#define return_feedrate_checksum CHECKSUM("return_feedrate")
#define probe_height_checksum CHECKSUM("probe_height")
#define gamma_max_checksum CHECKSUM("gamma_max")
+#define max_z_checksum CHECKSUM("max_z")
#define reverse_z_direction_checksum CHECKSUM("reverse_z")
+#define dwell_before_probing_checksum CHECKSUM("dwell_before_probing")
// from endstop section
#define delta_homing_checksum CHECKSUM("delta_homing")
this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
this->reverse_z = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction
- this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
+ this->max_z = THEKERNEL->config->value(zprobe_checksum, max_z_checksum)->by_default(NAN)->as_number(); // maximum zprobe distance
+ if(isnan(this->max_z)){
+ this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(200)->as_number(); // maximum zprobe distance
+ }
+ this->dwell_before_probing = THEKERNEL->config->value(zprobe_checksum, dwell_before_probing_checksum)->by_default(0)->as_number(); // dwell time in seconds before probing
+
}
uint32_t ZProbe::read_probe(uint32_t dummy)
// we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z
if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
// if it is moving then we check the probe, and debounce it
- if(this->pin.get()) {
+ if(this->pin.get() != invert_probe) {
if(debounce < debounce_ms) {
debounce++;
} else {
// returns boolean value indicating if probe was triggered
bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
{
+ if(dwell_before_probing > .0001F) safe_delay_ms(dwell_before_probing*1000);
+
if(this->pin.get()) {
// probe already triggered so abort
return false;
Gcode *gcode = static_cast<Gcode *>(argument);
if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
-
+
+ invert_probe = false;
// make sure the probe is defined and not already triggered before moving motors
if(!this->pin.connected()) {
gcode->stream->printf("ZProbe pin not configured.\n");
if(probe_result) {
// the result is in actuator coordinates moved
- gcode->stream->printf("Z:%1.4f\n", mm);
+ gcode->stream->printf("Z:%1.4f\n", THEKERNEL->robot->from_millimeters(mm));
if(set_z) {
// set current Z to the specified value, shortcut for G92 Znnn
} else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
// linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
- if(gcode->subcode != 2 && gcode->subcode != 3) {
- gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
+ if(gcode->subcode < 2 || gcode->subcode > 5) {
+ gcode->stream->printf("error:Only G38.2 to G38.5 are supported\n");
return;
}
return;
}
- if(this->pin.get()) {
+ if(this->pin.get() ^ (gcode->subcode >= 4)) {
gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
return;
}
// first wait for all moves to finish
THEKERNEL->conveyor->wait_for_idle();
+ float x= NAN, y=NAN, z=NAN;
if(gcode->has_letter('X')) {
- // probe in the X axis
- probe_XYZ(gcode, X_AXIS);
+ x= gcode->get_value('X');
+ }
- }else if(gcode->has_letter('Y')) {
- // probe in the Y axis
- probe_XYZ(gcode, Y_AXIS);
+ if(gcode->has_letter('Y')) {
+ y= gcode->get_value('Y');
+ }
- }else if(gcode->has_letter('Z')) {
- // probe in the Z axis
- probe_XYZ(gcode, Z_AXIS);
+ if(gcode->has_letter('Z')) {
+ z= gcode->get_value('Z');
+ }
- }else{
+ if(isnan(x) && isnan(y) && isnan(z)) {
gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
+ return;
+ }
+
+ if(gcode->subcode == 4 || gcode->subcode == 5) {
+ invert_probe = true;
+ } else {
+ invert_probe = false;
}
+ probe_XYZ(gcode, x, y, z);
+
+ invert_probe = false;
+
return;
} else if(gcode->has_m) {
invert_override= (gcode->get_value('I') != 0);
pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
}
+ if (gcode->has_letter('D')) this->dwell_before_probing = gcode->get_value('D');
break;
case 500: // save settings
case 503: // print settings
- 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",
- this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
+ gcode->stream->printf(";Probe feedrates Slow/fast(K)/Return (mm/sec) max_z (mm) height (mm) dwell (s):\nM670 S%1.2f K%1.2f R%1.2f Z%1.2f H%1.2f D%1.2f\n",
+ this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height, this->dwell_before_probing);
// fall through is intended so leveling strategies can handle m-codes too
}
// special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
-void ZProbe::probe_XYZ(Gcode *gcode, int axis)
+void ZProbe::probe_XYZ(Gcode *gcode, float x, float y, float z)
{
// enable the probe checking in the timer
probing= true;
float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate;
// do a regular move which will stop as soon as the probe is triggered, or the distance is reached
- switch(axis) {
- case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break;
- case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break;
- case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break;
- }
+ coordinated_move(x, y, z, rate, true);
// coordinated_move returns when the move is finished
uint8_t probeok= this->probe_detected ? 1 : 0;
// print results using the GRBL format
- gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok);
+ gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", THEKERNEL->robot->from_millimeters(pos[X_AXIS]), THEKERNEL->robot->from_millimeters(pos[Y_AXIS]), THEKERNEL->robot->from_millimeters(pos[Z_AXIS]), probeok);
THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
- if(probeok == 0 && gcode->subcode == 2) {
- // issue error if probe was not triggered and subcode == 2
+ if(probeok == 0 && (gcode->subcode == 2 || gcode->subcode == 4)) {
+ // issue error if probe was not triggered and subcode is 2 or 4
gcode->stream->printf("ALARM: Probe fail\n");
THEKERNEL->call_event(ON_HALT, nullptr);
}
if(relative) strcat(cmd, " G90");
- THEKERNEL->streams->printf("DEBUG: move: %s: %u\n", cmd, strlen(cmd));
+ //THEKERNEL->streams->printf("DEBUG: move: %s: %u\n", cmd, strlen(cmd));
// send as a command line as may have multiple G codes in it
THEROBOT->push_state();
HCoop / clinton / Smoothieware.git / blobdiff