| 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 "checksumm.h" |
| 19 | #include "ConfigValue.h" |
| 20 | #include "SlowTicker.h" |
| 21 | #include "Planner.h" |
| 22 | #include "SerialMessage.h" |
| 23 | #include "PublicDataRequest.h" |
| 24 | #include "EndstopsPublicAccess.h" |
| 25 | #include "PublicData.h" |
| 26 | #include "LevelingStrategy.h" |
| 27 | #include "StepTicker.h" |
| 28 | #include "utils.h" |
| 29 | |
| 30 | // strategies we know about |
| 31 | #include "DeltaCalibrationStrategy.h" |
| 32 | #include "ThreePointStrategy.h" |
| 33 | #include "DeltaGridStrategy.h" |
| 34 | #include "CartGridStrategy.h" |
| 35 | |
| 36 | #define enable_checksum CHECKSUM("enable") |
| 37 | #define probe_pin_checksum CHECKSUM("probe_pin") |
| 38 | #define debounce_ms_checksum CHECKSUM("debounce_ms") |
| 39 | #define slow_feedrate_checksum CHECKSUM("slow_feedrate") |
| 40 | #define fast_feedrate_checksum CHECKSUM("fast_feedrate") |
| 41 | #define return_feedrate_checksum CHECKSUM("return_feedrate") |
| 42 | #define probe_height_checksum CHECKSUM("probe_height") |
| 43 | #define gamma_max_checksum CHECKSUM("gamma_max") |
| 44 | #define max_z_checksum CHECKSUM("max_z") |
| 45 | #define reverse_z_direction_checksum CHECKSUM("reverse_z") |
| 46 | #define dwell_before_probing_checksum CHECKSUM("dwell_before_probing") |
| 47 | |
| 48 | // from endstop section |
| 49 | #define delta_homing_checksum CHECKSUM("delta_homing") |
| 50 | #define rdelta_homing_checksum CHECKSUM("rdelta_homing") |
| 51 | |
| 52 | #define X_AXIS 0 |
| 53 | #define Y_AXIS 1 |
| 54 | #define Z_AXIS 2 |
| 55 | |
| 56 | #define STEPPER THEROBOT->actuators |
| 57 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) |
| 58 | #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS) |
| 59 | |
| 60 | void ZProbe::on_module_loaded() |
| 61 | { |
| 62 | // if the module is disabled -> do nothing |
| 63 | if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) { |
| 64 | // as this module is not needed free up the resource |
| 65 | delete this; |
| 66 | return; |
| 67 | } |
| 68 | |
| 69 | // load settings |
| 70 | this->config_load(); |
| 71 | // register event-handlers |
| 72 | register_for_event(ON_GCODE_RECEIVED); |
| 73 | |
| 74 | // we read the probe in this timer |
| 75 | probing= false; |
| 76 | invert_probe= false; |
| 77 | THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe); |
| 78 | } |
| 79 | |
| 80 | void ZProbe::config_load() |
| 81 | { |
| 82 | this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input(); |
| 83 | this->debounce_ms = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0 )->as_number(); |
| 84 | |
| 85 | // get strategies to load |
| 86 | vector<uint16_t> modules; |
| 87 | THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum); |
| 88 | for( auto cs : modules ){ |
| 89 | if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){ |
| 90 | bool found= false; |
| 91 | LevelingStrategy *ls= nullptr; |
| 92 | |
| 93 | // check with each known strategy and load it if it matches |
| 94 | switch(cs) { |
| 95 | case delta_calibration_strategy_checksum: |
| 96 | ls= new DeltaCalibrationStrategy(this); |
| 97 | found= true; |
| 98 | break; |
| 99 | |
| 100 | case three_point_leveling_strategy_checksum: |
| 101 | // NOTE this strategy is mutually exclusive with the delta calibration strategy |
| 102 | ls= new ThreePointStrategy(this); |
| 103 | found= true; |
| 104 | break; |
| 105 | |
| 106 | case delta_grid_leveling_strategy_checksum: |
| 107 | ls= new DeltaGridStrategy(this); |
| 108 | found= true; |
| 109 | break; |
| 110 | |
| 111 | case cart_grid_leveling_strategy_checksum: |
| 112 | ls= new CartGridStrategy(this); |
| 113 | found= true; |
| 114 | break; |
| 115 | } |
| 116 | if(found) { |
| 117 | if(ls->handleConfig()) { |
| 118 | this->strategies.push_back(ls); |
| 119 | }else{ |
| 120 | delete ls; |
| 121 | } |
| 122 | } |
| 123 | } |
| 124 | } |
| 125 | |
| 126 | // need to know if we need to use delta kinematics for homing |
| 127 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
| 128 | this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool(); |
| 129 | |
| 130 | // default for backwards compatibility add DeltaCalibrationStrategy if a delta |
| 131 | // may be deprecated |
| 132 | if(this->strategies.empty()) { |
| 133 | if(this->is_delta) { |
| 134 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); |
| 135 | this->strategies.back()->handleConfig(); |
| 136 | } |
| 137 | } |
| 138 | |
| 139 | this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number(); |
| 140 | this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec |
| 141 | this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec |
| 142 | this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec |
| 143 | this->reverse_z = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction |
| 144 | this->max_z = THEKERNEL->config->value(zprobe_checksum, max_z_checksum)->by_default(NAN)->as_number(); // maximum zprobe distance |
| 145 | if(isnan(this->max_z)){ |
| 146 | this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(200)->as_number(); // maximum zprobe distance |
| 147 | } |
| 148 | this->dwell_before_probing = THEKERNEL->config->value(zprobe_checksum, dwell_before_probing_checksum)->by_default(0)->as_number(); // dwell time in seconds before probing |
| 149 | |
| 150 | } |
| 151 | |
| 152 | uint32_t ZProbe::read_probe(uint32_t dummy) |
| 153 | { |
| 154 | if(!probing || probe_detected) return 0; |
| 155 | |
| 156 | // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z |
| 157 | if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) { |
| 158 | // if it is moving then we check the probe, and debounce it |
| 159 | if(this->pin.get() != invert_probe) { |
| 160 | if(debounce < debounce_ms) { |
| 161 | debounce++; |
| 162 | } else { |
| 163 | // we signal the motors to stop, which will preempt any moves on that axis |
| 164 | // we do all motors as it may be a delta |
| 165 | for(auto &a : THEROBOT->actuators) a->stop_moving(); |
| 166 | probe_detected= true; |
| 167 | debounce= 0; |
| 168 | } |
| 169 | |
| 170 | } else { |
| 171 | // The endstop was not hit yet |
| 172 | debounce= 0; |
| 173 | } |
| 174 | } |
| 175 | |
| 176 | return 0; |
| 177 | } |
| 178 | |
| 179 | // single probe in Z with custom feedrate |
| 180 | // returns boolean value indicating if probe was triggered |
| 181 | bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse) |
| 182 | { |
| 183 | if(dwell_before_probing > .0001F) safe_delay_ms(dwell_before_probing*1000); |
| 184 | |
| 185 | if(this->pin.get()) { |
| 186 | // probe already triggered so abort |
| 187 | return false; |
| 188 | } |
| 189 | |
| 190 | float maxz= max_dist < 0 ? this->max_z*2 : max_dist; |
| 191 | |
| 192 | probing= true; |
| 193 | probe_detected= false; |
| 194 | debounce= 0; |
| 195 | |
| 196 | // save current actuator position so we can report how far we moved |
| 197 | float z_start_pos= THEROBOT->actuators[Z_AXIS]->get_current_position(); |
| 198 | |
| 199 | // move Z down |
| 200 | bool dir= (!reverse_z != reverse); // xor |
| 201 | float delta[3]= {0,0,0}; |
| 202 | delta[Z_AXIS]= dir ? -maxz : maxz; |
| 203 | THEROBOT->delta_move(delta, feedrate, 3); |
| 204 | |
| 205 | // wait until finished |
| 206 | THECONVEYOR->wait_for_idle(); |
| 207 | |
| 208 | // now see how far we moved, get delta in z we moved |
| 209 | // NOTE this works for deltas as well as all three actuators move the same amount in Z |
| 210 | mm= z_start_pos - THEROBOT->actuators[2]->get_current_position(); |
| 211 | |
| 212 | // set the last probe position to the actuator units moved during this home |
| 213 | THEROBOT->set_last_probe_position(std::make_tuple(0, 0, mm, probe_detected?1:0)); |
| 214 | |
| 215 | probing= false; |
| 216 | |
| 217 | if(probe_detected) { |
| 218 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought |
| 219 | THEROBOT->reset_position_from_current_actuator_position(); |
| 220 | } |
| 221 | |
| 222 | return probe_detected; |
| 223 | } |
| 224 | |
| 225 | // do probe then return to start position |
| 226 | bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse) |
| 227 | { |
| 228 | float save_z_pos= THEROBOT->get_axis_position(Z_AXIS); |
| 229 | |
| 230 | bool ok= run_probe(mm, feedrate, max_dist, reverse); |
| 231 | |
| 232 | // move probe back to where it was |
| 233 | float fr; |
| 234 | if(this->return_feedrate != 0) { // use return_feedrate if set |
| 235 | fr = this->return_feedrate; |
| 236 | } else { |
| 237 | fr = this->slow_feedrate*2; // nominally twice slow feedrate |
| 238 | if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate |
| 239 | } |
| 240 | |
| 241 | // absolute move back to saved starting position |
| 242 | coordinated_move(NAN, NAN, save_z_pos, fr, false); |
| 243 | |
| 244 | return ok; |
| 245 | } |
| 246 | |
| 247 | bool ZProbe::doProbeAt(float &mm, float x, float y) |
| 248 | { |
| 249 | // move to xy |
| 250 | coordinated_move(x, y, NAN, getFastFeedrate()); |
| 251 | return run_probe_return(mm, slow_feedrate); |
| 252 | } |
| 253 | |
| 254 | void ZProbe::on_gcode_received(void *argument) |
| 255 | { |
| 256 | Gcode *gcode = static_cast<Gcode *>(argument); |
| 257 | |
| 258 | if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) { |
| 259 | |
| 260 | invert_probe = false; |
| 261 | // make sure the probe is defined and not already triggered before moving motors |
| 262 | if(!this->pin.connected()) { |
| 263 | gcode->stream->printf("ZProbe pin not configured.\n"); |
| 264 | return; |
| 265 | } |
| 266 | |
| 267 | if(this->pin.get()) { |
| 268 | gcode->stream->printf("ZProbe triggered before move, aborting command.\n"); |
| 269 | return; |
| 270 | } |
| 271 | |
| 272 | if( gcode->g == 30 ) { // simple Z probe |
| 273 | // first wait for all moves to finish |
| 274 | THEKERNEL->conveyor->wait_for_idle(); |
| 275 | |
| 276 | bool set_z= (gcode->has_letter('Z') && !is_rdelta); |
| 277 | bool probe_result; |
| 278 | bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction |
| 279 | float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate; |
| 280 | float mm; |
| 281 | |
| 282 | // if not setting Z then return probe to where it started, otherwise leave it where it is |
| 283 | probe_result = (set_z ? run_probe(mm, rate, -1, reverse) : run_probe_return(mm, rate, -1, reverse)); |
| 284 | |
| 285 | if(probe_result) { |
| 286 | // the result is in actuator coordinates moved |
| 287 | gcode->stream->printf("Z:%1.4f\n", THEKERNEL->robot->from_millimeters(mm)); |
| 288 | |
| 289 | if(set_z) { |
| 290 | // set current Z to the specified value, shortcut for G92 Znnn |
| 291 | char buf[32]; |
| 292 | int n = snprintf(buf, sizeof(buf), "G92 Z%f", gcode->get_value('Z')); |
| 293 | string g(buf, n); |
| 294 | Gcode gc(g, &(StreamOutput::NullStream)); |
| 295 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); |
| 296 | } |
| 297 | |
| 298 | } else { |
| 299 | gcode->stream->printf("ZProbe not triggered\n"); |
| 300 | } |
| 301 | |
| 302 | } else { |
| 303 | if(!gcode->has_letter('P')) { |
| 304 | // find the first strategy to handle the gcode |
| 305 | for(auto s : strategies){ |
| 306 | if(s->handleGcode(gcode)) { |
| 307 | return; |
| 308 | } |
| 309 | } |
| 310 | gcode->stream->printf("No strategy found to handle G%d\n", gcode->g); |
| 311 | |
| 312 | }else{ |
| 313 | // P paramater selects which strategy to send the code to |
| 314 | // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on. |
| 315 | uint16_t i= gcode->get_value('P'); |
| 316 | if(i < strategies.size()) { |
| 317 | if(!strategies[i]->handleGcode(gcode)){ |
| 318 | gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g); |
| 319 | } |
| 320 | return; |
| 321 | |
| 322 | }else{ |
| 323 | gcode->stream->printf("strategy #%d is not loaded\n", i); |
| 324 | } |
| 325 | } |
| 326 | } |
| 327 | |
| 328 | } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error |
| 329 | // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe |
| 330 | if(gcode->subcode < 2 || gcode->subcode > 5) { |
| 331 | gcode->stream->printf("error:Only G38.2 to G38.5 are supported\n"); |
| 332 | return; |
| 333 | } |
| 334 | |
| 335 | // make sure the probe is defined and not already triggered before moving motors |
| 336 | if(!this->pin.connected()) { |
| 337 | gcode->stream->printf("error:ZProbe not connected.\n"); |
| 338 | return; |
| 339 | } |
| 340 | |
| 341 | if(this->pin.get() ^ (gcode->subcode >= 4)) { |
| 342 | gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n"); |
| 343 | return; |
| 344 | } |
| 345 | |
| 346 | // first wait for all moves to finish |
| 347 | THEKERNEL->conveyor->wait_for_idle(); |
| 348 | |
| 349 | float x= NAN, y=NAN, z=NAN; |
| 350 | if(gcode->has_letter('X')) { |
| 351 | x= gcode->get_value('X'); |
| 352 | } |
| 353 | |
| 354 | if(gcode->has_letter('Y')) { |
| 355 | y= gcode->get_value('Y'); |
| 356 | } |
| 357 | |
| 358 | if(gcode->has_letter('Z')) { |
| 359 | z= gcode->get_value('Z'); |
| 360 | } |
| 361 | |
| 362 | if(isnan(x) && isnan(y) && isnan(z)) { |
| 363 | gcode->stream->printf("error:at least one of X Y or Z must be specified\n"); |
| 364 | return; |
| 365 | } |
| 366 | |
| 367 | if(gcode->subcode == 4 || gcode->subcode == 5) { |
| 368 | invert_probe = true; |
| 369 | } else { |
| 370 | invert_probe = false; |
| 371 | } |
| 372 | |
| 373 | probe_XYZ(gcode, x, y, z); |
| 374 | |
| 375 | invert_probe = false; |
| 376 | |
| 377 | return; |
| 378 | |
| 379 | } else if(gcode->has_m) { |
| 380 | // M code processing here |
| 381 | int c; |
| 382 | switch (gcode->m) { |
| 383 | case 119: |
| 384 | c = this->pin.get(); |
| 385 | gcode->stream->printf(" Probe: %d", c); |
| 386 | gcode->add_nl = true; |
| 387 | break; |
| 388 | |
| 389 | case 670: |
| 390 | if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S'); |
| 391 | if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K'); |
| 392 | if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R'); |
| 393 | if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z'); |
| 394 | if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H'); |
| 395 | if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin |
| 396 | invert_override= (gcode->get_value('I') != 0); |
| 397 | pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa |
| 398 | } |
| 399 | if (gcode->has_letter('D')) this->dwell_before_probing = gcode->get_value('D'); |
| 400 | break; |
| 401 | |
| 402 | case 500: // save settings |
| 403 | case 503: // print settings |
| 404 | 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", |
| 405 | this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height, this->dwell_before_probing); |
| 406 | |
| 407 | // fall through is intended so leveling strategies can handle m-codes too |
| 408 | |
| 409 | default: |
| 410 | for(auto s : strategies){ |
| 411 | if(s->handleGcode(gcode)) { |
| 412 | return; |
| 413 | } |
| 414 | } |
| 415 | } |
| 416 | } |
| 417 | } |
| 418 | |
| 419 | // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics |
| 420 | void ZProbe::probe_XYZ(Gcode *gcode, float x, float y, float z) |
| 421 | { |
| 422 | // enable the probe checking in the timer |
| 423 | probing= true; |
| 424 | probe_detected= false; |
| 425 | THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y) |
| 426 | |
| 427 | // get probe feedrate in mm/min and convert to mm/sec if specified |
| 428 | float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate; |
| 429 | |
| 430 | // do a regular move which will stop as soon as the probe is triggered, or the distance is reached |
| 431 | coordinated_move(x, y, z, rate, true); |
| 432 | |
| 433 | // coordinated_move returns when the move is finished |
| 434 | |
| 435 | // disable probe checking |
| 436 | probing= false; |
| 437 | THEROBOT->disable_segmentation= false; |
| 438 | |
| 439 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought |
| 440 | // this also sets last_milestone to the machine coordinates it stopped at |
| 441 | THEROBOT->reset_position_from_current_actuator_position(); |
| 442 | float pos[3]; |
| 443 | THEROBOT->get_axis_position(pos, 3); |
| 444 | |
| 445 | uint8_t probeok= this->probe_detected ? 1 : 0; |
| 446 | |
| 447 | // print results using the GRBL format |
| 448 | 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); |
| 449 | THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok)); |
| 450 | |
| 451 | if(probeok == 0 && (gcode->subcode == 2 || gcode->subcode == 4)) { |
| 452 | // issue error if probe was not triggered and subcode is 2 or 4 |
| 453 | gcode->stream->printf("ALARM: Probe fail\n"); |
| 454 | THEKERNEL->call_event(ON_HALT, nullptr); |
| 455 | } |
| 456 | } |
| 457 | |
| 458 | // issue a coordinated move directly to robot, and return when done |
| 459 | // Only move the coordinates that are passed in as not nan |
| 460 | // NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets |
| 461 | void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative) |
| 462 | { |
| 463 | #define CMDLEN 128 |
| 464 | char *cmd= new char[CMDLEN]; // use heap here to reduce stack usage |
| 465 | |
| 466 | if(relative) strcpy(cmd, "G91 G0 "); |
| 467 | else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system |
| 468 | |
| 469 | if(!isnan(x)) { |
| 470 | size_t n= strlen(cmd); |
| 471 | snprintf(&cmd[n], CMDLEN-n, " X%1.3f", x); |
| 472 | } |
| 473 | if(!isnan(y)) { |
| 474 | size_t n= strlen(cmd); |
| 475 | snprintf(&cmd[n], CMDLEN-n, " Y%1.3f", y); |
| 476 | } |
| 477 | if(!isnan(z)) { |
| 478 | size_t n= strlen(cmd); |
| 479 | snprintf(&cmd[n], CMDLEN-n, " Z%1.3f", z); |
| 480 | } |
| 481 | |
| 482 | { |
| 483 | size_t n= strlen(cmd); |
| 484 | // use specified feedrate (mm/sec) |
| 485 | snprintf(&cmd[n], CMDLEN-n, " F%1.1f", feedrate * 60); // feed rate is converted to mm/min |
| 486 | } |
| 487 | |
| 488 | if(relative) strcat(cmd, " G90"); |
| 489 | |
| 490 | //THEKERNEL->streams->printf("DEBUG: move: %s: %u\n", cmd, strlen(cmd)); |
| 491 | |
| 492 | // send as a command line as may have multiple G codes in it |
| 493 | THEROBOT->push_state(); |
| 494 | struct SerialMessage message; |
| 495 | message.message = cmd; |
| 496 | delete [] cmd; |
| 497 | |
| 498 | message.stream = &(StreamOutput::NullStream); |
| 499 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); |
| 500 | THEKERNEL->conveyor->wait_for_idle(); |
| 501 | THEROBOT->pop_state(); |
| 502 | |
| 503 | } |
| 504 | |
| 505 | // issue home command |
| 506 | void ZProbe::home() |
| 507 | { |
| 508 | Gcode gc(THEKERNEL->is_grbl_mode() ? "G28.2" : "G28", &(StreamOutput::NullStream)); |
| 509 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); |
| 510 | } |