// strategies we know about
#include "DeltaCalibrationStrategy.h"
#include "ThreePointStrategy.h"
-//#include "ZGridStrategy.h"
#include "DeltaGridStrategy.h"
+#include "CartGridStrategy.h"
#define enable_checksum CHECKSUM("enable")
#define probe_pin_checksum CHECKSUM("probe_pin")
#define return_feedrate_checksum CHECKSUM("return_feedrate")
#define probe_height_checksum CHECKSUM("probe_height")
#define gamma_max_checksum CHECKSUM("gamma_max")
+#define max_z_checksum CHECKSUM("max_z")
#define reverse_z_direction_checksum CHECKSUM("reverse_z")
+#define dwell_before_probing_checksum CHECKSUM("dwell_before_probing")
// from endstop section
#define delta_homing_checksum CHECKSUM("delta_homing")
#define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
#define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
-#define abs(a) ((a<0) ? -a : a)
-
void ZProbe::on_module_loaded()
{
// if the module is disabled -> do nothing
}
// load settings
- this->config_load(this);
+ this->config_load();
// register event-handlers
register_for_event(ON_GCODE_RECEIVED);
- // we read the probe in this timer, currently only for G38 probes.
+ // we read the probe in this timer
probing= false;
THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
}
-void ZProbe::config_load(void *argument)
+void ZProbe::config_load()
{
this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
this->debounce_ms = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0 )->as_number();
for( auto cs : modules ){
if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
bool found= false;
+ LevelingStrategy *ls= nullptr;
+
// check with each known strategy and load it if it matches
switch(cs) {
case delta_calibration_strategy_checksum:
- this->strategies.push_back(new DeltaCalibrationStrategy(this));
+ ls= new DeltaCalibrationStrategy(this);
found= true;
break;
case three_point_leveling_strategy_checksum:
// NOTE this strategy is mutually exclusive with the delta calibration strategy
- this->strategies.push_back(new ThreePointStrategy(this));
+ ls= new ThreePointStrategy(this);
found= true;
break;
- // case ZGrid_leveling_checksum:
- // this->strategies.push_back(new ZGridStrategy(this));
- // found= true;
- // break;
-
case delta_grid_leveling_strategy_checksum:
- this->strategies.push_back(new DeltaGridStrategy(this));
+ ls= new DeltaGridStrategy(this);
found= true;
break;
+
+ case cart_grid_leveling_strategy_checksum:
+ ls= new CartGridStrategy(this);
+ found= true;
+ break;
+ }
+ if(found) {
+ if(ls->handleConfig()) {
+ this->strategies.push_back(ls);
+ }else{
+ delete ls;
+ }
}
- if(found) this->strategies.back()->handleConfig();
}
}
this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
// default for backwards compatibility add DeltaCalibrationStrategy if a delta
- // will be deprecated
+ // may be deprecated
if(this->strategies.empty()) {
if(this->is_delta) {
this->strategies.push_back(new DeltaCalibrationStrategy(this));
this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
this->reverse_z = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction
- this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
+ this->max_z = THEKERNEL->config->value(zprobe_checksum, max_z_checksum)->by_default(NAN)->as_number(); // maximum zprobe distance
+ if(isnan(this->max_z)){
+ this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(200)->as_number(); // maximum zprobe distance
+ }
+ this->dwell_before_probing = THEKERNEL->config->value(zprobe_checksum, dwell_before_probing_checksum)->by_default(0)->as_number(); // dwell time in seconds before probing
+
}
uint32_t ZProbe::read_probe(uint32_t dummy)
{
if(!probing || probe_detected) return 0;
- if(STEPPER[Z_AXIS]->is_moving()) {
+ // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z
+ if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
// if it is moving then we check the probe, and debounce it
if(this->pin.get()) {
if(debounce < debounce_ms) {
// 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;
+ }
+
float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
probing= true;
debounce= 0;
// save current actuator position so we can report how far we moved
- ActuatorCoordinates start_pos{
- THEROBOT->actuators[X_AXIS]->get_current_position(),
- THEROBOT->actuators[Y_AXIS]->get_current_position(),
- THEROBOT->actuators[Z_AXIS]->get_current_position()
- };
+ float z_start_pos= THEROBOT->actuators[Z_AXIS]->get_current_position();
// move Z down
- THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled
bool dir= (!reverse_z != reverse); // xor
float delta[3]= {0,0,0};
delta[Z_AXIS]= dir ? -maxz : maxz;
- THEROBOT->solo_move(delta, feedrate);
+ THEROBOT->delta_move(delta, feedrate, 3);
// wait until finished
- THECONVEYOR->wait_for_empty_queue();
- THEROBOT->disable_segmentation= false;
+ THECONVEYOR->wait_for_idle();
// now see how far we moved, get delta in z we moved
- mm= start_pos[2] - THEROBOT->actuators[2]->get_current_position();
+ // NOTE this works for deltas as well as all three actuators move the same amount in Z
+ mm= z_start_pos - THEROBOT->actuators[2]->get_current_position();
// set the last probe position to the actuator units moved during this home
- THEROBOT->set_last_probe_position(
- std::make_tuple(
- start_pos[0] - THEROBOT->actuators[0]->get_current_position(),
- start_pos[1] - THEROBOT->actuators[1]->get_current_position(),
- mm,
- probe_detected?1:0));
+ THEROBOT->set_last_probe_position(std::make_tuple(0, 0, mm, probe_detected?1:0));
probing= false;
return probe_detected;
}
-bool ZProbe::return_probe(float mm, bool reverse)
+// do probe then return to start position
+bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse)
{
+ float save_z_pos= THEROBOT->get_axis_position(Z_AXIS);
+
+ bool ok= run_probe(mm, feedrate, max_dist, reverse);
+
// move probe back to where it was
float fr;
if(this->return_feedrate != 0) { // use return_feedrate if set
if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
}
- bool dir= ((mm < 0) != reverse_z); // xor
- if(reverse) dir= !dir;
-
- float delta[3]= {0,0,0};
- delta[Z_AXIS]= dir ? -mm : mm;
- THEROBOT->solo_move(delta, fr);
-
- // wait until finished
- THECONVEYOR->wait_for_empty_queue();
+ // absolute move back to saved starting position
+ coordinated_move(NAN, NAN, save_z_pos, fr, false);
- return true;
+ return ok;
}
bool ZProbe::doProbeAt(float &mm, float x, float y)
{
- float s;
// move to xy
coordinated_move(x, y, NAN, getFastFeedrate());
- if(!run_probe(s)) return false;
-
- // return to original Z
- return_probe(s);
- mm = s;
-
- return true;
-}
-
-float ZProbe::probeDistance(float x, float y)
-{
- float s;
- if(!doProbeAt(s, x, y)) return NAN;
- return s;
+ return run_probe_return(mm, slow_feedrate);
}
void ZProbe::on_gcode_received(void *argument)
// make sure the probe is defined and not already triggered before moving motors
if(!this->pin.connected()) {
- gcode->stream->printf("ZProbe not connected.\n");
+ gcode->stream->printf("ZProbe pin not configured.\n");
return;
}
+
if(this->pin.get()) {
gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
return;
}
if( gcode->g == 30 ) { // simple Z probe
- // first wait for an empty queue i.e. no moves left
- THEKERNEL->conveyor->wait_for_empty_queue();
+ // first wait for all moves to finish
+ THEKERNEL->conveyor->wait_for_idle();
+ bool set_z= (gcode->has_letter('Z') && !is_rdelta);
bool probe_result;
bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
float mm;
- probe_result = run_probe(mm, rate, -1, reverse);
+
+ // if not setting Z then return probe to where it started, otherwise leave it where it is
+ probe_result = (set_z ? run_probe(mm, rate, -1, reverse) : run_probe_return(mm, rate, -1, reverse));
if(probe_result) {
- // the result is in actuator coordinates and raw steps
- gcode->stream->printf("Z:%1.4f\n", mm);
-
- // set the last probe position to the current actuator units
- THEROBOT->set_last_probe_position(std::make_tuple(
- THEROBOT->actuators[X_AXIS]->get_current_position(),
- THEROBOT->actuators[Y_AXIS]->get_current_position(),
- THEROBOT->actuators[Z_AXIS]->get_current_position(),
- 1));
-
- // move back to where it started, unless a Z is specified (and not a rotary delta)
- if(gcode->has_letter('Z') && !is_rdelta) {
- // set Z to the specified value, and leave probe where it is
- THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
-
- } else {
- // return to pre probe position
- return_probe(mm, reverse);
+ // the result is in actuator coordinates moved
+ 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
+ char buf[32];
+ int n = snprintf(buf, sizeof(buf), "G92 Z%f", gcode->get_value('Z'));
+ string g(buf, n);
+ Gcode gc(g, &(StreamOutput::NullStream));
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
}
} else {
gcode->stream->printf("ZProbe not triggered\n");
- THEROBOT->set_last_probe_position(std::make_tuple(
- THEROBOT->actuators[X_AXIS]->get_current_position(),
- THEROBOT->actuators[Y_AXIS]->get_current_position(),
- THEROBOT->actuators[Z_AXIS]->get_current_position(),
- 0));
}
} else {
} else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
// linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
- if(gcode->subcode != 2 && gcode->subcode != 3) {
- gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
+ if(gcode->subcode < 2 || gcode->subcode > 5) {
+ gcode->stream->printf("error:Only G38.2, G38.3, G38.4, and G38.5 are supported\n");
return;
}
return;
}
- if(this->pin.get()) {
- gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
- return;
+ if(gcode->subcode == 4 || gcode->subcode == 5) {
+ if(!this->pin.get()) {
+ gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
+ return;
+ }
+ } else {
+ if(this->pin.get()) {
+ gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
+ return;
+ }
}
- // first wait for an empty queue i.e. no moves left
- THEKERNEL->conveyor->wait_for_empty_queue();
-
- // turn off any compensation transform
- auto savect= THEROBOT->compensationTransform;
- THEROBOT->compensationTransform= nullptr;
+ // 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;
+ }
+
+ if(gcode->subcode == 4 || gcode->subcode == 5) {
+ pin.set_inverting(pin.is_inverting() != 1);
}
- // restore compensationTransform
- THEROBOT->compensationTransform= savect;
+ probe_XYZ(gcode, x, y, z);
+
+ if(gcode->subcode == 4 || gcode->subcode == 5) {
+ pin.set_inverting(pin.is_inverting() != 1);
+ }
return;
invert_override= (gcode->get_value('I') != 0);
pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
}
+ if (gcode->has_letter('D')) this->dwell_before_probing = gcode->get_value('D');
break;
case 500: // save settings
case 503: // print settings
- 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",
- this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
+ 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",
+ this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height, this->dwell_before_probing);
// fall through is intended so leveling strategies can handle m-codes too
}
// 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;
probe_detected= false;
THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
- // get probe feedrate if specified
- float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate;
+ // get probe feedrate in mm/min and convert to mm/sec if specified
+ 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
probing= false;
THEROBOT->disable_segmentation= false;
+ // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
+ // this also sets last_milestone to the machine coordinates it stopped at
+ THEROBOT->reset_position_from_current_actuator_position();
float pos[3];
- {
- // get the current position
- ActuatorCoordinates current_position{
- THEROBOT->actuators[X_AXIS]->get_current_position(),
- THEROBOT->actuators[Y_AXIS]->get_current_position(),
- THEROBOT->actuators[Z_AXIS]->get_current_position()
- };
-
- // get machine position from the actuator position using FK
- THEROBOT->arm_solution->actuator_to_cartesian(current_position, pos);
- }
+ THEROBOT->get_axis_position(pos, 3);
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 && gcode->subcode == 2) {
- // issue error if probe was not triggered and subcode == 2
- gcode->stream->printf("ALARM:Probe fail\n");
+ if(probeok == 0 && (gcode->subcode == 2 || gcode->subcode == 4)) {
+ // issue error if probe was not triggered and subcode is 2 or 4
+ gcode->stream->printf("ALARM: Probe fail\n");
THEKERNEL->call_event(ON_HALT, nullptr);
-
- }else if(probeok){
- // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
- THEROBOT->reset_position_from_current_actuator_position();
}
}
// NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets
void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
{
- char buf[32];
- char cmd[64];
+ #define CMDLEN 128
+ char *cmd= new char[CMDLEN]; // use heap here to reduce stack usage
if(relative) strcpy(cmd, "G91 G0 ");
else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system
if(!isnan(x)) {
- int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
- strncat(cmd, buf, n);
+ size_t n= strlen(cmd);
+ snprintf(&cmd[n], CMDLEN-n, " X%1.3f", x);
}
if(!isnan(y)) {
- int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
- strncat(cmd, buf, n);
+ size_t n= strlen(cmd);
+ snprintf(&cmd[n], CMDLEN-n, " Y%1.3f", y);
}
if(!isnan(z)) {
- int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
- strncat(cmd, buf, n);
+ size_t n= strlen(cmd);
+ snprintf(&cmd[n], CMDLEN-n, " Z%1.3f", z);
+ }
+
+ {
+ size_t n= strlen(cmd);
+ // use specified feedrate (mm/sec)
+ snprintf(&cmd[n], CMDLEN-n, " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
}
- // use specified feedrate (mm/sec)
- int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
- strncat(cmd, buf, n);
if(relative) strcat(cmd, " G90");
- //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
+ //THEKERNEL->streams->printf("DEBUG: move: %s: %u\n", cmd, strlen(cmd));
// send as a command line as may have multiple G codes in it
+ THEROBOT->push_state();
struct SerialMessage message;
message.message = cmd;
+ delete [] cmd;
+
message.stream = &(StreamOutput::NullStream);
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
- THEKERNEL->conveyor->wait_for_empty_queue();
+ THEKERNEL->conveyor->wait_for_idle();
+ THEROBOT->pop_state();
+
}
// issue home command
void ZProbe::home()
{
- Gcode gc("G28", &(StreamOutput::NullStream));
+ Gcode gc(THEKERNEL->is_grbl_mode() ? "G28.2" : "G28", &(StreamOutput::NullStream));
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
}
HCoop / clinton / Smoothieware.git / blobdiff