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Revert to position-difference method in run_z_probe() #4368

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Jul 21, 2016
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Revert to position-difference method in run_z_probe() #4368

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20 changes: 17 additions & 3 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2064,6 +2064,12 @@ static void clean_up_after_endstop_or_probe_move() {
return false;
}

#if ENABLED(DELTA)
#define SET_CURRENT_FROM_STEPPERS() current_position[Z_AXIS] = z_before - stepper.get_axis_position_mm(Z_AXIS) + z_mm
#else
#define SET_CURRENT_FROM_STEPPERS() current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS)
#endif

// Do a single Z probe and return with current_position[Z_AXIS]
// at the height where the probe triggered.
static float run_z_probe() {
Expand All @@ -2075,23 +2081,31 @@ static void clean_up_after_endstop_or_probe_move() {
planner.bed_level_matrix.set_to_identity();
#endif

#if ENABLED(DELTA)
float z_before = current_position[Z_AXIS];
float z_mm = stepper.get_axis_position_mm(Z_AXIS);
#endif
current_position[Z_AXIS] = -(Z_MAX_LENGTH + 10);
do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_FAST);
endstops.hit_on_purpose(); // clear endstop hit flags
// Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS];
SET_CURRENT_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are

// move up the retract distance
current_position[Z_AXIS] += home_bump_mm(Z_AXIS);
do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_FAST);

#if ENABLED(DELTA)
z_before = current_position[Z_AXIS];
z_mm = stepper.get_axis_position_mm(Z_AXIS);
#endif
// move back down slowly to find bed
current_position[Z_AXIS] -= home_bump_mm(Z_AXIS) * 2;
do_blocking_move_to_z(current_position[Z_AXIS], Z_PROBE_SPEED_SLOW);
endstops.hit_on_purpose(); // clear endstop hit flags
// Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
SET_CURRENT_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are

#if ENABLED(DEBUG_LEVELING_FEATURE)
Expand Down