#define return_feedrate_checksum CHECKSUM("return_feedrate")
#define probe_height_checksum CHECKSUM("probe_height")
#define gamma_max_checksum CHECKSUM("gamma_max")
+#define reverse_z_direction_checksum CHECKSUM("reverse_z")
// from endstop section
#define delta_homing_checksum CHECKSUM("delta_homing")
+#define rdelta_homing_checksum CHECKSUM("rdelta_homing")
#define X_AXIS 0
#define Y_AXIS 1
delete this;
return;
}
- this->running = false;
// load settings
this->on_config_reload(this);
register_for_event(ON_GCODE_RECEIVED);
THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); });
+
+ // we read the probe in this timer, currently only for G38 probes.
+ probing= false;
+ THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
}
void ZProbe::on_config_reload(void *argument)
// need to know if we need to use delta kinematics for homing
this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
+ 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
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->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
+ this->reverse_z = THEKERNEL->config->value(reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction (upside down rdelta)
}
bool ZProbe::wait_for_probe(int& steps)
return false;
}
+ bool delta= is_delta || is_rdelta;
+
// if no stepper is moving, moves are finished and there was no touch
- if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
+ if( !STEPPER[Z_AXIS]->is_moving() && (!delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
return false;
}
- // if the touchprobe is active...
+ // if the probe is active...
if( this->pin.get() ) {
//...increase debounce counter...
if( debounce < debounce_count) {
steps= STEPPER[Z_AXIS]->get_stepped();
STEPPER[Z_AXIS]->move(0, 0);
}
- if(is_delta) {
+ if(delta) {
for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
if ( STEPPER[i]->is_moving() ) {
STEPPER[i]->move(0, 0);
// single probe with custom feedrate
// returns boolean value indicating if probe was triggered
-bool ZProbe::run_probe_feed(int& steps, float feedrate, float max_dist)
+bool ZProbe::run_probe(int& steps, float feedrate, float max_dist, bool reverse)
{
// not a block move so disable the last tick setting
for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
// move Z down
- STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz
- if(this->is_delta) {
+ bool dir= !reverse_z;
+ if(reverse) dir= !dir; // specified to move in opposite Z direction
+ STEPPER[Z_AXIS]->move(dir, maxz * Z_STEPS_PER_MM, 0); // probe in specified direction, no more than maxz
+ if(this->is_delta || this->is_rdelta) {
// for delta need to move all three actuators
- STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0);
- STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0);
+ STEPPER[X_AXIS]->move(dir, maxz * STEPS_PER_MM(X_AXIS), 0);
+ STEPPER[Y_AXIS]->move(dir, maxz * STEPS_PER_MM(Y_AXIS), 0);
}
// start acceleration processing
return r;
}
-// single probe with either fast or slow feedrate
-// returns boolean value indicating if probe was triggered
-bool ZProbe::run_probe(int& steps, bool fast)
-{
- float feedrate = (fast ? this->fast_feedrate : this->slow_feedrate);
- return run_probe_feed(steps, feedrate);
-
-}
-
-bool ZProbe::return_probe(int steps)
+bool ZProbe::return_probe(int steps, bool reverse)
{
// move probe back to where it was
this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
bool dir= steps < 0;
+ if(reverse) dir= !dir;
steps= abs(steps);
+ bool delta= (this->is_delta || this->is_rdelta);
STEPPER[Z_AXIS]->move(dir, steps, 0);
- if(this->is_delta) {
+ if(delta) {
STEPPER[X_AXIS]->move(dir, steps, 0);
STEPPER[Y_AXIS]->move(dir, steps, 0);
}
this->running = true;
- while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
+ while(STEPPER[Z_AXIS]->is_moving() || (delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
// wait for it to complete
THEKERNEL->call_event(ON_IDLE);
if(THEKERNEL->is_halted()){
int steps;
bool probe_result;
- if(gcode->has_letter('F')) {
- probe_result = run_probe_feed(steps, gcode->get_value('F') / 60);
- } else {
- probe_result = run_probe(steps);
- }
+ 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;
+ probe_result = run_probe(steps, rate, -1, reverse);
if(probe_result) {
+ // the result is in actuator coordinates and raw steps
gcode->stream->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps), steps);
+
+ // set the last probe position to the current actuator units
+ THEKERNEL->robot->set_last_probe_position(std::make_tuple(
+ THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Z_AXIS]->get_current_position(),
+ 1));
+
// move back to where it started, unless a Z is specified
- if(gcode->has_letter('Z')) {
+ if(gcode->has_letter('Z') && !is_rdelta) {
// set Z to the specified value, and leave probe where it is
THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
+
} else {
- return_probe(steps);
+ // return to pre probe position
+ return_probe(steps, reverse);
}
+
} else {
gcode->stream->printf("ZProbe not triggered\n");
+ THEKERNEL->robot->set_last_probe_position(std::make_tuple(
+ THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Z_AXIS]->get_current_position(),
+ 0));
}
} else {
gcode->stream->printf("error:ZProbe not connected.\n");
return;
}
+
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= THEKERNEL->robot->compensationTransform;
+ THEKERNEL->robot->compensationTransform= nullptr;
+
if(gcode->has_letter('X')) {
// probe in the X axis
- probe_XY(gcode, X_AXIS);
+ probe_XYZ(gcode, X_AXIS);
}else if(gcode->has_letter('Y')) {
// probe in the Y axis
- probe_XY(gcode, Y_AXIS);
+ probe_XYZ(gcode, Y_AXIS);
}else if(gcode->has_letter('Z')) {
- // we need to know where we started the probe from
- float current_machine_pos[3];
- THEKERNEL->robot->get_axis_position(current_machine_pos);
-
- // probe down in the Z axis no more than the Z value in mm
- float rate = (gcode->has_letter('F')) ? gcode->get_value('F') / 60 : this->slow_feedrate;
- int steps;
- bool probe_result = run_probe_feed(steps, rate, gcode->get_value('Z'));
-
- if(probe_result) {
- float z= current_machine_pos[Z_AXIS] - zsteps_to_mm(steps);
- if(THEKERNEL->is_grbl_mode()) {
- gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:1]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], z);
-
- }else{
- gcode->stream->printf("INFO: delta Z %1.4f (Steps %d)\n", steps / Z_STEPS_PER_MM, steps);
- }
-
- // set position to where it stopped
- THEKERNEL->robot->reset_axis_position(z, Z_AXIS);
-
- } else {
- if(THEKERNEL->is_grbl_mode()) {
- if(gcode->subcode == 2) {
- gcode->stream->printf("ALARM:Probe fail\n");
- THEKERNEL->call_event(ON_HALT, nullptr);
- }
- gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:0]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], current_machine_pos[Z_AXIS]);
-
- }else{
- gcode->stream->printf("error:ZProbe not triggered\n");
- }
- }
+ // probe in the Z axis
+ probe_XYZ(gcode, Z_AXIS);
}else{
gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
-
}
+
+ // restore compensationTransform
+ THEKERNEL->robot->compensationTransform= savect;
+
return;
} else if(gcode->has_m) {
}
}
-// special way to probe in the X or Y direction
-void ZProbe::probe_XY(Gcode *gcode, int axis)
+uint32_t ZProbe::read_probe(uint32_t dummy)
{
- // enable the probe checking in the stepticker
- THEKERNEL->step_ticker->probe_fnc= [this]() { return this->pin.get(); };
+ if(!probing || probe_detected) return 0;
- // get probe feedrate if specified
- float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate;
+ // TODO add debounce/noise filter
+ if(this->pin.get()) {
+ probe_detected= true;
+ // now tell all the stepper_motors to stop
+ for(auto &a : THEKERNEL->robot->actuators) a->force_finish_move();
+ }
+ return 0;
+}
- // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
- if(axis == X_AXIS) {
- coordinated_move(gcode->get_value('X'), 0, 0, rate, true);
+// 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)
+{
+ // enable the probe checking in the timer
+ probing= true;
+ probe_detected= false;
+ THEKERNEL->robot->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
- }else if(axis == Y_AXIS) {
- coordinated_move(0, gcode->get_value('Y'), 0, rate, true);
+ // get probe feedrate if specified
+ float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate;
- }else{
- // this is an error
- THEKERNEL->step_ticker->probe_fnc= nullptr;
- return;
+ // 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;
}
- // now wait for the move to finish
- THEKERNEL->conveyor->wait_for_empty_queue();
+ // coordinated_move returns when the move is finished
+
+ // disable probe checking
+ probing= false;
+ THEKERNEL->robot->disable_segmentation= false;
float pos[3];
{
THEKERNEL->robot->arm_solution->actuator_to_cartesian(current_position, pos);
}
- // see if probe was triggered
- // handle debounce here, 200ms should be enough
- safe_delay(200);
- int probeok= this->pin.get() ? 1 : 0;
+ uint8_t probeok= this->probe_detected ? 1 : 0;
- // print results
+ // 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);
+ THEKERNEL->robot->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");
THEKERNEL->call_event(ON_HALT, nullptr);
- }
- // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
- THEKERNEL->robot->reset_position_from_current_actuator_position();
-
- // disable probe checking
- THEKERNEL->step_ticker->probe_fnc= 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
+ THEKERNEL->robot->reset_position_from_current_actuator_position();
+ }
}
// Called periodically to change the speed to match acceleration
if(!this->running) return; // nothing to do
if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
- if(is_delta) {
+ if(is_delta || is_rdelta) {
// deltas needs to move all actuators
for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
if( !STEPPER[c]->is_moving() ) continue;
HCoop / clinton / Smoothieware.git / blobdiff