Commit | Line | Data |
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88443c6b JM |
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" | |
037c350d | 23 | #include "SerialMessage.h" |
9f6f04a5 JM |
24 | #include "PublicDataRequest.h" |
25 | #include "EndstopsPublicAccess.h" | |
26 | #include "PublicData.h" | |
ce9d2bda | 27 | #include "LevelingStrategy.h" |
a157d099 | 28 | #include "StepTicker.h" |
a5542cae JM |
29 | |
30 | // strategies we know about | |
f6efadb0 | 31 | #include "DeltaCalibrationStrategy.h" |
a5542cae | 32 | #include "ThreePointStrategy.h" |
43b9b200 | 33 | #include "ZGridStrategy.h" |
88443c6b | 34 | |
88443c6b JM |
35 | #define enable_checksum CHECKSUM("enable") |
36 | #define probe_pin_checksum CHECKSUM("probe_pin") | |
37 | #define debounce_count_checksum CHECKSUM("debounce_count") | |
681a62d7 JM |
38 | #define slow_feedrate_checksum CHECKSUM("slow_feedrate") |
39 | #define fast_feedrate_checksum CHECKSUM("fast_feedrate") | |
b469231e | 40 | #define return_feedrate_checksum CHECKSUM("return_feedrate") |
681a62d7 | 41 | #define probe_height_checksum CHECKSUM("probe_height") |
f3b66360 | 42 | #define gamma_max_checksum CHECKSUM("gamma_max") |
88443c6b | 43 | |
681a62d7 | 44 | // from endstop section |
b7cd847e | 45 | #define delta_homing_checksum CHECKSUM("delta_homing") |
88443c6b JM |
46 | |
47 | #define X_AXIS 0 | |
48 | #define Y_AXIS 1 | |
49 | #define Z_AXIS 2 | |
50 | ||
dd0a7cfa JM |
51 | #define STEPPER THEKERNEL->robot->actuators |
52 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) | |
56ce2b5a JM |
53 | #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS) |
54 | ||
7d6fe308 JM |
55 | #define abs(a) ((a<0) ? -a : a) |
56 | ||
88443c6b JM |
57 | void ZProbe::on_module_loaded() |
58 | { | |
59 | // if the module is disabled -> do nothing | |
56ce2b5a | 60 | if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) { |
88443c6b JM |
61 | // as this module is not needed free up the resource |
62 | delete this; | |
63 | return; | |
64 | } | |
681a62d7 | 65 | this->running = false; |
88443c6b JM |
66 | |
67 | // load settings | |
68 | this->on_config_reload(this); | |
69 | // register event-handlers | |
88443c6b | 70 | register_for_event(ON_GCODE_RECEIVED); |
88443c6b | 71 | |
a157d099 | 72 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); }); |
88443c6b JM |
73 | } |
74 | ||
75 | void ZProbe::on_config_reload(void *argument) | |
76 | { | |
681a62d7 JM |
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 | ||
ce9d2bda | 80 | // get strategies to load |
f6efadb0 JM |
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; | |
a5542cae JM |
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 | ||
43b9b200 QH |
99 | case ZGrid_leveling_checksum: |
100 | this->strategies.push_back(new ZGridStrategy(this)); | |
101 | found= true; | |
102 | break; | |
103 | ||
f6efadb0 | 104 | // add other strategies here |
f6efadb0 | 105 | //case zheight_map_strategy: |
a5542cae | 106 | // this->strategies.push_back(new ZHeightMapStrategy(this)); |
f6efadb0 JM |
107 | // found= true; |
108 | // break; | |
109 | } | |
110 | if(found) this->strategies.back()->handleConfig(); | |
111 | } | |
112 | } | |
ce9d2bda | 113 | |
57e927fa | 114 | // need to know if we need to use delta kinematics for homing |
ce9d2bda | 115 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
ce9d2bda | 116 | |
f6efadb0 | 117 | // default for backwards compatibility add DeltaCalibrationStrategy if a delta |
57e927fa | 118 | // will be deprecated |
f6efadb0 | 119 | if(this->strategies.empty()) { |
57e927fa JM |
120 | if(this->is_delta) { |
121 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
122 | this->strategies.back()->handleConfig(); | |
123 | } | |
037c350d | 124 | } |
681a62d7 | 125 | |
f3b66360 | 126 | this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number(); |
681a62d7 JM |
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 | |
b469231e | 129 | this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec |
f3b66360 | 130 | this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance |
88443c6b JM |
131 | } |
132 | ||
fa7bcf7e | 133 | bool ZProbe::wait_for_probe(int& steps) |
88443c6b JM |
134 | { |
135 | unsigned int debounce = 0; | |
136 | while(true) { | |
137 | THEKERNEL->call_event(ON_IDLE); | |
aa896868 JM |
138 | if(THEKERNEL->is_halted()){ |
139 | // aborted by kill | |
140 | return false; | |
141 | } | |
142 | ||
88443c6b | 143 | // if no stepper is moving, moves are finished and there was no touch |
fa7bcf7e | 144 | if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) { |
88443c6b JM |
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 | |
fa7bcf7e JM |
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 | } | |
88443c6b JM |
165 | } |
166 | } | |
167 | return true; | |
168 | } | |
169 | } else { | |
170 | // The probe was not hit yet, reset debounce counter | |
171 | debounce = 0; | |
172 | } | |
173 | } | |
174 | } | |
88443c6b | 175 | |
771fb7b2 RM |
176 | // single probe with custom feedrate |
177 | // returns boolean value indicating if probe was triggered | |
36a21d48 | 178 | bool ZProbe::run_probe_feed(int& steps, float feedrate, float max_dist) |
88443c6b | 179 | { |
72833629 JM |
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 | ||
88443c6b JM |
185 | // Enable the motors |
186 | THEKERNEL->stepper->turn_enable_pins_on(); | |
771fb7b2 | 187 | this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec |
36a21d48 | 188 | float maxz= max_dist < 0 ? this->max_z*2 : max_dist; |
88443c6b JM |
189 | |
190 | // move Z down | |
6f6677fc | 191 | STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz |
b7cd847e JM |
192 | if(this->is_delta) { |
193 | // for delta need to move all three actuators | |
6f6677fc JM |
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); | |
b7cd847e JM |
196 | } |
197 | ||
797b4403 | 198 | // start acceleration processing |
7d6fe308 JM |
199 | this->running = true; |
200 | ||
fa7bcf7e | 201 | bool r = wait_for_probe(steps); |
681a62d7 | 202 | this->running = false; |
db00af9a JM |
203 | STEPPER[X_AXIS]->move(0, 0); |
204 | STEPPER[Y_AXIS]->move(0, 0); | |
205 | STEPPER[Z_AXIS]->move(0, 0); | |
88443c6b JM |
206 | return r; |
207 | } | |
208 | ||
771fb7b2 RM |
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 | ||
681a62d7 JM |
218 | bool ZProbe::return_probe(int steps) |
219 | { | |
220 | // move probe back to where it was | |
b469231e RM |
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 | ||
903725bb | 230 | this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec |
681a62d7 JM |
231 | bool dir= steps < 0; |
232 | steps= abs(steps); | |
233 | ||
6f6677fc | 234 | STEPPER[Z_AXIS]->move(dir, steps, 0); |
681a62d7 | 235 | if(this->is_delta) { |
6f6677fc JM |
236 | STEPPER[X_AXIS]->move(dir, steps, 0); |
237 | STEPPER[Y_AXIS]->move(dir, steps, 0); | |
681a62d7 | 238 | } |
7d6fe308 JM |
239 | |
240 | this->running = true; | |
fa7bcf7e | 241 | while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) { |
681a62d7 JM |
242 | // wait for it to complete |
243 | THEKERNEL->call_event(ON_IDLE); | |
db00af9a JM |
244 | if(THEKERNEL->is_halted()){ |
245 | // aborted by kill | |
246 | break; | |
247 | } | |
681a62d7 JM |
248 | } |
249 | ||
250 | this->running = false; | |
db00af9a JM |
251 | STEPPER[X_AXIS]->move(0, 0); |
252 | STEPPER[Y_AXIS]->move(0, 0); | |
253 | STEPPER[Z_AXIS]->move(0, 0); | |
681a62d7 JM |
254 | |
255 | return true; | |
256 | } | |
257 | ||
97832d6d JM |
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 | } | |
fc7b9a7b | 271 | |
0e44e7d7 JM |
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 | ||
88443c6b JM |
279 | void ZProbe::on_gcode_received(void *argument) |
280 | { | |
281 | Gcode *gcode = static_cast<Gcode *>(argument); | |
88443c6b | 282 | |
57e927fa | 283 | if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) { |
36a21d48 | 284 | |
25dc6344 | 285 | // make sure the probe is defined and not already triggered before moving motors |
36a21d48 | 286 | if(!this->pin.connected()) { |
25dc6344 JM |
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 | ||
681a62d7 | 295 | if( gcode->g == 30 ) { // simple Z probe |
88443c6b JM |
296 | // first wait for an empty queue i.e. no moves left |
297 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
298 | ||
681a62d7 | 299 | int steps; |
771fb7b2 RM |
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) { | |
56ce2b5a | 308 | gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps); |
bd96f4d7 JM |
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); | |
681a62d7 JM |
313 | } else { |
314 | return_probe(steps); | |
bd96f4d7 | 315 | } |
681a62d7 | 316 | } else { |
bd96f4d7 | 317 | gcode->stream->printf("ZProbe not triggered\n"); |
88443c6b | 318 | } |
fc7b9a7b | 319 | |
ce9d2bda | 320 | } else { |
fc92f0ac JM |
321 | if(gcode->subcode == 0) { |
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 | // subcode selects which strategy to send the code to | |
332 | // they are loaded in the order they are defined in config, 1 being the first, 2 being the second and so on. | |
333 | int i= gcode->subcode-1; | |
334 | if(gcode->subcode < strategies.size()) { | |
335 | if(!strategies[i]->handleGcode(gcode)){ | |
336 | gcode->stream->printf("strategy #%d did not handle G%d\n", i+1, gcode->g); | |
337 | } | |
ce9d2bda | 338 | return; |
fc92f0ac JM |
339 | |
340 | }else{ | |
341 | gcode->stream->printf("strategy #%d is not loaded\n", i+1); | |
037c350d | 342 | } |
fc7b9a7b | 343 | } |
88443c6b JM |
344 | } |
345 | ||
36a21d48 JM |
346 | } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe |
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("ZProbe not connected.\n"); | |
356 | return; | |
357 | } | |
358 | if(this->pin.get()) { | |
359 | gcode->stream->printf("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("Not currently supported.\n"); | |
369 | ||
370 | }else if(gcode->has_letter('Y')) { | |
371 | // probe in the Y axis | |
372 | gcode->stream->printf("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 | gcode->stream->printf("INFO: delta Z %1.4f (Steps %d)\n", steps / Z_STEPS_PER_MM, steps); | |
386 | ||
387 | } else { | |
388 | gcode->stream->printf("ERROR: ZProbe not triggered\n"); | |
389 | } | |
390 | ||
391 | // set position to where it stopped | |
392 | THEKERNEL->robot->reset_axis_position(current_machine_pos[Z_AXIS] + (steps/Z_STEPS_PER_MM), Z_AXIS); | |
393 | ||
394 | }else{ | |
395 | gcode->stream->printf("ERROR: at least one of X Y or Z must be specified\n"); | |
396 | ||
397 | } | |
398 | return; | |
399 | ||
88443c6b JM |
400 | } else if(gcode->has_m) { |
401 | // M code processing here | |
3434eac0 RM |
402 | int c; |
403 | switch (gcode->m) { | |
404 | case 119: | |
405 | c = this->pin.get(); | |
406 | gcode->stream->printf(" Probe: %d", c); | |
407 | gcode->add_nl = true; | |
408 | break; | |
409 | ||
410 | case 670: | |
411 | if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S'); | |
412 | if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K'); | |
413 | if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R'); | |
414 | if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z'); | |
415 | if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H'); | |
416 | break; | |
417 | ||
418 | case 500: // save settings | |
419 | case 503: // print settings | |
fc92f0ac JM |
420 | 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", |
421 | this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height); | |
422 | ||
3434eac0 RM |
423 | // fall through is intended so leveling strategies can handle m-codes too |
424 | ||
425 | default: | |
426 | for(auto s : strategies){ | |
427 | if(s->handleGcode(gcode)) { | |
428 | return; | |
429 | } | |
ce9d2bda | 430 | } |
bd96f4d7 | 431 | } |
88443c6b JM |
432 | } |
433 | } | |
434 | ||
88443c6b | 435 | // Called periodically to change the speed to match acceleration |
a157d099 | 436 | void ZProbe::acceleration_tick(void) |
88443c6b | 437 | { |
a157d099 | 438 | if(!this->running) return; // nothing to do |
fa7bcf7e | 439 | if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS); |
88443c6b | 440 | |
fa7bcf7e JM |
441 | if(is_delta) { |
442 | // deltas needs to move all actuators | |
443 | for ( int c = X_AXIS; c <= Y_AXIS; c++ ) { | |
444 | if( !STEPPER[c]->is_moving() ) continue; | |
445 | accelerate(c); | |
446 | } | |
447 | } | |
88443c6b | 448 | |
a157d099 | 449 | return; |
fa7bcf7e | 450 | } |
88443c6b | 451 | |
fa7bcf7e JM |
452 | void ZProbe::accelerate(int c) |
453 | { uint32_t current_rate = STEPPER[c]->get_steps_per_second(); | |
c8f4ee77 | 454 | uint32_t target_rate = floorf(this->current_feedrate); |
88443c6b | 455 | |
c5fe1787 JM |
456 | // Z may have a different acceleration to X and Y |
457 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); | |
fa7bcf7e | 458 | if( current_rate < target_rate ) { |
a157d099 | 459 | uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c)); |
fa7bcf7e JM |
460 | current_rate = min( target_rate, current_rate + rate_increase ); |
461 | } | |
462 | if( current_rate > target_rate ) { | |
463 | current_rate = target_rate; | |
88443c6b JM |
464 | } |
465 | ||
fa7bcf7e | 466 | // steps per second |
d6ba35b8 | 467 | STEPPER[c]->set_speed(current_rate); |
88443c6b | 468 | } |
681a62d7 JM |
469 | |
470 | // issue a coordinated move directly to robot, and return when done | |
471 | // Only move the coordinates that are passed in as not nan | |
e0be983d | 472 | // NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts |
037c350d | 473 | void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative) |
681a62d7 JM |
474 | { |
475 | char buf[32]; | |
037c350d JM |
476 | char cmd[64]; |
477 | ||
478 | if(relative) strcpy(cmd, "G91 G0 "); | |
e0be983d | 479 | else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system |
037c350d | 480 | |
681a62d7 | 481 | if(!isnan(x)) { |
037c350d | 482 | int n = snprintf(buf, sizeof(buf), " X%1.3f", x); |
681a62d7 JM |
483 | strncat(cmd, buf, n); |
484 | } | |
485 | if(!isnan(y)) { | |
037c350d | 486 | int n = snprintf(buf, sizeof(buf), " Y%1.3f", y); |
681a62d7 JM |
487 | strncat(cmd, buf, n); |
488 | } | |
489 | if(!isnan(z)) { | |
037c350d | 490 | int n = snprintf(buf, sizeof(buf), " Z%1.3f", z); |
681a62d7 JM |
491 | strncat(cmd, buf, n); |
492 | } | |
493 | ||
494 | // use specified feedrate (mm/sec) | |
037c350d | 495 | int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min |
681a62d7 | 496 | strncat(cmd, buf, n); |
037c350d JM |
497 | if(relative) strcat(cmd, " G90"); |
498 | ||
499 | //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd); | |
681a62d7 | 500 | |
037c350d JM |
501 | // send as a command line as may have multiple G codes in it |
502 | struct SerialMessage message; | |
503 | message.message = cmd; | |
504 | message.stream = &(StreamOutput::NullStream); | |
505 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
681a62d7 JM |
506 | THEKERNEL->conveyor->wait_for_empty_queue(); |
507 | } | |
508 | ||
509 | // issue home command | |
510 | void ZProbe::home() | |
511 | { | |
512 | Gcode gc("G28", &(StreamOutput::NullStream)); | |
513 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); | |
514 | } | |
57e927fa JM |
515 | |
516 | float ZProbe::zsteps_to_mm(float steps) | |
517 | { | |
518 | return steps / Z_STEPS_PER_MM; | |
519 | } |