | } else { |
| 155 | // ...otherwise stop the steppers, return its remaining steps |
| 156 | if(STEPPER[Z_AXIS]->is_moving()){ |
| 157 | steps= STEPPER[Z_AXIS]->get_stepped(); |
| 158 | STEPPER[Z_AXIS]->move(0, 0); |
| 159 | } |
| 160 | if(is_delta) { |
| 161 | for( int i = X_AXIS; i <= Y_AXIS; i++ ) { |
| 162 | if ( STEPPER[i]->is_moving() ) { |
| 163 | STEPPER[i]->move(0, 0); |
| 164 | } |
| 165 | } |
| 166 | } |
| 167 | return true; |
| 168 | } |
| 169 | } else { |
| 170 | // The probe was not hit yet, reset debounce counter |
| 171 | debounce = 0; |
| 172 | } |
| 173 | } |
| 174 | } |
| 175 | |
| 176 | // single probe with custom feedrate |
| 177 | // returns boolean value indicating if probe was triggered |
| 178 | bool ZProbe::run_probe_feed(int& steps, float feedrate, float max_dist) |
| 179 | { |
| 180 | // not a block move so disable the last tick setting |
| 181 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
| 182 | STEPPER[c]->set_moved_last_block(false); |
| 183 | } |
| 184 | |
| 185 | // Enable the motors |
| 186 | THEKERNEL->stepper->turn_enable_pins_on(); |
| 187 | this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec |
| 188 | float maxz= max_dist < 0 ? this->max_z*2 : max_dist; |
| 189 | |
| 190 | // move Z down |
| 191 | STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz |
| 192 | if(this->is_delta) { |
| 193 | // for delta need to move all three actuators |
| 194 | STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0); |
| 195 | STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0); |
| 196 | } |
| 197 | |
| 198 | // start acceleration processing |
| 199 | this->running = true; |
| 200 | |
| 201 | bool r = wait_for_probe(steps); |
| 202 | this->running = false; |
| 203 | STEPPER[X_AXIS]->move(0, 0); |
| 204 | STEPPER[Y_AXIS]->move(0, 0); |
| 205 | STEPPER[Z_AXIS]->move(0, 0); |
| 206 | return r; |
| 207 | } |
| 208 | |
| 209 | // single probe with either fast or slow feedrate |
| 210 | // returns boolean value indicating if probe was triggered |
| 211 | bool ZProbe::run_probe(int& steps, bool fast) |
| 212 | { |
| 213 | float feedrate = (fast ? this->fast_feedrate : this->slow_feedrate); |
| 214 | return run_probe_feed(steps, feedrate); |
| 215 | |
| 216 | } |
| 217 | |
| 218 | bool ZProbe::return_probe(int steps) |
| 219 | { |
| 220 | // move probe back to where it was |
| 221 | |
| 222 | float fr; |
| 223 | if(this->return_feedrate != 0) { // use return_feedrate if set |
| 224 | fr = this->return_feedrate; |
| 225 | } else { |
| 226 | fr = this->slow_feedrate*2; // nominally twice slow feedrate |
| 227 | if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate |
| 228 | } |
| 229 | |
| 230 | this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec |
| 231 | bool dir= steps < 0; |
| 232 | steps= abs(steps); |
| 233 | |
| 234 | STEPPER[Z_AXIS]->move(dir, steps, 0); |
| 235 | if(this->is_delta) { |
| 236 | STEPPER[X_AXIS]->move(dir, steps, 0); |
| 237 | STEPPER[Y_AXIS]->move(dir, steps, 0); |
| 238 | } |
| 239 | |
| 240 | this->running = true; |
| 241 | while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) { |
| 242 | // wait for it to complete |
| 243 | THEKERNEL->call_event(ON_IDLE); |
| 244 | if(THEKERNEL->is_halted()){ |
| 245 | // aborted by kill |
| 246 | break; |
| 247 | } |
| 248 | } |
| 249 | |
| 250 | this->running = false; |
| 251 | STEPPER[X_AXIS]->move(0, 0); |
| 252 | STEPPER[Y_AXIS]->move(0, 0); |
| 253 | STEPPER[Z_AXIS]->move(0, 0); |
| 254 | |
| 255 | return true; |
| 256 | } |
| 257 | |
| 258 | bool ZProbe::doProbeAt(int &steps, float x, float y) |
| 259 | { |
| 260 | int s; |
| 261 | // move to xy |
| 262 | coordinated_move(x, y, NAN, getFastFeedrate()); |
| 263 | if(!run_probe(s)) return false; |
| 264 | |
| 265 | // return to original Z |
| 266 | return_probe(s); |
| 267 | steps = s; |
| 268 | |
| 269 | return true; |
| 270 | } |
| 271 | |
| 272 | float ZProbe::probeDistance(float x, float y) |
| 273 | { |
| 274 | int s; |
| 275 | if(!doProbeAt(s, x, y)) return NAN; |
| 276 | return zsteps_to_mm(s); |
| 277 | } |
| 278 | |
| 279 | void ZProbe::on_gcode_received(void *argument) |
| 280 | { |
| 281 | Gcode *gcode = static_cast<Gcode *>(argument); |
| 282 | |
| 283 | if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) { |
| 284 | |
| 285 | // make sure the probe is defined and not already triggered before moving motors |
| 286 | if(!this->pin.connected()) { |
| 287 | gcode->stream->printf("ZProbe not connected.\n"); |
| 288 | return; |
| 289 | } |
| 290 | if(this->pin.get()) { |
| 291 | gcode->stream->printf("ZProbe triggered before move, aborting command.\n"); |
| 292 | return; |
| 293 | } |
| 294 | |
| 295 | if( gcode->g == 30 ) { // simple Z probe |
| 296 | // first wait for an empty queue i.e. no moves left |
| 297 | THEKERNEL->conveyor->wait_for_empty_queue(); |
| 298 | |
| 299 | int steps; |
| 300 | bool probe_result; |
| 301 | if(gcode->has_letter('F')) { |
| 302 | probe_result = run_probe_feed(steps, gcode->get_value('F') / 60); |
| 303 | } else { |
| 304 | probe_result = run_probe(steps); |
| 305 | } |
| 306 | |
| 307 | if(probe_result) { |
| 308 | gcode->stream->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps), steps); |
| 309 | // move back to where it started, unless a Z is specified |
| 310 | if(gcode->has_letter('Z')) { |
| 311 | // set Z to the specified value, and leave probe where it is |
| 312 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS); |
| 313 | } else { |
| 314 | return_probe(steps); |
| 315 | } |
| 316 | } else { |
| 317 | gcode->stream->printf("ZProbe not triggered\n"); |
| 318 | } |
| 319 | |
| 320 | } else { |
| 321 | if(!gcode->has_letter('P')) { |
| 322 | // find the first strategy to handle the gcode |
| 323 | for(auto s : strategies){ |
| 324 | if(s->handleGcode(gcode)) { |
| 325 | return; |
| 326 | } |
| 327 | } |
| 328 | gcode->stream->printf("No strategy found to handle G%d\n", gcode->g); |
| 329 | |
| 330 | }else{ |
| 331 | // P paramater selects which strategy to send the code to |
| 332 | // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on. |
| 333 | uint16_t i= gcode->get_value('P'); |
| 334 | if(i < strategies.size()) { |
| 335 | if(!strategies[i]->handleGcode(gcode)){ |
| 336 | gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g); |
| 337 | } |
| 338 | return; |
| 339 | |
| 340 | }else{ |
| 341 | gcode->stream->printf("strategy #%d is not loaded\n", i); |
| 342 | } |
| 343 | } |
| 344 | } |
| 345 | |
| 346 | } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error |
| 347 | // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe |
| 348 | if(gcode->subcode != 2 && gcode->subcode != 3) { |
| 349 | gcode->stream->printf("error: Only G38.2 and G38.3 are supported\n"); |
| 350 | return; |
| 351 | } |
| 352 | |
| 353 | // make sure the probe is defined and not already triggered before moving motors |
| 354 | if(!this->pin.connected()) { |
| 355 | gcode->stream->printf("error:ZProbe not connected.\n"); |
| 356 | return; |
| 357 | } |
| 358 | if(this->pin.get()) { |
| 359 | gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n"); |
| 360 | return; |
| 361 | } |
| 362 | |
| 363 | // first wait for an empty queue i.e. no moves left |
| 364 | THEKERNEL->conveyor->wait_for_empty_queue(); |
| 365 | |
| 366 | if(gcode->has_letter('X')) { |
| 367 | // probe in the X axis |
| 368 | gcode->stream->printf("error:Not currently supported.\n"); |
| 369 | |
| 370 | }else if(gcode->has_letter('Y')) { |
| 371 | // probe in the Y axis |
| 372 | gcode->stream->printf("error:Not currently supported.\n"); |
| 373 | |
| 374 | }else if(gcode->has_letter('Z')) { |
| 375 | // we need to know where we started the probe from |
| 376 | float current_machine_pos[3]; |
| 377 | THEKERNEL->robot->get_axis_position(current_machine_pos); |
| 378 | |
| 379 | // probe down in the Z axis no more than the Z value in mm |
| 380 | float rate = (gcode->has_letter('F')) ? gcode->get_value('F') / 60 : this->slow_feedrate; |
| 381 | int steps; |
| 382 | bool probe_result = run_probe_feed(steps, rate, gcode->get_value('Z')); |
| 383 | |
| 384 | if(probe_result) { |
| 385 | float z= current_machine_pos[Z_AXIS] - zsteps_to_mm(steps); |
| 386 | if(THEKERNEL->is_grbl_mode()) { |
| 387 | gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:1]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], z); |
| 388 | |
| 389 | }else{ |
| 390 | gcode->stream->printf("INFO: delta Z %1.4f (Steps %d)\n", steps / Z_STEPS_PER_MM, steps); |
| 391 | } |
| 392 | |
| 393 | // set position to where it stopped |
| 394 | THEKERNEL->robot->reset_axis_position(z, Z_AXIS); |
| 395 | |
| 396 | } else { |
| 397 | if(THEKERNEL->is_grbl_mode()) { |
| 398 | if(gcode->subcode == 2) { |
| 399 | gcode->stream->printf("ALARM: Probe fail\n"); |
| 400 | THEKERNEL->call_event(ON_HALT, nullptr); |
| 401 | } |
| 402 | gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:0]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], current_machine_pos[Z_AXIS]); |
| 403 | |
| 404 | }else{ |
| 405 | gcode->stream->printf("error:ZProbe not triggered\n"); |
| 406 | } |
| 407 | } |
| 408 | |
| 409 | }else{ |
| 410 | gcode->stream->printf("error:at least one of X Y or Z must be specified\n"); |
| 411 | |
| 412 | } |
| 413 | return; |
| 414 | |
| 415 | } else if(gcode->has_m) { |
| 416 | // M code processing here |
| 417 | int c; |
| 418 | switch (gcode->m) { |
| 419 | case 119: |
| 420 | c = this->pin.get(); |
| 421 | gcode->stream->printf(" Probe: %d", c); |
| 422 | gcode->add_nl = true; |
| 423 | break; |
| 424 | |
| 425 | case 670: |
| 426 | if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S'); |
| 427 | if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K'); |
| 428 | if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R'); |
| 429 | if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z'); |
| 430 | if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H'); |
| 431 | break; |
| 432 | |
| 433 | case 500: // save settings |
| 434 | case 503: // print settings |
| 435 | 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", |
| 436 | this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height); |
| 437 | |
| 438 | // fall through is intended so leveling strategies can handle m-codes too |
| 439 | |
| 440 | default: |
| 441 | for(auto s : strategies){ |
| 442 | if(s->handleGcode(gcode)) { |
| 443 | return; |
| 444 | } |
| 445 | } |
| 446 | } |
| 447 | } |
| 448 | } |
| 449 | |
| 450 | // Called periodically to change the speed to match acceleration |
| 451 | void ZProbe::acceleration_tick(void) |
| 452 | { |
| 453 | if(!this->running) return; // nothing to do |
| 454 | if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS); |
| 455 | |
| 456 | if(is_delta) { |
| 457 | // deltas needs to move all actuators |
| 458 | for ( int c = X_AXIS; c <= Y_AXIS; c++ ) { |
| 459 | if( !STEPPER[c]->is_moving() ) continue; |
| 460 | accelerate(c); |
| 461 | } |
| 462 | } |
| 463 | |
| 464 | return; |
| 465 | } |
| 466 | |
| 467 | void ZProbe::accelerate(int c) |
| 468 | { uint32_t current_rate = STEPPER[c]->get_steps_per_second(); |
| 469 | uint32_t target_rate = floorf(this->current_feedrate); |
| 470 | |
| 471 | // Z may have a different acceleration to X and Y |
| 472 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); |
| 473 | if( current_rate < target_rate ) { |
| 474 | uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c)); |
| 475 | current_rate = min( target_rate, current_rate + rate_increase ); |
| 476 | } |
| 477 | if( current_rate > target_rate ) { |
| 478 | current_rate = target_rate; |
| 479 | } |
| 480 | |
| 481 | // steps per second |
| 482 | STEPPER[c]->set_speed(current_rate); |
| 483 | } |
| 484 | |
| 485 | // issue a coordinated move directly to robot, and return when done |
| 486 | // Only move the coordinates that are passed in as not nan |
| 487 | // NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts |
| 488 | void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative) |
| 489 | { |
| 490 | char buf[32]; |
| 491 | char cmd[64]; |
| 492 | |
| 493 | if(relative) strcpy(cmd, "G91 G0 "); |
| 494 | else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system |
| 495 | |
| 496 | if(!isnan(x)) { |
| 497 | int n = snprintf(buf, sizeof(buf), " X%1.3f", x); |
| 498 | strncat(cmd, buf, n); |
| 499 | } |
| 500 | if(!isnan(y)) { |
| 501 | int n = snprintf(buf, sizeof(buf), " Y%1.3f", y); |
| 502 | strncat(cmd, buf, n); |
| 503 | } |
| 504 | if(!isnan(z)) { |
| 505 | int n = snprintf(buf, sizeof(buf), " Z%1.3f", z); |
| 506 | strncat(cmd, buf, n); |
| 507 | } |
| 508 | |
| 509 | // use specified feedrate (mm/sec) |
| 510 | int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min |
| 511 | strncat(cmd, buf, n); |
| 512 | if(relative) strcat(cmd, " G90"); |
| 513 | |
| 514 | //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd); |
| 515 | |
| 516 | // send as a command line as may have multiple G codes in it |
| 517 | struct SerialMessage message; |
| 518 | message.message = cmd; |
| 519 | message.stream = &(StreamOutput::NullStream); |
| 520 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); |
| 521 | THEKERNEL->conveyor->wait_for_empty_queue(); |
| 522 | } |
| 523 | |
| 524 | // issue home command |
| 525 | void ZProbe::home() |
| 526 | { |
| 527 | Gcode gc("G28", &(StreamOutput::NullStream)); |
| 528 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); |
| 529 | } |
| 530 | |
| 531 | float ZProbe::zsteps_to_mm(float steps) |
| 532 | { |
| 533 | return steps / Z_STEPS_PER_MM; |
| 534 | } |