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Try fixing issue #15
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@DerAndere1
DerAndere1 committed Apr 28, 2020
1 parent 3c496d1 commit 71d10c8
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51 changes: 25 additions & 26 deletions Marlin/src/gcode/bedlevel/abl/G29.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -266,18 +266,20 @@ G29_TYPE GcodeSuite::G29() {
#endif

// Probe at 3 arbitrary points
// TODO (DerAndere1): Test
/**
// TODO (DerAndere1): Test removing variant a) to use variant b)
ABL_VAR vector_3 points[3] = {
vector_3(PROBE_PT_1_X, PROBE_PT_1_Y, 0),
vector_3(PROBE_PT_2_X, PROBE_PT_2_Y, 0),
vector_3(PROBE_PT_3_X, PROBE_PT_3_Y, 0)
*/
const float x_min = probe_min_x(), x_max = probe_max_x(), y_min = probe_min_y(), y_max = probe_max_y();
ABL_VAR vector_3 points[3] = {
vector_3(x_min, y_min, 0),
vector_3(x_max, y_min, 0),
vector_3((x_max - x_min) / 2, y_max, 0)
// TODO (DerAndere1): end of variant a) above

// TODO (DerAndere): Uncomment to use variant b)
// const float x_min = probe_min_x(), x_max = probe_max_x(), y_min = probe_min_y(), y_max = probe_max_y();
// ABL_VAR vector_3 points[3] = {
// vector_3(x_min, y_min, 0),
// vector_3(x_max, y_min, 0),
// vector_3((x_max - x_min) / 2, y_max, 0)
// TODO (DerAndere1): end of variant b) above
};

#endif // AUTO_BED_LEVELING_3POINT
Expand Down Expand Up @@ -399,30 +401,19 @@ G29_TYPE GcodeSuite::G29() {

xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));

//TODO (DerAndere): Test
const float x_min = probe_min_x(), x_max = probe_max_x(),
y_min = probe_min_y(), y_max = probe_max_y();

//TODO (DerAndere): Uncomment to test variant b)
// const float x_min = probe_min_x(), x_max = probe_max_x(),
// y_min = probe_min_y(), y_max = probe_max_y();
//TODO (DerAndere): End of variant b) above
if (parser.seen('H')) {
const int16_t size = (int16_t)parser.value_linear_units();
/**
left_probe_bed_position = _MAX(X_CENTER - size / 2, x_min);
right_probe_bed_position = _MIN(left_probe_bed_position + size, x_max);
front_probe_bed_position = _MAX(Y_CENTER - size / 2, y_min);
back_probe_bed_position = _MIN(front_probe_bed_position + size, y_max);
*/

left_probe_bed_position = _MAX(X_CENTER - size / 2, MIN_PROBE_X);
right_probe_bed_position = _MIN(left_probe_bed_position + size, MAX_PROBE_X);
front_probe_bed_position = _MAX(Y_CENTER - size / 2, MIN_PROBE_Y);
back_probe_bed_position = _MIN(front_probe_bed_position + size, MAX_PROBE_Y);
}
else {
/**
left_probe_bed_position = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MAX(X_CENTER - X_BED_SIZE / 2, x_min);
right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MIN(left_probe_bed_position + X_BED_SIZE, x_max);
front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MAX(Y_CENTER - Y_BED_SIZE / 2, y_min);
back_probe_bed_position = parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MIN(front_probe_bed_position + Y_BED_SIZE, y_max);
*/
left_probe_bed_position = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : LEFT_PROBE_BED_POSITION;
right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : RIGHT_PROBE_BED_POSITION;
front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : FRONT_PROBE_BED_POSITION;
Expand Down Expand Up @@ -469,7 +460,6 @@ G29_TYPE GcodeSuite::G29() {
G29_RETURN(false);
}
#endif

if (!faux) remember_feedrate_scaling_off();

#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
Expand Down Expand Up @@ -793,7 +783,16 @@ G29_TYPE GcodeSuite::G29() {

if (!dryrun && !isnan(measured_z)) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) planeNormal *= -1;
//TODO (DerAndere1): Test removing variant a) to use variant b)
if (planeNormal.z < 0) {
planeNormal.x *= -1;
planeNormal.y *= -1;
planeNormal.z *= -1;
}
//TODO (DerAndere1): Uncomment to test variant b)
// if (planeNormal.z < 0) planeNormal *= -1;
//TODO (DerAndere1): End of variant b) above

planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);

// Can't re-enable (on error) until the new grid is written
Expand Down
8 changes: 4 additions & 4 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,10 @@

Additional documentation can be found in the
repository [DerAndere1/Marlin at https:](https:/DerAndere1/Marlin/tree/Marlin2ForPipetBot)
or on the [PipetBot-A8 project homepage](https://it-by-derandere.blogspot.com/p/pipetbot-a8.html)
that is part of the blog [IT! by DerAndere](https://it-by-derandere.blogspot.com/).
For CNC machines with additional axes I, (J, (K)) that drive pumps or other tools:
lab robots (liquid handling robots, "pipetting robots").
or on the [PipetBot-A8 project homepage](https://derandere.gitlab.io/pipetbot-a8.html)
that is part of the [authors homepage](https://derandere.gitlab.io).
For CNC machines with additional axes I, (J, (K)) that drive pumps or other tools,
e.g. lab robots (liquid handling robots, "pipetting robots").
Please test this firmware and let us know if it misbehaves in any way.
Volunteers are standing by!

Expand Down

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