src/modules/tools/zprobe/ZProbe.h

   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 #ifndef ZPROBE_H_
   9 #define ZPROBE_H_
  10
  11 #include "Module.h"
  12 #include "Pin.h"
  13
  14 #include <vector>
  15
  16 // defined here as they are used in multiple files
  17 #define zprobe_checksum            CHECKSUM("zprobe")
  18 #define leveling_strategy_checksum CHECKSUM("leveling-strategy")
  19
  20 class StepperMotor;
  21 class Gcode;
  22 class StreamOutput;
  23 class LevelingStrategy;
  24
  25 class ZProbe: public Module
  26 {
  27
  28 public:
  29     ZProbe() : invert_override(false),invert_probe(false) {};
  30     virtual ~ZProbe() {};
  31
  32     void on_module_loaded();
  33     void on_gcode_received(void *argument);
  34
  35     bool run_probe(float& mm, float feedrate, float max_dist= -1, bool reverse= false);
  36     bool run_probe_return(float& mm, float feedrate, float max_dist= -1, bool reverse= false);
  37     bool doProbeAt(float &mm, float x, float y);
  38
  39     void coordinated_move(float x, float y, float z, float feedrate, bool relative=false);
  40     void home();
  41
  42     bool getProbeStatus() { return this->pin.get(); }
  43     float getSlowFeedrate() const { return slow_feedrate; }
  44     float getFastFeedrate() const { return fast_feedrate; }
  45     float getProbeHeight() const { return probe_height; }
  46     float getMaxZ() const { return max_z; }
  47
  48 private:
  49     void config_load();
  50     void probe_XYZ(Gcode *gc, float x, float y, float z);
  51     uint32_t read_probe(uint32_t dummy);
  52
  53     float slow_feedrate;
  54     float fast_feedrate;
  55     float return_feedrate;
  56     float probe_height;
  57     float max_z;
  58     float dwell_before_probing;
  59
  60     Pin pin;
  61     std::vector<LevelingStrategy*> strategies;
  62     uint16_t debounce_ms, debounce;
  63
  64     volatile struct {
  65         bool is_delta:1;
  66         bool is_rdelta:1;
  67         bool probing:1;
  68         bool reverse_z:1;
  69         bool invert_override:1;
  70         bool invert_probe:1;
  71         volatile bool probe_detected:1;
  72     };
  73 };
  74
  75 #endif /* ZPROBE_H_ */