#include "StreamOutputPool.h"
#include "Gcode.h"
#include "Conveyor.h"
-#include "Stepper.h"
#include "checksumm.h"
#include "ConfigValue.h"
#include "SlowTicker.h"
#include "PublicData.h"
#include "LevelingStrategy.h"
#include "StepTicker.h"
+#include "utils.h"
// 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 debounce_count_checksum CHECKSUM("debounce_count")
+#define debounce_ms_checksum CHECKSUM("debounce_ms")
#define slow_feedrate_checksum CHECKSUM("slow_feedrate")
#define fast_feedrate_checksum CHECKSUM("fast_feedrate")
#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 rdelta_homing_checksum CHECKSUM("rdelta_homing")
#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
-#define STEPPER THEKERNEL->robot->actuators
+#define STEPPER THEROBOT->actuators
#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
delete this;
return;
}
- this->running = false;
// load settings
- this->on_config_reload(this);
+ this->config_load();
// register event-handlers
register_for_event(ON_GCODE_RECEIVED);
- THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); });
+ // we read the probe in this timer
+ probing= false;
+ THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
}
-void ZProbe::on_config_reload(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_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0 )->as_number();
+ this->debounce_ms = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0 )->as_number();
// get strategies to load
vector<uint16_t> modules;
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:
+ ls= new DeltaGridStrategy(this);
+ found= true;
+ break;
- // add other strategies here
- //case zheight_map_strategy:
- // this->strategies.push_back(new ZHeightMapStrategy(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();
}
}
// 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
+ // may be deprecated
if(this->strategies.empty()) {
if(this->is_delta) {
this->strategies.push_back(new DeltaCalibrationStrategy(this));
this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
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(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction
+ 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
+
}
-bool ZProbe::wait_for_probe(int& steps)
+uint32_t ZProbe::read_probe(uint32_t dummy)
{
- unsigned int debounce = 0;
- while(true) {
- THEKERNEL->call_event(ON_IDLE);
- if(THEKERNEL->is_halted()){
- // aborted by kill
- return false;
- }
+ if(!probing || probe_detected) return 0;
- // 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())) ) {
- return false;
- }
-
- // if the touchprobe is active...
- if( this->pin.get() ) {
- //...increase debounce counter...
- if( debounce < debounce_count) {
- // ...but only if the counter hasn't reached the max. value
+ // 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) {
debounce++;
} else {
- // ...otherwise stop the steppers, return its remaining steps
- if(STEPPER[Z_AXIS]->is_moving()){
- steps= STEPPER[Z_AXIS]->get_stepped();
- STEPPER[Z_AXIS]->move(0, 0);
- }
- if(is_delta) {
- for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
- if ( STEPPER[i]->is_moving() ) {
- STEPPER[i]->move(0, 0);
- }
- }
- }
- return true;
+ // we signal the motors to stop, which will preempt any moves on that axis
+ // we do all motors as it may be a delta
+ for(auto &a : THEROBOT->actuators) a->stop_moving();
+ probe_detected= true;
+ debounce= 0;
}
+
} else {
- // The probe was not hit yet, reset debounce counter
- debounce = 0;
+ // The endstop was not hit yet
+ debounce= 0;
}
}
+
+ return 0;
}
-// single probe with custom feedrate
+// single probe in Z with custom feedrate
// returns boolean value indicating if probe was triggered
-bool ZProbe::run_probe_feed(int& steps, float feedrate)
+bool ZProbe::run_probe(float& mm, 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++ ) {
- STEPPER[c]->set_moved_last_block(false);
+ if(dwell_before_probing > .0001F) safe_delay_ms(dwell_before_probing*1000);
+
+ if(this->pin.get()) {
+ // probe already triggered so abort
+ return false;
}
- // Enable the motors
- THEKERNEL->stepper->turn_enable_pins_on();
- this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec
- float maxz= this->max_z*2;
+ float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
+
+ probing= true;
+ probe_detected= false;
+ debounce= 0;
+
+ // save current actuator position so we can report how far we moved
+ float z_start_pos= THEROBOT->actuators[Z_AXIS]->get_current_position();
// 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) {
- // 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);
- }
+ bool dir= (!reverse_z != reverse); // xor
+ float delta[3]= {0,0,0};
+ delta[Z_AXIS]= dir ? -maxz : maxz;
+ THEROBOT->delta_move(delta, feedrate, 3);
- // start acceleration processing
- this->running = true;
+ // wait until finished
+ THECONVEYOR->wait_for_idle();
- bool r = wait_for_probe(steps);
- this->running = false;
- return r;
-}
+ // now see how far we moved, get delta in z we moved
+ // 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();
-// 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);
+ // set the last probe position to the actuator units moved during this home
+ THEROBOT->set_last_probe_position(std::make_tuple(0, 0, mm, probe_detected?1:0));
+
+ probing= false;
+
+ if(probe_detected) {
+ // 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();
+ }
+ return probe_detected;
}
-bool ZProbe::return_probe(int steps)
+// do probe then return to start position
+bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse)
{
- // move probe back to where it was
+ 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
fr = this->return_feedrate;
if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
}
- this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
- bool dir= steps < 0;
- steps= abs(steps);
-
- STEPPER[Z_AXIS]->move(dir, steps, 0);
- if(this->is_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())) ) {
- // wait for it to complete
- THEKERNEL->call_event(ON_IDLE);
- }
-
- this->running = false;
+ // absolute move back to saved starting position
+ coordinated_move(NAN, NAN, save_z_pos, fr, false);
- return true;
+ return ok;
}
-bool ZProbe::doProbeAt(int &steps, float x, float y)
+bool ZProbe::doProbeAt(float &mm, float x, float y)
{
- int s;
// move to xy
coordinated_move(x, y, NAN, getFastFeedrate());
- if(!run_probe(s)) return false;
-
- // return to original Z
- return_probe(s);
- steps = s;
-
- return true;
-}
-
-float ZProbe::probeDistance(float x, float y)
-{
- int s;
- if(!doProbeAt(s, x, y)) return NAN;
- return zsteps_to_mm(s);
+ return run_probe_return(mm, slow_feedrate);
}
void ZProbe::on_gcode_received(void *argument)
Gcode *gcode = static_cast<Gcode *>(argument);
if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
+
// make sure the probe is defined and not already triggered before moving motors
- if(!this->pin.connected()) {
- gcode->stream->printf("ZProbe not connected.\n");
+ if(!this->pin.connected()) {
+ 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();
- int steps;
+ bool set_z= (gcode->has_letter('Z') && !is_rdelta);
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;
+ float mm;
+
+ // 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) {
- gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
- // move back to where it started, unless a Z is specified
- if(gcode->has_letter('Z')) {
- // 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);
+ // 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");
}
} else {
- if(gcode->subcode == 0) {
+ if(!gcode->has_letter('P')) {
// find the first strategy to handle the gcode
for(auto s : strategies){
if(s->handleGcode(gcode)) {
gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
}else{
- // subcode selects which strategy to send the code to
- // they are loaded in the order they are defined in config, 1 being the first, 2 being the second and so on.
- int i= gcode->subcode-1;
- if(gcode->subcode < strategies.size()) {
+ // P paramater selects which strategy to send the code to
+ // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
+ uint16_t i= gcode->get_value('P');
+ if(i < strategies.size()) {
if(!strategies[i]->handleGcode(gcode)){
- gcode->stream->printf("strategy #%d did not handle G%d\n", i+1, gcode->g);
+ gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
}
return;
}else{
- gcode->stream->printf("strategy #%d is not loaded\n", i+1);
+ gcode->stream->printf("strategy #%d is not loaded\n", i);
}
}
}
+ } 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 > 5) {
+ gcode->stream->printf("error:Only G38.2, G38.3, G38.4, and G38.5 are supported\n");
+ return;
+ }
+
+ // make sure the probe is defined and not already triggered before moving motors
+ if(!this->pin.connected()) {
+ gcode->stream->printf("error:ZProbe not connected.\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 all moves to finish
+ THEKERNEL->conveyor->wait_for_idle();
+
+ float x= NAN, y=NAN, z=NAN;
+ if(gcode->has_letter('X')) {
+ x= gcode->get_value('X');
+ }
+
+ if(gcode->has_letter('Y')) {
+ y= gcode->get_value('Y');
+ }
+
+ if(gcode->has_letter('Z')) {
+ z= gcode->get_value('Z');
+ }
+
+ 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);
+ }
+
+ probe_XYZ(gcode, x, y, z);
+
+ if(gcode->subcode == 4 || gcode->subcode == 5) {
+ pin.set_inverting(pin.is_inverting() != 1);
+ }
+
+ return;
+
} else if(gcode->has_m) {
// M code processing here
int c;
if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
+ if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
+ 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
}
}
-// Called periodically to change the speed to match acceleration
-void ZProbe::acceleration_tick(void)
+// 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, float x, float y, float z)
{
- if(!this->running) return; // nothing to do
- if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
-
- if(is_delta) {
- // deltas needs to move all actuators
- for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
- if( !STEPPER[c]->is_moving() ) continue;
- accelerate(c);
- }
- }
+ // 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)
- return;
-}
+ // 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;
-void ZProbe::accelerate(int c)
-{ uint32_t current_rate = STEPPER[c]->get_steps_per_second();
- uint32_t target_rate = floorf(this->current_feedrate);
+ // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
+ coordinated_move(x, y, z, rate, true);
- // Z may have a different acceleration to X and Y
- float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
- if( current_rate < target_rate ) {
- uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c));
- current_rate = min( target_rate, current_rate + rate_increase );
- }
- if( current_rate > target_rate ) {
- current_rate = target_rate;
- }
+ // coordinated_move returns when the move is finished
- // steps per second
- STEPPER[c]->set_speed(current_rate);
+ // disable probe checking
+ 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];
+ 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", 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 || 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);
+ }
}
// issue a coordinated move directly to robot, and return when done
// Only move the coordinates that are passed in as not nan
+// 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, "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);
}
-
-float ZProbe::zsteps_to_mm(float steps)
-{
- return steps / Z_STEPS_PER_MM;
-}
HCoop / clinton / Smoothieware.git / blobdiff