finalize zprobe and delta calibration refactor

diff --git a/ConfigSamples/AzteegX5Mini.delta/config b/ConfigSamples/AzteegX5Mini.delta/config
index 03e6950..1501291 100644 (file)
--- a/ConfigSamples/AzteegX5Mini.delta/config
+++ b/ConfigSamples/AzteegX5Mini.delta/config
@@ -161,9 +161,11 @@ zprobe.probe_pin                             1.29!^          # pin probe is atta
 zprobe.slow_feedrate                         5               # mm/sec probe feed rate
 #zprobe.debounce_count                       100             # set if noisy
 zprobe.fast_feedrate                         100             # move feedrate
-zprobe.probe_radius                          100             # where to probe
 zprobe.probe_height                          5               # how much above bed to start probe
 
+# associated with zprobe the leveling strategy to use
+#leveling-strategy.delta-calibration.enable   true            # basic delta calibration
+#leveling-strategy.delta-calibration.radius   100             # the probe radius
 
 # Pause button
 pause_button_enable                          true             #

diff --git a/src/modules/tools/zprobe/DeltaCalibrationStrategy.cpp b/src/modules/tools/zprobe/DeltaCalibrationStrategy.cpp
index ffba7ef..27c8319 100644 (file)
--- a/src/modules/tools/zprobe/DeltaCalibrationStrategy.cpp
+++ b/src/modules/tools/zprobe/DeltaCalibrationStrategy.cpp
@@ -17,27 +17,24 @@
 #include <tuple>
 #include <algorithm>
 
-#define X_AXIS 0
-#define Y_AXIS 1
-#define Z_AXIS 2
-
-// TODO refactor out
-#define STEPPER THEKERNEL->robot->actuators
-#define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
-#define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
-
-#define radius_checksum    CHECKSUM("radius")
+#define radius_checksum       CHECKSUM("radius")
+// deprecated
+#define probe_radius_checksum CHECKSUM("probe_radius")
 
 bool DeltaCalibrationStrategy::handleConfig()
 {
     // default is probably wrong
-    this->probe_radius = THEKERNEL->config->value(leveling_strategy_checksum, delta_calibration_strategy_checksum, radius_checksum)->by_default(100.0F)->as_number();
+    float r= THEKERNEL->config->value(leveling_strategy_checksum, delta_calibration_strategy_checksum, radius_checksum)->by_default(-1)->as_number();
+    if(r == -1) {
+        // deprecated config syntax]
+        r =  THEKERNEL->config->value(zprobe_checksum, probe_radius_checksum)->by_default(100.0F)->as_number();
+    }
+    this->probe_radius= r;
     return true;
 }
 
 bool DeltaCalibrationStrategy::handleGcode(Gcode *gcode)
 {
-
     if( gcode->has_g) {
         // G code processing
         if( gcode->g == 32 ) { // auto calibration for delta, Z bed mapping for cartesian
@@ -61,12 +58,7 @@ bool DeltaCalibrationStrategy::handleGcode(Gcode *gcode)
         }
 
     } else if(gcode->has_m) {
-                if (gcode->m == 557) { // P0 Xxxx Yyyy sets probe points for G32
-            // TODO will override the automatically calculated probe points for a delta, required for a cartesian
-
-            gcode->mark_as_taken();
-        }
-
+        // handle mcodes
     }
 
     return false;
@@ -147,7 +139,7 @@ bool DeltaCalibrationStrategy::calibrate_delta_endstops(Gcode *gcode)
     int s;
     if(!zprobe->run_probe(s, true)) return false;
 
-    float bedht = s / Z_STEPS_PER_MM - zprobe->getProbeHeight(); // distance to move from home to 5mm above bed
+    float bedht = zprobe->zsteps_to_mm(s) - zprobe->getProbeHeight(); // distance to move from home to 5mm above bed
     gcode->stream->printf("Bed ht is %f mm\n", bedht);
 
     // move to start position
@@ -157,17 +149,17 @@ bool DeltaCalibrationStrategy::calibrate_delta_endstops(Gcode *gcode)
     // get initial probes
     // probe the base of the X tower
     if(!probe_delta_tower(s, t1x, t1y)) return false;
-    float t1z = s / Z_STEPS_PER_MM;
+    float t1z = zprobe->zsteps_to_mm(s);
     gcode->stream->printf("T1-0 Z:%1.4f C:%d\n", t1z, s);
 
     // probe the base of the Y tower
     if(!probe_delta_tower(s, t2x, t2y)) return false;
-    float t2z = s / Z_STEPS_PER_MM;
+    float t2z = zprobe->zsteps_to_mm(s);
     gcode->stream->printf("T2-0 Z:%1.4f C:%d\n", t2z, s);
 
     // probe the base of the Z tower
     if(!probe_delta_tower(s, t3x, t3y)) return false;
-    float t3z = s / Z_STEPS_PER_MM;
+    float t3z = zprobe->zsteps_to_mm(s);
     gcode->stream->printf("T3-0 Z:%1.4f C:%d\n", t3z, s);
 
     float trimscale = 1.2522F; // empirically determined
@@ -193,17 +185,17 @@ bool DeltaCalibrationStrategy::calibrate_delta_endstops(Gcode *gcode)
 
         // probe the base of the X tower
         if(!probe_delta_tower(s, t1x, t1y)) return false;
-        t1z = s / Z_STEPS_PER_MM;
+        t1z = zprobe->zsteps_to_mm(s);
         gcode->stream->printf("T1-%d Z:%1.4f C:%d\n", i, t1z, s);
 
         // probe the base of the Y tower
         if(!probe_delta_tower(s, t2x, t2y)) return false;
-        t2z = s / Z_STEPS_PER_MM;
+        t2z = zprobe->zsteps_to_mm(s);
         gcode->stream->printf("T2-%d Z:%1.4f C:%d\n", i, t2z, s);
 
         // probe the base of the Z tower
         if(!probe_delta_tower(s, t3x, t3y)) return false;
-        t3z = s / Z_STEPS_PER_MM;
+        t3z = zprobe->zsteps_to_mm(s);
         gcode->stream->printf("T3-%d Z:%1.4f C:%d\n", i, t3z, s);
 
         mm = std::minmax({t1z, t2z, t3z});
@@ -249,7 +241,7 @@ bool DeltaCalibrationStrategy::calibrate_delta_radius(Gcode *gcode)
     // find bed, then move to a point 5mm above it
     int s;
     if(!zprobe->run_probe(s, true)) return false;
-    float bedht = s / Z_STEPS_PER_MM - zprobe->getProbeHeight(); // distance to move from home to 5mm above bed
+    float bedht = zprobe->zsteps_to_mm(s) - zprobe->getProbeHeight(); // distance to move from home to 5mm above bed
     gcode->stream->printf("Bed ht is %f mm\n", bedht);
 
     zprobe->home();
@@ -258,8 +250,8 @@ bool DeltaCalibrationStrategy::calibrate_delta_radius(Gcode *gcode)
     // probe center to get reference point at this Z height
     int dc;
     if(!probe_delta_tower(dc, 0, 0)) return false;
-    gcode->stream->printf("CT Z:%1.3f C:%d\n", dc / Z_STEPS_PER_MM, dc);
-    float cmm = dc / Z_STEPS_PER_MM;
+    gcode->stream->printf("CT Z:%1.3f C:%d\n", zprobe->zsteps_to_mm(dc), dc);
+    float cmm = zprobe->zsteps_to_mm(dc);
 
     // get current delta radius
     float delta_radius = 0.0F;
@@ -278,14 +270,14 @@ bool DeltaCalibrationStrategy::calibrate_delta_radius(Gcode *gcode)
         // probe t1, t2, t3 and get average, but use coordinated moves, probing center won't change
         int dx, dy, dz;
         if(!probe_delta_tower(dx, t1x, t1y)) return false;
-        gcode->stream->printf("T1-%d Z:%1.3f C:%d\n", i, dx / Z_STEPS_PER_MM, dx);
+        gcode->stream->printf("T1-%d Z:%1.3f C:%d\n", i, zprobe->zsteps_to_mm(dx), dx);
         if(!probe_delta_tower(dy, t2x, t2y)) return false;
-        gcode->stream->printf("T2-%d Z:%1.3f C:%d\n", i, dy / Z_STEPS_PER_MM, dy);
+        gcode->stream->printf("T2-%d Z:%1.3f C:%d\n", i, zprobe->zsteps_to_mm(dy), dy);
         if(!probe_delta_tower(dz, t3x, t3y)) return false;
-        gcode->stream->printf("T3-%d Z:%1.3f C:%d\n", i, dz / Z_STEPS_PER_MM, dz);
+        gcode->stream->printf("T3-%d Z:%1.3f C:%d\n", i, zprobe->zsteps_to_mm(dz), dz);
 
         // now look at the difference and reduce it by adjusting delta radius
-        float m = ((dx + dy + dz) / 3.0F) / Z_STEPS_PER_MM;
+        float m = zprobe->zsteps_to_mm((dx + dy + dz) / 3.0F);
         float d = cmm - m;
         gcode->stream->printf("C-%d Z-ave:%1.4f delta: %1.3f\n", i, m, d);
 

diff --git a/src/modules/tools/zprobe/ZProbe.cpp b/src/modules/tools/zprobe/ZProbe.cpp
index 594cd58..c69e80e 100644 (file)
--- a/src/modules/tools/zprobe/ZProbe.cpp
+++ b/src/modules/tools/zprobe/ZProbe.cpp
@@ -96,13 +96,16 @@ void ZProbe::on_config_reload(void *argument)
         }
     }
 
+    // need to know if we need to use delta kinematics for homing
     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 
     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
-    // will be DEPRECATED
+    // will be deprecated
     if(this->strategies.empty()) {
-        if(this->is_delta) this->strategies.push_back(new DeltaCalibrationStrategy(this));
-        this->strategies.back()->handleConfig();
+        if(this->is_delta) {
+            this->strategies.push_back(new DeltaCalibrationStrategy(this));
+            this->strategies.back()->handleConfig();
+        }
     }
 
     this->probe_height =  THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
@@ -203,7 +206,7 @@ void ZProbe::on_gcode_received(void *argument)
 {
     Gcode *gcode = static_cast<Gcode *>(argument);
 
-    if( gcode->has_g) {
+    if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
         // G code processing
         if( gcode->g == 30 ) { // simple Z probe
             gcode->mark_as_taken();
@@ -231,6 +234,7 @@ void ZProbe::on_gcode_received(void *argument)
             }
 
         } else {
+            // find a strategy to handle the gcode
             for(auto s : strategies){
                 if(s->handleGcode(gcode)) {
                     gcode->mark_as_taken();
@@ -255,7 +259,6 @@ void ZProbe::on_gcode_received(void *argument)
                     return;
                 }
             }
-            gcode->stream->printf("No strategy found to handle M%d\n", gcode->m);
         }
     }
 }
@@ -332,3 +335,8 @@ void ZProbe::home()
     Gcode gc("G28", &(StreamOutput::NullStream));
     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 }
+
+float ZProbe::zsteps_to_mm(float steps)
+{
+    return steps / Z_STEPS_PER_MM;
+}

diff --git a/src/modules/tools/zprobe/ZProbe.h b/src/modules/tools/zprobe/ZProbe.h
index e26c69b..370ad1e 100644 (file)
--- a/src/modules/tools/zprobe/ZProbe.h
+++ b/src/modules/tools/zprobe/ZProbe.h
@@ -41,6 +41,7 @@ public:
     float getSlowFeedrate() { return slow_feedrate; }
     float getFastFeedrate() { return fast_feedrate; }
     float getProbeHeight() { return probe_height; }
+    float zsteps_to_mm(float steps);
 
 private:
     float current_feedrate;