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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -361,6 +361,7 @@ void Probe::do_z_raise(const float z_raise) { | |
| } | ||
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| FORCE_INLINE void probe_specific_action(const bool deploy) { | ||
| DEBUG_SECTION(log_psa, "Probe::probe_specific_action", DEBUGGING(LEVELING)); | ||
| #if ENABLED(PAUSE_BEFORE_DEPLOY_STOW) | ||
| do { | ||
| #if ENABLED(PAUSE_PROBE_DEPLOY_WHEN_TRIGGERED) | ||
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@@ -505,7 +506,6 @@ void Probe::probe_error_stop() { | |
| * Return TRUE if the probe could not be deployed/stowed | ||
| */ | ||
| bool Probe::set_deployed(const bool deploy, const bool no_return/*=false*/) { | ||
| if (DEBUGGING(LEVELING)) { | ||
| DEBUG_POS("Probe::set_deployed", current_position); | ||
| DEBUG_ECHOLNPGM("deploy=", deploy, " no_return=", no_return); | ||
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@@ -688,12 +688,12 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) { | |
| bool Probe::tare() { | ||
| #if BOTH(PROBE_ACTIVATION_SWITCH, PROBE_TARE_ONLY_WHILE_INACTIVE) | ||
| if (endstops.probe_switch_activated()) { | ||
| if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Cannot tare an active probe"); | ||
| return true; | ||
| } | ||
| #endif | ||
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| if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Taring probe"); | ||
| WRITE(PROBE_TARE_PIN, PROBE_TARE_STATE); | ||
| delay(PROBE_TARE_TIME); | ||
| WRITE(PROBE_TARE_PIN, !PROBE_TARE_STATE); | ||
|
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@@ -718,6 +718,8 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { | |
| const float zoffs = SUM_TERN(HAS_HOTEND_OFFSET, -offset.z, hotend_offset[active_extruder].z); | ||
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| auto try_to_probe = [&](PGM_P const plbl, const_float_t z_probe_low_point, const feedRate_t fr_mm_s, const bool scheck, const float clearance) -> bool { | ||
| if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("try_to_probe(..., ", z_probe_low_point, ", ", fr_mm_s, ", ", scheck, ", ", clearance); | ||
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| // Tare the probe, if supported | ||
| if (TERN0(PROBE_TARE, tare())) return true; | ||
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@@ -742,31 +744,34 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { | |
| // If Z isn't known then probe to -10mm. | ||
| const float z_probe_low_point = axis_is_trusted(Z_AXIS) ? zoffs + Z_PROBE_LOW_POINT : -10.0f; | ||
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| if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Probe Low Point: ", z_probe_low_point); | ||
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| // Double-probing does a fast probe followed by a slow probe | ||
| #if TOTAL_PROBING == 2 | ||
|
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| // Attempt to tare the probe | ||
| if (TERN0(PROBE_TARE, tare())) return NAN; | ||
|
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| // Do a first probe at the fast speed | ||
| if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Fast Probe:"); | ||
| if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s, | ||
| sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN; | ||
|
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| const float first_probe_z = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj); | ||
| if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", first_probe_z); | ||
|
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| // Raise to give the probe clearance | ||
| do_z_clearance(Z_CLEARANCE_MULTI_PROBE); | ||
|
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| #elif Z_PROBE_FEEDRATE_FAST != Z_PROBE_FEEDRATE_SLOW | ||
|
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| // If the nozzle is well over the travel height then | ||
| // move down quickly before doing the slow probe | ||
| const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0f + _MAX(zoffs, 0.0f); | ||
| if (current_position.z > z) { | ||
| // Probe down fast. If the probe never triggered, raise for probe clearance | ||
| if (!probe_down_to_z(z, z_probe_fast_mm_s)) | ||
| do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); | ||
| } | ||
| #endif | ||
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@@ -789,6 +794,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { | |
| if (TERN0(PROBE_TARE, tare())) return true; | ||
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| // Probe downward slowly to find the bed | ||
| if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Slow Probe:"); | ||
| if (try_to_probe(PSTR("SLOW"), z_probe_low_point, MMM_TO_MMS(Z_PROBE_FEEDRATE_SLOW), | ||
| sanity_check, Z_CLEARANCE_MULTI_PROBE) ) return NAN; | ||
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@@ -798,7 +804,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { | |
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| #if EXTRA_PROBING > 0 | ||
| // Insert Z measurement into probes[]. Keep it sorted ascending. | ||
| LOOP_LE_N(i, p) { // Iterate the saved Zs to insert the new Z | ||
| if (i == p || probes[i] > z) { // Last index or new Z is smaller than this Z | ||
| for (int8_t m = p; --m >= i;) probes[m + 1] = probes[m]; // Shift items down after the insertion point | ||
| probes[i] = z; // Insert the new Z measurement | ||
|
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@@ -817,7 +823,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { | |
| #if EXTRA_PROBING > 0 | ||
| < TOTAL_PROBING - 1 | ||
| #endif | ||
| ) do_z_clearance(Z_CLEARANCE_MULTI_PROBE); | ||
| #endif | ||
| } | ||
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@@ -919,7 +925,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai | |
| #endif | ||
|
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| // Use a safe Z height for the XY move | ||
| const float safe_z = _MAX(current_position.z, Z_PROBE_SAFE_CLEARANCE); | ||
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| // On delta keep Z below clip height or do_blocking_move_to will abort | ||
| xyz_pos_t npos = NUM_AXIS_ARRAY( | ||
|
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@@ -928,12 +934,16 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai | |
| current_position.u, current_position.v, current_position.w | ||
| ); | ||
| if (!can_reach(npos, probe_relative)) { | ||
| if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Not Reachable"); | ||
| return NAN; | ||
| } | ||
|
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| if (DEBUGGING(LEVELING)) DEBUG_ECHOPGM("Move to probe"); | ||
| if (probe_relative) { // Get the nozzle position, adjust for active hotend if not 0 | ||
| if (DEBUGGING(LEVELING)) DEBUG_ECHOPGM("-relative"); | ||
| npos -= DIFF_TERN(HAS_HOTEND_OFFSET, offset_xy, xy_pos_t(hotend_offset[active_extruder])); | ||
| } | ||
| if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(" point"); | ||
|
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| // Move the probe to the starting XYZ | ||
| do_blocking_move_to(npos, feedRate_t(XY_PROBE_FEEDRATE_MM_S)); | ||
|
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@@ -953,11 +963,15 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai | |
| // Raise and/or stow the probe depending on 'raise_after' and settings. | ||
| if (!isnan(measured_z)) { | ||
| const ProbePtRaise raise_type = (TERN0(BLTOUCH, !bltouch.high_speed_mode) && raise_after == PROBE_PT_RAISE) ? PROBE_PT_STOW : raise_after; | ||
| switch (raise_type) { | ||
| default: break; | ||
| case PROBE_PT_RAISE: | ||
| do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); | ||
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jamespearson04
Contributor
|
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| break; | ||
| case PROBE_PT_STOW: case PROBE_PT_LAST_STOW: | ||
| if (stow()) measured_z = NAN; // Error on stow? | ||
| break; | ||
| } | ||
|
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| if (verbose_level > 2) | ||
| SERIAL_ECHOLNPGM("Bed X: ", LOGICAL_X_POSITION(rx), " Y: ", LOGICAL_Y_POSITION(ry), " Z: ", measured_z); | ||
|
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||
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This A: changes behaviour related to
Z_CLEARANCE_BETWEEN_PROBES, so instead of moving to probe offset + clearance, it's just clearance. (breaking probing if it's set lower than the offset)More importantly, B: If the measured z isn't used for correction before this call (as I suspect), it misbehaves.
For example, if
Z_CLEARANCE_BETWEEN_PROBES = 1, and probe gets triggered atz=2, then it will attempt to move downwards, into the bed.ETA: Was the intention to move the addition into the function?