Fix reset_axis_position for homing.

   we are given the post compensation position sdo use inverse transform to get last milestone
Change the way G30 Zxxx works.
   so it actually just does a G92 Zxxx after the probe

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index a0745b1..3a2a86c 100644 (file)
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -866,22 +866,23 @@ void Robot::process_move(Gcode *gcode, enum MOTION_MODE_T motion_mode)
 }
 
 // reset the machine position for all axis. Used for homing.
-// after homing we need to set the actuator position at the position they would be at for the compensated XYZ
-// So we need to apply the compensation transform to the last_milestone we are given to get the compensated
-// last_machine_position which we then convert to actuator position.
+// after homing we supply the cartesian coordinates that the head is at when homed,
+// however for Z this is the compensated Z position (if enabled)
+// So we need to apply the inverse compensation transform to the supplied coordinates to get the correct last milestone
 // this will make the results from M114 and ? consistent after homing.
 void Robot::reset_axis_position(float x, float y, float z)
 {
-    // these are set to the same as compensation was not used to get to the current position
+    // set both the same initially
     last_machine_position[X_AXIS]= last_milestone[X_AXIS] = x;
     last_machine_position[Y_AXIS]= last_milestone[Y_AXIS] = y;
     last_machine_position[Z_AXIS]= last_milestone[Z_AXIS] = z;
 
     if(compensationTransform) {
-        compensationTransform(last_machine_position, false);
+        // apply inverse transform to get last_milestone
+        compensationTransform(last_milestone, true);
     }
 
-    // now set the actuator positions to match
+    // now set the actuator positions based on the supplied compensated position
     ActuatorCoordinates actuator_pos;
     arm_solution->cartesian_to_actuator(this->last_machine_position, actuator_pos);
     for (size_t i = X_AXIS; i <= Z_AXIS; i++)

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index 546d25e..1193dc8 100644 (file)
--- a/src/modules/tools/endstops/Endstops.cpp
+++ b/src/modules/tools/endstops/Endstops.cpp
@@ -719,6 +719,8 @@ void Endstops::process_home_command(Gcode* gcode)
 
     } else {
         // Zero the ax(i/e)s position, add in the home offset
+        // NOTE that if compensation is active the Z will be set based on where XY are, so make sure XY are homed first then Z
+        // so XY are at a known consistent position.  (especially true if using a proximity probe)
         for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
             if (haxis[c]) { // if we requested this axis to home
                 THEROBOT->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);

diff --git a/src/modules/tools/zprobe/ZProbe.cpp b/src/modules/tools/zprobe/ZProbe.cpp
index e56a87a..e3bc6ae 100644 (file)
--- a/src/modules/tools/zprobe/ZProbe.cpp
+++ b/src/modules/tools/zprobe/ZProbe.cpp
@@ -268,8 +268,12 @@ void ZProbe::on_gcode_received(void *argument)
                 gcode->stream->printf("Z:%1.4f\n", mm);
 
                 if(set_z) {
-                    // set Z to the specified value
-                    THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
+                    // set current Z to the specified value, shortcut for G92 Znnn
+                    char buf[32];
+                    int n = snprintf(buf, sizeof(buf), "G92 Z%f", gcode->get_value('Z'));
+                    string g(buf, n);
+                    Gcode gc(g, &(StreamOutput::NullStream));
+                    THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
                 }
 
             } else {