Allow G38 to do arbitrary move to xyz

[clinton/Smoothieware.git] / src / modules / tools / zprobe / ZProbe.cpp

diff --git a/src/modules/tools/zprobe/ZProbe.cpp b/src/modules/tools/zprobe/ZProbe.cpp
index 234fc8a..84f1691 100644 (file)
--- a/src/modules/tools/zprobe/ZProbe.cpp
+++ b/src/modules/tools/zprobe/ZProbe.cpp
@@ -179,6 +179,8 @@ uint32_t ZProbe::read_probe(uint32_t dummy)
 // returns boolean value indicating if probe was triggered
 bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
 {
+    if(dwell_before_probing > .0001F) safe_delay_ms(dwell_before_probing*1000);
+
     if(this->pin.get()) {
         // probe already triggered so abort
         return false;
@@ -193,8 +195,6 @@ bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
     // save current actuator position so we can report how far we moved
     float z_start_pos= THEROBOT->actuators[Z_AXIS]->get_current_position();
 
-    if(dwell_before_probing > .0001F) safe_delay_ms(dwell_before_probing*1000);
-    
     // move Z down
     bool dir= (!reverse_z != reverse); // xor
     float delta[3]= {0,0,0};
@@ -282,7 +282,7 @@ void ZProbe::on_gcode_received(void *argument)
 
             if(probe_result) {
                 // the result is in actuator coordinates moved
-                gcode->stream->printf("Z:%1.4f\n", mm);
+                gcode->stream->printf("Z:%1.4f\n", THEKERNEL->robot->from_millimeters(mm));
 
                 if(set_z) {
                     // set current Z to the specified value, shortcut for G92 Znnn
@@ -344,22 +344,26 @@ void ZProbe::on_gcode_received(void *argument)
         // first wait for all moves to finish
         THEKERNEL->conveyor->wait_for_idle();
 
+        float x= NAN, y=NAN, z=NAN;
         if(gcode->has_letter('X')) {
-            // probe in the X axis
-            probe_XYZ(gcode, X_AXIS);
+            x= gcode->get_value('X');
+        }
 
-        }else if(gcode->has_letter('Y')) {
-            // probe in the Y axis
-            probe_XYZ(gcode, Y_AXIS);
+        if(gcode->has_letter('Y')) {
+            y= gcode->get_value('Y');
+        }
 
-        }else if(gcode->has_letter('Z')) {
-            // probe in the Z axis
-            probe_XYZ(gcode, Z_AXIS);
+        if(gcode->has_letter('Z')) {
+            z= gcode->get_value('Z');
+        }
 
-        }else{
+        if(isnan(x) && isnan(y) && isnan(z)) {
             gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
+            return;
         }
 
+        probe_XYZ(gcode, x, y, z);
+
         return;
 
     } else if(gcode->has_m) {
@@ -403,7 +407,7 @@ void ZProbe::on_gcode_received(void *argument)
 }
 
 // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
-void ZProbe::probe_XYZ(Gcode *gcode, int axis)
+void ZProbe::probe_XYZ(Gcode *gcode, float x, float y, float z)
 {
     // enable the probe checking in the timer
     probing= true;
@@ -414,11 +418,7 @@ void ZProbe::probe_XYZ(Gcode *gcode, int axis)
     float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate;
 
     // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
-    switch(axis) {
-        case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break;
-        case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break;
-        case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break;
-    }
+    coordinated_move(x, y, z, rate, true);
 
     // coordinated_move returns when the move is finished
 
@@ -435,7 +435,7 @@ void ZProbe::probe_XYZ(Gcode *gcode, int axis)
     uint8_t probeok= this->probe_detected ? 1 : 0;
 
     // print results using the GRBL format
-    gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok);
+    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);
     THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
 
     if(probeok == 0 && gcode->subcode == 2) {