Commit | Line | Data |
---|---|---|
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" | |
88443c6b JM |
18 | #include "checksumm.h" |
19 | #include "ConfigValue.h" | |
20 | #include "SlowTicker.h" | |
21 | #include "Planner.h" | |
037c350d | 22 | #include "SerialMessage.h" |
9f6f04a5 JM |
23 | #include "PublicDataRequest.h" |
24 | #include "EndstopsPublicAccess.h" | |
25 | #include "PublicData.h" | |
ce9d2bda | 26 | #include "LevelingStrategy.h" |
a157d099 | 27 | #include "StepTicker.h" |
37102904 | 28 | #include "utils.h" |
a5542cae JM |
29 | |
30 | // strategies we know about | |
f6efadb0 | 31 | #include "DeltaCalibrationStrategy.h" |
a5542cae | 32 | #include "ThreePointStrategy.h" |
59d4d4ea | 33 | #include "DeltaGridStrategy.h" |
88443c6b | 34 | |
88443c6b JM |
35 | #define enable_checksum CHECKSUM("enable") |
36 | #define probe_pin_checksum CHECKSUM("probe_pin") | |
7778d1ce | 37 | #define debounce_ms_checksum CHECKSUM("debounce_ms") |
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") |
93f20a8c | 43 | #define reverse_z_direction_checksum CHECKSUM("reverse_z") |
88443c6b | 44 | |
681a62d7 | 45 | // from endstop section |
b7cd847e | 46 | #define delta_homing_checksum CHECKSUM("delta_homing") |
d8198a57 | 47 | #define rdelta_homing_checksum CHECKSUM("rdelta_homing") |
88443c6b JM |
48 | |
49 | #define X_AXIS 0 | |
50 | #define Y_AXIS 1 | |
51 | #define Z_AXIS 2 | |
52 | ||
c8bac202 | 53 | #define STEPPER THEROBOT->actuators |
dd0a7cfa | 54 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) |
56ce2b5a JM |
55 | #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS) |
56 | ||
7d6fe308 JM |
57 | #define abs(a) ((a<0) ? -a : a) |
58 | ||
88443c6b JM |
59 | void ZProbe::on_module_loaded() |
60 | { | |
61 | // if the module is disabled -> do nothing | |
56ce2b5a | 62 | if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) { |
88443c6b JM |
63 | // as this module is not needed free up the resource |
64 | delete this; | |
65 | return; | |
66 | } | |
88443c6b JM |
67 | |
68 | // load settings | |
de5787e0 | 69 | this->config_load(); |
88443c6b | 70 | // register event-handlers |
88443c6b | 71 | register_for_event(ON_GCODE_RECEIVED); |
88443c6b | 72 | |
778093ce JM |
73 | // we read the probe in this timer, currently only for G38 probes. |
74 | probing= false; | |
75 | THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe); | |
88443c6b JM |
76 | } |
77 | ||
de5787e0 | 78 | void ZProbe::config_load() |
88443c6b | 79 | { |
681a62d7 | 80 | this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input(); |
7778d1ce | 81 | this->debounce_ms = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0 )->as_number(); |
681a62d7 | 82 | |
ce9d2bda | 83 | // get strategies to load |
f6efadb0 JM |
84 | vector<uint16_t> modules; |
85 | THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum); | |
86 | for( auto cs : modules ){ | |
87 | if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){ | |
88 | bool found= false; | |
89 | // check with each known strategy and load it if it matches | |
90 | switch(cs) { | |
91 | case delta_calibration_strategy_checksum: | |
92 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
93 | found= true; | |
94 | break; | |
a5542cae JM |
95 | |
96 | case three_point_leveling_strategy_checksum: | |
97 | // NOTE this strategy is mutually exclusive with the delta calibration strategy | |
98 | this->strategies.push_back(new ThreePointStrategy(this)); | |
99 | found= true; | |
100 | break; | |
101 | ||
59d4d4ea JM |
102 | case delta_grid_leveling_strategy_checksum: |
103 | this->strategies.push_back(new DeltaGridStrategy(this)); | |
104 | found= true; | |
105 | break; | |
f6efadb0 JM |
106 | } |
107 | if(found) this->strategies.back()->handleConfig(); | |
108 | } | |
109 | } | |
ce9d2bda | 110 | |
57e927fa | 111 | // need to know if we need to use delta kinematics for homing |
ce9d2bda | 112 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
d8198a57 | 113 | this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool(); |
ce9d2bda | 114 | |
f6efadb0 | 115 | // default for backwards compatibility add DeltaCalibrationStrategy if a delta |
81c3ecbf | 116 | // may be deprecated |
f6efadb0 | 117 | if(this->strategies.empty()) { |
57e927fa JM |
118 | if(this->is_delta) { |
119 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
120 | this->strategies.back()->handleConfig(); | |
121 | } | |
037c350d | 122 | } |
681a62d7 | 123 | |
f3b66360 | 124 | this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number(); |
681a62d7 JM |
125 | this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec |
126 | this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec | |
b469231e | 127 | this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec |
bac3c948 | 128 | this->reverse_z = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction |
f3b66360 | 129 | this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance |
88443c6b JM |
130 | } |
131 | ||
6d142b73 | 132 | uint32_t ZProbe::read_probe(uint32_t dummy) |
88443c6b | 133 | { |
6d142b73 | 134 | if(!probing || probe_detected) return 0; |
88443c6b | 135 | |
8fe38353 JM |
136 | // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z |
137 | if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) { | |
6d142b73 JM |
138 | // if it is moving then we check the probe, and debounce it |
139 | if(this->pin.get()) { | |
7778d1ce | 140 | if(debounce < debounce_ms) { |
88443c6b JM |
141 | debounce++; |
142 | } else { | |
6d142b73 JM |
143 | // we signal the motors to stop, which will preempt any moves on that axis |
144 | // we do all motors as it may be a delta | |
145 | for(auto &a : THEROBOT->actuators) a->stop_moving(); | |
146 | probe_detected= true; | |
147 | debounce= 0; | |
88443c6b | 148 | } |
6d142b73 | 149 | |
88443c6b | 150 | } else { |
6d142b73 JM |
151 | // The endstop was not hit yet |
152 | debounce= 0; | |
88443c6b JM |
153 | } |
154 | } | |
6d142b73 JM |
155 | |
156 | return 0; | |
88443c6b | 157 | } |
88443c6b | 158 | |
6d142b73 | 159 | // single probe in Z with custom feedrate |
771fb7b2 | 160 | // returns boolean value indicating if probe was triggered |
6d142b73 | 161 | bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse) |
88443c6b | 162 | { |
36a21d48 | 163 | float maxz= max_dist < 0 ? this->max_z*2 : max_dist; |
88443c6b | 164 | |
6d142b73 JM |
165 | probing= true; |
166 | probe_detected= false; | |
167 | debounce= 0; | |
168 | ||
169 | // save current actuator position so we can report how far we moved | |
170 | ActuatorCoordinates start_pos{ | |
171 | THEROBOT->actuators[X_AXIS]->get_current_position(), | |
172 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
173 | THEROBOT->actuators[Z_AXIS]->get_current_position() | |
174 | }; | |
175 | ||
88443c6b | 176 | // move Z down |
7778d1ce | 177 | THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled |
8fd0f38d | 178 | bool dir= (!reverse_z != reverse); // xor |
6d142b73 | 179 | float delta[3]= {0,0,0}; |
7778d1ce | 180 | delta[Z_AXIS]= dir ? -maxz : maxz; |
121094a5 | 181 | THEROBOT->delta_move(delta, feedrate, 3); |
b7cd847e | 182 | |
6d142b73 | 183 | // wait until finished |
04782655 | 184 | THECONVEYOR->wait_for_idle(); |
7778d1ce | 185 | THEROBOT->disable_segmentation= false; |
7d6fe308 | 186 | |
6d142b73 | 187 | // now see how far we moved, get delta in z we moved |
29e809e0 | 188 | // NOTE this works for deltas as well as all three actuators move the same amount in Z |
6d142b73 JM |
189 | mm= start_pos[2] - THEROBOT->actuators[2]->get_current_position(); |
190 | ||
191 | // set the last probe position to the actuator units moved during this home | |
192 | THEROBOT->set_last_probe_position( | |
193 | std::make_tuple( | |
194 | start_pos[0] - THEROBOT->actuators[0]->get_current_position(), | |
195 | start_pos[1] - THEROBOT->actuators[1]->get_current_position(), | |
196 | mm, | |
197 | probe_detected?1:0)); | |
198 | ||
7778d1ce JM |
199 | probing= false; |
200 | ||
201 | if(probe_detected) { | |
202 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought | |
203 | THEROBOT->reset_position_from_current_actuator_position(); | |
204 | } | |
6d142b73 JM |
205 | |
206 | return probe_detected; | |
88443c6b JM |
207 | } |
208 | ||
6d142b73 | 209 | bool ZProbe::return_probe(float mm, bool reverse) |
681a62d7 JM |
210 | { |
211 | // move probe back to where it was | |
b469231e RM |
212 | float fr; |
213 | if(this->return_feedrate != 0) { // use return_feedrate if set | |
214 | fr = this->return_feedrate; | |
215 | } else { | |
216 | fr = this->slow_feedrate*2; // nominally twice slow feedrate | |
217 | if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate | |
218 | } | |
219 | ||
6d142b73 | 220 | bool dir= ((mm < 0) != reverse_z); // xor |
93f20a8c | 221 | if(reverse) dir= !dir; |
681a62d7 | 222 | |
6d142b73 | 223 | float delta[3]= {0,0,0}; |
7778d1ce | 224 | delta[Z_AXIS]= dir ? -mm : mm; |
121094a5 | 225 | THEROBOT->delta_move(delta, fr, 3); |
7d6fe308 | 226 | |
6d142b73 | 227 | // wait until finished |
04782655 | 228 | THECONVEYOR->wait_for_idle(); |
681a62d7 JM |
229 | |
230 | return true; | |
231 | } | |
232 | ||
6d142b73 | 233 | bool ZProbe::doProbeAt(float &mm, float x, float y) |
97832d6d | 234 | { |
6d142b73 | 235 | float s; |
97832d6d JM |
236 | // move to xy |
237 | coordinated_move(x, y, NAN, getFastFeedrate()); | |
238 | if(!run_probe(s)) return false; | |
239 | ||
240 | // return to original Z | |
241 | return_probe(s); | |
6d142b73 | 242 | mm = s; |
97832d6d JM |
243 | |
244 | return true; | |
245 | } | |
fc7b9a7b | 246 | |
0e44e7d7 JM |
247 | float ZProbe::probeDistance(float x, float y) |
248 | { | |
6d142b73 | 249 | float s; |
0e44e7d7 | 250 | if(!doProbeAt(s, x, y)) return NAN; |
6d142b73 | 251 | return s; |
0e44e7d7 JM |
252 | } |
253 | ||
88443c6b JM |
254 | void ZProbe::on_gcode_received(void *argument) |
255 | { | |
256 | Gcode *gcode = static_cast<Gcode *>(argument); | |
88443c6b | 257 | |
57e927fa | 258 | if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) { |
36a21d48 | 259 | |
25dc6344 | 260 | // make sure the probe is defined and not already triggered before moving motors |
36a21d48 | 261 | if(!this->pin.connected()) { |
25dc6344 JM |
262 | gcode->stream->printf("ZProbe not connected.\n"); |
263 | return; | |
264 | } | |
265 | if(this->pin.get()) { | |
266 | gcode->stream->printf("ZProbe triggered before move, aborting command.\n"); | |
267 | return; | |
268 | } | |
269 | ||
681a62d7 | 270 | if( gcode->g == 30 ) { // simple Z probe |
8fe38353 | 271 | // first wait for all moves to finish |
04782655 | 272 | THEKERNEL->conveyor->wait_for_idle(); |
88443c6b | 273 | |
771fb7b2 | 274 | bool probe_result; |
93f20a8c JM |
275 | bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction |
276 | float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate; | |
7778d1ce | 277 | float mm; |
6d142b73 | 278 | probe_result = run_probe(mm, rate, -1, reverse); |
771fb7b2 RM |
279 | |
280 | if(probe_result) { | |
078f76e0 | 281 | // the result is in actuator coordinates and raw steps |
6d142b73 | 282 | gcode->stream->printf("Z:%1.4f\n", mm); |
078f76e0 JM |
283 | |
284 | // set the last probe position to the current actuator units | |
c8bac202 JM |
285 | THEROBOT->set_last_probe_position(std::make_tuple( |
286 | THEROBOT->actuators[X_AXIS]->get_current_position(), | |
287 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
288 | THEROBOT->actuators[Z_AXIS]->get_current_position(), | |
078f76e0 JM |
289 | 1)); |
290 | ||
543c4b6d | 291 | // move back to where it started, unless a Z is specified (and not a rotary delta) |
93f20a8c | 292 | if(gcode->has_letter('Z') && !is_rdelta) { |
bd96f4d7 | 293 | // set Z to the specified value, and leave probe where it is |
c8bac202 | 294 | THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS); |
078f76e0 | 295 | |
681a62d7 | 296 | } else { |
078f76e0 | 297 | // return to pre probe position |
6d142b73 | 298 | return_probe(mm, reverse); |
bd96f4d7 | 299 | } |
078f76e0 | 300 | |
681a62d7 | 301 | } else { |
bd96f4d7 | 302 | gcode->stream->printf("ZProbe not triggered\n"); |
c8bac202 JM |
303 | THEROBOT->set_last_probe_position(std::make_tuple( |
304 | THEROBOT->actuators[X_AXIS]->get_current_position(), | |
305 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
306 | THEROBOT->actuators[Z_AXIS]->get_current_position(), | |
078f76e0 | 307 | 0)); |
88443c6b | 308 | } |
fc7b9a7b | 309 | |
ce9d2bda | 310 | } else { |
aaf0c0ee | 311 | if(!gcode->has_letter('P')) { |
fc92f0ac JM |
312 | // find the first strategy to handle the gcode |
313 | for(auto s : strategies){ | |
314 | if(s->handleGcode(gcode)) { | |
315 | return; | |
316 | } | |
317 | } | |
318 | gcode->stream->printf("No strategy found to handle G%d\n", gcode->g); | |
319 | ||
320 | }else{ | |
aaf0c0ee JM |
321 | // P paramater selects which strategy to send the code to |
322 | // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on. | |
323 | uint16_t i= gcode->get_value('P'); | |
324 | if(i < strategies.size()) { | |
fc92f0ac | 325 | if(!strategies[i]->handleGcode(gcode)){ |
aaf0c0ee | 326 | gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g); |
fc92f0ac | 327 | } |
ce9d2bda | 328 | return; |
fc92f0ac JM |
329 | |
330 | }else{ | |
aaf0c0ee | 331 | gcode->stream->printf("strategy #%d is not loaded\n", i); |
037c350d | 332 | } |
fc7b9a7b | 333 | } |
88443c6b JM |
334 | } |
335 | ||
6c0193b3 | 336 | } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error |
36a21d48 JM |
337 | // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe |
338 | if(gcode->subcode != 2 && gcode->subcode != 3) { | |
07186543 | 339 | gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n"); |
36a21d48 JM |
340 | return; |
341 | } | |
342 | ||
343 | // make sure the probe is defined and not already triggered before moving motors | |
344 | if(!this->pin.connected()) { | |
e714bd32 | 345 | gcode->stream->printf("error:ZProbe not connected.\n"); |
36a21d48 JM |
346 | return; |
347 | } | |
17f26e01 | 348 | |
36a21d48 | 349 | if(this->pin.get()) { |
e714bd32 | 350 | gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n"); |
36a21d48 JM |
351 | return; |
352 | } | |
353 | ||
8fe38353 | 354 | // first wait for all moves to finish |
04782655 | 355 | THEKERNEL->conveyor->wait_for_idle(); |
36a21d48 JM |
356 | |
357 | if(gcode->has_letter('X')) { | |
358 | // probe in the X axis | |
a2f1ce04 | 359 | probe_XYZ(gcode, X_AXIS); |
36a21d48 JM |
360 | |
361 | }else if(gcode->has_letter('Y')) { | |
362 | // probe in the Y axis | |
a2f1ce04 | 363 | probe_XYZ(gcode, Y_AXIS); |
36a21d48 JM |
364 | |
365 | }else if(gcode->has_letter('Z')) { | |
a2f1ce04 JM |
366 | // probe in the Z axis |
367 | probe_XYZ(gcode, Z_AXIS); | |
36a21d48 | 368 | |
36a21d48 | 369 | }else{ |
e714bd32 | 370 | gcode->stream->printf("error:at least one of X Y or Z must be specified\n"); |
36a21d48 | 371 | } |
7484e84a | 372 | |
36a21d48 JM |
373 | return; |
374 | ||
88443c6b JM |
375 | } else if(gcode->has_m) { |
376 | // M code processing here | |
3434eac0 RM |
377 | int c; |
378 | switch (gcode->m) { | |
379 | case 119: | |
380 | c = this->pin.get(); | |
381 | gcode->stream->printf(" Probe: %d", c); | |
382 | gcode->add_nl = true; | |
383 | break; | |
384 | ||
385 | case 670: | |
386 | if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S'); | |
387 | if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K'); | |
388 | if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R'); | |
389 | if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z'); | |
390 | if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H'); | |
39f1d9bd JM |
391 | if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin |
392 | invert_override= (gcode->get_value('I') != 0); | |
393 | pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa | |
394 | } | |
3434eac0 RM |
395 | break; |
396 | ||
397 | case 500: // save settings | |
398 | case 503: // print settings | |
fc92f0ac JM |
399 | 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", |
400 | this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height); | |
401 | ||
3434eac0 RM |
402 | // fall through is intended so leveling strategies can handle m-codes too |
403 | ||
404 | default: | |
405 | for(auto s : strategies){ | |
406 | if(s->handleGcode(gcode)) { | |
407 | return; | |
408 | } | |
ce9d2bda | 409 | } |
bd96f4d7 | 410 | } |
88443c6b JM |
411 | } |
412 | } | |
413 | ||
778093ce | 414 | // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics |
a2f1ce04 | 415 | void ZProbe::probe_XYZ(Gcode *gcode, int axis) |
37102904 | 416 | { |
778093ce JM |
417 | // enable the probe checking in the timer |
418 | probing= true; | |
419 | probe_detected= false; | |
c8bac202 | 420 | THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y) |
37102904 JM |
421 | |
422 | // get probe feedrate if specified | |
423 | float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate; | |
424 | ||
778093ce JM |
425 | // do a regular move which will stop as soon as the probe is triggered, or the distance is reached |
426 | switch(axis) { | |
427 | case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break; | |
428 | case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break; | |
429 | case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break; | |
37102904 JM |
430 | } |
431 | ||
778093ce JM |
432 | // coordinated_move returns when the move is finished |
433 | ||
434 | // disable probe checking | |
435 | probing= false; | |
c8bac202 | 436 | THEROBOT->disable_segmentation= false; |
37102904 | 437 | |
8fe38353 JM |
438 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought |
439 | // this also sets last_milestone to the machine coordinates it stopped at | |
440 | THEROBOT->reset_position_from_current_actuator_position(); | |
37102904 | 441 | float pos[3]; |
8fe38353 | 442 | THEROBOT->get_axis_position(pos, 3); |
37102904 | 443 | |
778093ce | 444 | uint8_t probeok= this->probe_detected ? 1 : 0; |
b76a9926 | 445 | |
17f26e01 | 446 | // print results using the GRBL format |
b76a9926 | 447 | gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok); |
c8bac202 | 448 | THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok)); |
b76a9926 | 449 | |
8fe38353 | 450 | if(probeok == 0 && gcode->subcode == 2) { |
93f20a8c JM |
451 | // issue error if probe was not triggered and subcode == 2 |
452 | gcode->stream->printf("ALARM:Probe fail\n"); | |
453 | THEKERNEL->call_event(ON_HALT, nullptr); | |
778093ce | 454 | } |
37102904 JM |
455 | } |
456 | ||
681a62d7 JM |
457 | // issue a coordinated move directly to robot, and return when done |
458 | // Only move the coordinates that are passed in as not nan | |
6d142b73 | 459 | // NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets |
037c350d | 460 | void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative) |
681a62d7 JM |
461 | { |
462 | char buf[32]; | |
037c350d JM |
463 | char cmd[64]; |
464 | ||
465 | if(relative) strcpy(cmd, "G91 G0 "); | |
e0be983d | 466 | else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system |
037c350d | 467 | |
681a62d7 | 468 | if(!isnan(x)) { |
037c350d | 469 | int n = snprintf(buf, sizeof(buf), " X%1.3f", x); |
681a62d7 JM |
470 | strncat(cmd, buf, n); |
471 | } | |
472 | if(!isnan(y)) { | |
037c350d | 473 | int n = snprintf(buf, sizeof(buf), " Y%1.3f", y); |
681a62d7 JM |
474 | strncat(cmd, buf, n); |
475 | } | |
476 | if(!isnan(z)) { | |
037c350d | 477 | int n = snprintf(buf, sizeof(buf), " Z%1.3f", z); |
681a62d7 JM |
478 | strncat(cmd, buf, n); |
479 | } | |
480 | ||
481 | // use specified feedrate (mm/sec) | |
037c350d | 482 | int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min |
681a62d7 | 483 | strncat(cmd, buf, n); |
037c350d JM |
484 | if(relative) strcat(cmd, " G90"); |
485 | ||
486 | //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd); | |
681a62d7 | 487 | |
037c350d JM |
488 | // send as a command line as may have multiple G codes in it |
489 | struct SerialMessage message; | |
490 | message.message = cmd; | |
491 | message.stream = &(StreamOutput::NullStream); | |
492 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
04782655 | 493 | THEKERNEL->conveyor->wait_for_idle(); |
681a62d7 JM |
494 | } |
495 | ||
496 | // issue home command | |
497 | void ZProbe::home() | |
498 | { | |
499 | Gcode gc("G28", &(StreamOutput::NullStream)); | |
500 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); | |
501 | } |