z_probe.cpp

Thu, 07 Jul 2016 12:23:34 +0200

author
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date
Thu, 07 Jul 2016 12:23:34 +0200
changeset 2
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parent 1
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added missing sanguino files

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1 #include "z_probe.h"
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2 #if defined(PROBE_PIN) && (PROBE_PIN > -1)
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3 #include "Marlin.h"
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4 #include "stepper.h"
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5 #include "temperature.h"
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6
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7 float Probe_Bed(float x_pos, float y_pos, int n)
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8 {
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9 //returns Probed Z average height
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10 float ProbeDepth[n];
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11 float ProbeDepthAvg=0;
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12
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13 //force bed heater off for probing
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14 int save_bed_targ = target_raw_bed;
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15 target_raw_bed = 0;
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16 WRITE(HEATER_BED_PIN,LOW);
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17
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18 if (Z_HOME_DIR==-1)
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19 {
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20 //int probe_flag =1;
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21 float meas = 0;
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22 int fails = 0;
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23 saved_feedrate = feedrate;
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24 saved_feedmultiply = feedmultiply;
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25 feedmultiply = 100;
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26 //previous_millis_cmd = millis();
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27
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28 //Move to probe position
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29 if (x_pos >= 0) destination[X_AXIS]=x_pos;
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30 if (y_pos >= 0) destination[Y_AXIS]=y_pos;
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31 //destination[Z_AXIS]=current_position[Z_AXIS];
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32 destination[Z_AXIS]=Z_HOME_RETRACT_MM;
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33 feedrate = 9000;
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34 prepare_move();
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35
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36 enable_endstops(true);
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37 SERIAL_ECHO("PRE-PROBE current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
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38
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39 SERIAL_ECHOLN("Ready to probe...");
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40
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41 //Probe bed n times
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42 //*******************************************************************************************Bed Loop*************************************
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43 for(int8_t i=0; i < n ; i++)
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44 {
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45 //int z = 0;
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46
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47 //fast probe
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48 //plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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49 destination[Z_AXIS] = 1.1 * max_length[Z_AXIS] * Z_HOME_DIR;
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50 feedrate = homing_feedrate[Z_AXIS];
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51 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder, false);
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52 st_synchronize();
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53
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54 //feedrate = 0.0;
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55
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56 SERIAL_ECHO("current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
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57 if(endstop_z_hit == true)
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58 {
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59 SERIAL_ECHO("endstops_trigsteps[Z_AXIS]=");SERIAL_ECHOLN(endstops_trigsteps[Z_AXIS]);
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60 ProbeDepth[i]= endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS];
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61 meas = ProbeDepth[i];
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62 SERIAL_ECHO("ProbeDepth[");SERIAL_ECHO(i);SERIAL_ECHO("]=");SERIAL_ECHOLN(ProbeDepth[i]);
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63 //*************************************************************************************************************
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64 if (i > 0 ) //Second probe has happened so compare results
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65 {
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66 if (abs(ProbeDepth[i] - ProbeDepth[i - 1]) > .05)
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67 { //keep going until readings match to avoid sticky bed
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68 SERIAL_ECHO("Probing again: ");
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69 SERIAL_ECHO(ProbeDepth[i]); SERIAL_ECHO(" - "); SERIAL_ECHO(ProbeDepth[i - 1]);SERIAL_ECHO(" = "); SERIAL_ECHOLN(abs(ProbeDepth[i] - ProbeDepth[i - 1]));
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70 meas = ProbeDepth[i];
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71 i--; i--; //Throw out both that don't match because we don't know which one is accurate
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72 if(fails++ > 4) break;
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73 }
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74 }
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75 }else{
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76 SERIAL_ECHOLN("Probe not triggered.");
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77 i=n-1;
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78 }
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79 //**************************************************************************************************************************************************
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80 //fast move clear
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81 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], meas, current_position[E_AXIS]);
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82 destination[Z_AXIS] = Z_HOME_RETRACT_MM;
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83 feedrate = fast_home_feedrate[Z_AXIS];
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84 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder, false);
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85 st_synchronize();
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86
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87 //check z stop isn't still triggered
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88 if ( READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING )
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89 {
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90 SERIAL_ECHOLN("Poking Stuck Bed:");
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91 destination[Z_AXIS] = -1; prepare_move();
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92 destination[Z_AXIS] = Z_HOME_RETRACT_MM; prepare_move();
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93 st_synchronize();
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94 i--; //Throw out this meaningless measurement
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95 }
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96 feedrate = 0;
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97 } //end probe loop
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98 #ifdef ENDSTOPS_ONLY_FOR_HOMING
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99 enable_endstops(false);
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100 #endif
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101
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102 feedrate = saved_feedrate;
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103 feedmultiply = saved_feedmultiply;
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104 //previous_millis_cmd = millis();
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105 endstops_hit_on_purpose();
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106 }
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107 for(int8_t i=0;i<n;i++)
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108 {
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109 ProbeDepthAvg += ProbeDepth[i];
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110 }
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111 ProbeDepthAvg /= n;
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112 SERIAL_ECHO("Probed Z="); SERIAL_ECHOLN(ProbeDepthAvg);
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113 SERIAL_ECHO("RAW current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
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114 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], Z_HOME_RETRACT_MM, current_position[E_AXIS]);
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115 current_position[Z_AXIS] = Z_HOME_RETRACT_MM;
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116
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117 target_raw_bed = save_bed_targ;
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118 return ProbeDepthAvg;
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119 }
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120
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121 void probe_init()
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122 {
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123 SET_INPUT(PROBE_PIN);
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124 WRITE(PROBE_PIN,HIGH);
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125 }
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126
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127 /*Crash1 - G29 to Probe and stop on Bed
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128 G29 will probe bed at least twice at 3 points and take an average. G30 will probe bed at it's current location.
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129 Z stop should be set slightly below bed height. Solder stub wire to each hole in huxley bed and attach a ring terminal under spring.
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130 Wire bed probe to A2 on Melzi and duplicate cap/resistor circuit in schematic.
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131
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132 Use something like this in the start.gcode file:
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133 G29 ;Probe bed for Z height
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134 G92 Z0 ;Set Z to Probed Depth
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135 G1 Z5 F200 ;Lift Z out of way
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136 */
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137 void probe_3points()
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138 {
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139 float Probe_Avg, Point1, Point2, Point3;
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140 Point1 = Probe_Bed(max_length[X_AXIS] - 15,15,PROBE_N);
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141 Point2 = Probe_Bed(max_length[X_AXIS] - 15,max_length[Y_AXIS] - 15,PROBE_N) ;
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142 Point3 = Probe_Bed(15,max_length[Y_AXIS] / 2,PROBE_N);
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143 Probe_Avg = (Point1 + Point2 + Point3) / 3;
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144 //destination[2] = Probe_Avg;
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145 //feedrate = homing_feedrate[Z_AXIS];
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146 //prepare_move();
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147 SERIAL_ECHOLN("**************************************");
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148 SERIAL_ECHO("Point1 ="); SERIAL_ECHOLN(Point1);
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149 SERIAL_ECHO("Point2 ="); SERIAL_ECHOLN(Point2);
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150 SERIAL_ECHO("Point3 ="); SERIAL_ECHOLN(Point3);
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151 SERIAL_ECHO("Probed Average="); SERIAL_ECHOLN(Probe_Avg);
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152 SERIAL_ECHOLN("**************************************");
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153 }
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154
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155 void probe_1point()
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156 {
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157 float Point;
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158 Point = Probe_Bed(-1,-1,PROBE_N);
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159 //destination[2] = Point +1;
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160 //feedrate = homing_feedrate[Z_AXIS];
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161 //prepare_move();
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162 SERIAL_ECHOLN("**************************************");
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163 SERIAL_ECHO("Probed Z="); SERIAL_ECHOLN(Point);
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164 }
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165
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166 void probe_status()
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167 {
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168 SERIAL_ECHO("Probe Status = "); SERIAL_ECHOLN(READ(PROBE_PIN));
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169 }
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170
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171 #endif //defined(PROBE_PIN) > -1
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172
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173

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