src/modules/tools/zprobe/ZProbe.h

   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 #ifndef ZPROBE_H_
   9 #define ZPROBE_H_
  10
  11 #include "Module.h"
  12 #include "Pin.h"
  13
  14 #include <vector>
  15
  16 // defined here as they are used in multiple files
  17 #define zprobe_checksum            CHECKSUM("zprobe")
  18 #define leveling_strategy_checksum CHECKSUM("leveling-strategy")
  19
  20 class StepperMotor;
  21 class Gcode;
  22 class StreamOutput;
  23 class LevelingStrategy;
  24
  25 class ZProbe: public Module
  26 {
  27
  28 public:
  29     ZProbe() : running(false){};
  30     virtual ~ZProbe() {};
  31
  32     void on_module_loaded();
  33     void on_gcode_received(void *argument);
  34     void acceleration_tick(void);
  35
  36     bool wait_for_probe(int& steps);
  37     bool run_probe(int& steps, float feedrate, float max_dist= -1, bool reverse= false);
  38     bool run_probe(int& steps, bool fast= false) { return run_probe(steps, fast ? this->fast_feedrate : this->slow_feedrate); }
  39     bool return_probe(int steps, bool reverse= false);
  40     bool doProbeAt(int &steps, float x, float y);
  41     float probeDistance(float x, float y);
  42
  43     void coordinated_move(float x, float y, float z, float feedrate, bool relative=false);
  44     void home();
  45
  46     bool getProbeStatus() { return this->pin.get(); }
  47     float getSlowFeedrate() const { return slow_feedrate; }
  48     float getFastFeedrate() const { return fast_feedrate; }
  49     float getProbeHeight() const { return probe_height; }
  50     float getMaxZ() const { return max_z; }
  51     float zsteps_to_mm(float steps);
  52
  53 private:
  54     void on_config_reload(void *argument);
  55     void accelerate(int c);
  56     void probe_XYZ(Gcode *gc, int axis);
  57     uint32_t read_probe(uint32_t dummy);
  58     volatile float current_feedrate;
  59     float slow_feedrate;
  60     float fast_feedrate;
  61     float return_feedrate;
  62     float probe_height;
  63     float max_z;
  64
  65     Pin pin;
  66     std::vector<LevelingStrategy*> strategies;
  67     uint8_t debounce_count;
  68
  69     volatile struct {
  70         volatile bool running:1;
  71         bool is_delta:1;
  72         bool is_rdelta:1;
  73         bool probing:1;
  74         bool reverse_z:1;
  75         volatile bool probe_detected:1;
  76     };
  77 };
  78
  79 #endif /* ZPROBE_H_ */