Move run_z_probe to earlier block
This commit is contained in:
Scott Lahteine
parent
7f8a2025af
commit
26a9cd0b08
@ -1960,89 +1960,6 @@ static void setup_for_endstop_move() {
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endstops.enable_z_probe(false);
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endstops.enable_z_probe(false);
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}
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}
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#endif // HAS_BED_PROBE
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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#if DISABLED(DELTA)
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static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
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//planner.bed_level_matrix.debug("bed level before");
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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planner.bed_level_matrix.set_to_identity();
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if (DEBUGGING(LEVELING)) {
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vector_3 uncorrected_position = planner.adjusted_position();
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DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
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DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
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}
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#endif
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vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
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planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
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vector_3 corrected_position = planner.adjusted_position();
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current_position[X_AXIS] = corrected_position.x;
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
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#endif
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sync_plan_position();
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}
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#endif // !DELTA
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#else // !AUTO_BED_LEVELING_GRID
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static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
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planner.bed_level_matrix.set_to_identity();
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vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
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vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
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vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
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vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
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if (planeNormal.z < 0) {
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planeNormal.x = -planeNormal.x;
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planeNormal.y = -planeNormal.y;
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planeNormal.z = -planeNormal.z;
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}
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planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
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vector_3 corrected_position = planner.adjusted_position();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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vector_3 uncorrected_position = corrected_position;
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DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
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}
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#endif
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current_position[X_AXIS] = corrected_position.x;
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
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#endif
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sync_plan_position();
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}
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#endif // !AUTO_BED_LEVELING_GRID
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#endif // AUTO_BED_LEVELING_FEATURE
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#if HAS_BED_PROBE
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static void run_z_probe() {
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static void run_z_probe() {
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float old_feedrate = feedrate;
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float old_feedrate = feedrate;
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@ -2134,6 +2051,81 @@ static void setup_for_endstop_move() {
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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#if DISABLED(DELTA)
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static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
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//planner.bed_level_matrix.debug("bed level before");
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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planner.bed_level_matrix.set_to_identity();
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if (DEBUGGING(LEVELING)) {
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vector_3 uncorrected_position = planner.adjusted_position();
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DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
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DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
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}
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#endif
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vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
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planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
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vector_3 corrected_position = planner.adjusted_position();
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current_position[X_AXIS] = corrected_position.x;
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
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#endif
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sync_plan_position();
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}
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#endif // !DELTA
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#else // !AUTO_BED_LEVELING_GRID
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static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
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planner.bed_level_matrix.set_to_identity();
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vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
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vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
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vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
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vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
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if (planeNormal.z < 0) {
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planeNormal.x = -planeNormal.x;
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planeNormal.y = -planeNormal.y;
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planeNormal.z = -planeNormal.z;
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}
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planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
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vector_3 corrected_position = planner.adjusted_position();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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vector_3 uncorrected_position = corrected_position;
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DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
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}
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#endif
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current_position[X_AXIS] = corrected_position.x;
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
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#endif
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sync_plan_position();
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}
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#endif // !AUTO_BED_LEVELING_GRID
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inline void do_blocking_move_to_xy(float x, float y) {
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inline void do_blocking_move_to_xy(float x, float y) {
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do_blocking_move_to(x, y, current_position[Z_AXIS]);
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do_blocking_move_to(x, y, current_position[Z_AXIS]);
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}
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}
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