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Fix, cleanup DELTA G28 / G29 support functions #4373

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merged 2 commits into from
Jul 22, 2016
Merged

Fix, cleanup DELTA G28 / G29 support functions #4373

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b78590e
Patch and cleanup run_z_probe
thinkyhead Jul 22, 2016
311c7da
Cleanup do_blocking_move_to for DELTA
thinkyhead Jul 22, 2016
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63 changes: 30 additions & 33 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1679,35 +1679,35 @@ void do_blocking_move_to(float x, float y, float z, float fr_mm_m /*=0.0*/) {

feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M;

set_destination_to_current(); // sync destination at the start

// when in the danger zone
if (current_position[Z_AXIS] > delta_clip_start_height) {
if (delta_clip_start_height < z) { // staying in the danger zone
destination[X_AXIS] = x; // move directly
if (z > delta_clip_start_height) { // staying in the danger zone
destination[X_AXIS] = x; // move directly (uninterpolated)
destination[Y_AXIS] = y;
destination[Z_AXIS] = z;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
prepare_move_to_destination_raw(); // set_current_to_destination
return;
} else { // leave the danger zone
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
}
else {
destination[Z_AXIS] = delta_clip_start_height;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
prepare_move_to_destination_raw(); // set_current_to_destination
}
}
if (current_position[Z_AXIS] < z) { // raise
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];

if (z > current_position[Z_AXIS]) { // raising?
destination[Z_AXIS] = z;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
prepare_move_to_destination_raw(); // set_current_to_destination
}

destination[X_AXIS] = x;
destination[Y_AXIS] = y;
destination[Z_AXIS] = current_position[Z_AXIS];
prepare_move_to_destination(); // this will also set_current_to_destination
prepare_move_to_destination(); // set_current_to_destination

if (current_position[Z_AXIS] > z) { // lower
if (z < current_position[Z_AXIS]) { // lowering?
destination[Z_AXIS] = z;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
prepare_move_to_destination_raw(); // set_current_to_destination
}

#else
Expand Down Expand Up @@ -2087,9 +2087,9 @@ static void clean_up_after_endstop_or_probe_move() {
}

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

// Do a single Z probe and return with current_position[Z_AXIS]
Expand All @@ -2104,31 +2104,28 @@ static void clean_up_after_endstop_or_probe_move() {
#endif

#if ENABLED(DELTA)
float z_before = current_position[Z_AXIS];
float z_mm = stepper.get_axis_position_mm(Z_AXIS);
float z_before = current_position[Z_AXIS], // Current Z
z_mm = stepper.get_axis_position_mm(Z_AXIS); // Some tower's current position
#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
SET_CURRENT_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are

do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST);
endstops.hit_on_purpose();
current_position[Z_AXIS] = Z_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC();

// 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);
do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(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
SET_CURRENT_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC(); // tell the planner where we are
do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW);
endstops.hit_on_purpose();
current_position[Z_AXIS] = Z_FROM_STEPPERS();
SYNC_PLAN_POSITION_KINEMATIC();

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
Expand Down