diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index da500918ba..7fed654050 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1805,6 +1805,11 @@ static void setup_for_endstop_move() {
#endif // AUTO_BED_LEVELING_FEATURE
+static void unknown_position_error() {
+ LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+}
#if ENABLED(Z_PROBE_SLED)
@@ -1826,9 +1831,7 @@ static void setup_for_endstop_move() {
}
#endif
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
- LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+ unknown_position_error();
return;
}
@@ -2578,9 +2581,7 @@ inline void gcode_G28() {
}
}
else {
- LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+ unknown_position_error();
}
} // !home_all_axes && homeZ
@@ -2851,9 +2852,7 @@ inline void gcode_G28() {
// Don't allow auto-leveling without homing first
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
- LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+ unknown_position_error();
return;
}
@@ -3639,6 +3638,7 @@ inline void gcode_M42() {
* V = Verbose level (0-4, default=1)
* E = Engage Z probe for each reading
* L = Number of legs of movement before probe
+ * S = Schizoid (Or Star if you prefer)
*
* This function assumes the bed has been homed. Specifically, that a G28 command
* as been issued prior to invoking the M48 Z probe repeatability measurement function.
@@ -3647,8 +3647,13 @@ inline void gcode_M42() {
*/
inline void gcode_M48() {
+ if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS] || !axis_known_position[Z_AXIS]) {
+ unknown_position_error();
+ return;
+ }
+
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
- uint8_t verbose_level = 1, n_samples = 10, n_legs = 0;
+ uint8_t verbose_level = 1, n_samples = 10, n_legs = 0, schizoid_flag = 0;
if (code_seen('V')) {
verbose_level = code_value_short();
@@ -3669,50 +3674,57 @@ inline void gcode_M42() {
}
}
- double X_current = st_get_axis_position_mm(X_AXIS),
- Y_current = st_get_axis_position_mm(Y_AXIS),
- Z_current = st_get_axis_position_mm(Z_AXIS),
- E_current = st_get_axis_position_mm(E_AXIS),
- X_probe_location = X_current, Y_probe_location = Y_current,
+ float X_current = current_position[X_AXIS],
+ Y_current = current_position[Y_AXIS],
+ Z_current = current_position[Z_AXIS],
+ X_probe_location = X_current + X_PROBE_OFFSET_FROM_EXTRUDER,
+ Y_probe_location = Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER,
Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
-
bool deploy_probe_for_each_reading = code_seen('E');
if (code_seen('X')) {
- X_probe_location = code_value() - (X_PROBE_OFFSET_FROM_EXTRUDER);
- if (X_probe_location < X_MIN_POS || X_probe_location > X_MAX_POS) {
- out_of_range_error(PSTR("X"));
- return;
- }
+ X_probe_location = code_value();
+ #if DISABLED(DELTA)
+ if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
+ out_of_range_error(PSTR("X"));
+ return;
+ }
+ #endif
}
if (code_seen('Y')) {
- Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
- if (Y_probe_location < Y_MIN_POS || Y_probe_location > Y_MAX_POS) {
- out_of_range_error(PSTR("Y"));
- return;
- }
+ Y_probe_location = code_value();
+ #if DISABLED(DELTA)
+ if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
+ out_of_range_error(PSTR("Y"));
+ return;
+ }
+ #endif
}
- if (code_seen('L')) {
+ #if ENABLED(DELTA)
+ if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
+ SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n");
+ return;
+ }
+ #endif
+
+ bool seen_L = code_seen('L');
+
+ if (seen_L) {
n_legs = code_value_short();
- if (n_legs == 1) n_legs = 2;
if (n_legs < 0 || n_legs > 15) {
SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
return;
}
+ if (n_legs == 1) n_legs = 2;
}
- //
- // Do all the preliminary setup work. First raise the Z probe.
- //
+ if (code_seen('S')) {
+ schizoid_flag++;
+ if (!seen_L) n_legs = 7;
+ }
- st_synchronize();
- plan_bed_level_matrix.set_to_identity();
- plan_buffer_line(X_current, Y_current, Z_start_location, E_current, homing_feedrate[Z_AXIS] / 60, active_extruder);
- st_synchronize();
-
- //
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
@@ -3720,90 +3732,112 @@ inline void gcode_M42() {
if (verbose_level > 2)
SERIAL_PROTOCOLPGM("Positioning the probe...\n");
- plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location,
- E_current,
- homing_feedrate[X_AXIS] / 60,
- active_extruder);
- st_synchronize();
+ #if ENABLED(DELTA)
+ reset_bed_level(); // we don't do bed level correction in M48 because we want the raw data when we probe
+ #else
+ plan_bed_level_matrix.set_to_identity(); // we don't do bed level correction in M48 because we wantthe raw data when we probe
+ #endif
- current_position[X_AXIS] = X_current = st_get_axis_position_mm(X_AXIS);
- current_position[Y_AXIS] = Y_current = st_get_axis_position_mm(Y_AXIS);
- current_position[Z_AXIS] = Z_current = st_get_axis_position_mm(Z_AXIS);
- current_position[E_AXIS] = E_current = st_get_axis_position_mm(E_AXIS);
+ if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0)
+ do_blocking_move_to_z(Z_start_location);
+
+ do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);
//
// OK, do the initial probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
-
- deploy_z_probe();
-
setup_for_endstop_move();
- run_z_probe();
- Z_current = current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
- Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
+ probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
+ deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy,
+ verbose_level);
- plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location,
- E_current,
- homing_feedrate[X_AXIS] / 60,
- active_extruder);
- st_synchronize();
- Z_current = current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
-
- if (deploy_probe_for_each_reading) stow_z_probe();
+ raise_z_after_probing();
for (uint8_t n = 0; n < n_samples; n++) {
- // Make sure we are at the probe location
- do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // this also updates current_position
-
+ randomSeed(millis());
+ delay(500);
if (n_legs) {
- millis_t ms = millis();
- double radius = ms % ((X_MAX_LENGTH) / 4), // limit how far out to go
- theta = RADIANS(ms % 360L);
- float dir = (ms & 0x0001) ? 1 : -1; // clockwise or counter clockwise
+ float radius, angle = random(0.0, 360.0);
+ int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
- //SERIAL_ECHOPAIR("starting radius: ",radius);
- //SERIAL_ECHOPAIR(" theta: ",theta);
- //SERIAL_ECHOPAIR(" direction: ",dir);
- //SERIAL_EOL;
+ radius = random(
+ #if ENABLED(DELTA)
+ DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
+ #else
+ 5, X_MAX_LENGTH / 8
+ #endif
+ );
+
+ if (verbose_level > 3) {
+ SERIAL_ECHOPAIR("Starting radius: ", radius);
+ SERIAL_ECHOPAIR(" angle: ", angle);
+ delay(100);
+ if (dir > 0)
+ SERIAL_ECHO(" Direction: Counter Clockwise \n");
+ else
+ SERIAL_ECHO(" Direction: Clockwise \n");
+ delay(100);
+ }
for (uint8_t l = 0; l < n_legs - 1; l++) {
- ms = millis();
- theta += RADIANS(dir * (ms % 20L));
- radius += (ms % 10L) - 5L;
- if (radius < 0.0) radius = -radius;
-
- X_current = X_probe_location + cos(theta) * radius;
- X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
- Y_current = Y_probe_location + sin(theta) * radius;
- Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
-
+ double delta_angle;
+ if (schizoid_flag)
+ delta_angle = dir * 2.0 * 72.0; // The points of a 5 point star are 72 degrees apart. We need to
+ // skip a point and go to the next one on the star.
+ else
+ delta_angle = dir * (float) random(25, 45); // If we do this line, we are just trying to move further
+ // around the circle.
+ angle += delta_angle;
+ while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
+ angle -= 360.0; // Arduino documentation says the trig functions should not be given values
+ while (angle < 0.0) // outside of this range. It looks like they behave correctly with
+ angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
+ X_current = X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER + cos(RADIANS(angle)) * radius;
+ Y_current = Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER + sin(RADIANS(angle)) * radius;
+ #if DISABLED(DELTA)
+ X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
+ Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
+ #else
+ // If we have gone out too far, we can do a simple fix and scale the numbers
+ // back in closer to the origin.
+ while (sqrt(X_current * X_current + Y_current * Y_current) > DELTA_PROBEABLE_RADIUS) {
+ X_current /= 1.25;
+ Y_current /= 1.25;
+ if (verbose_level > 3) {
+ SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
+ SERIAL_ECHOPAIR(", ", Y_current);
+ SERIAL_EOL;
+ delay(50);
+ }
+ }
+ #endif
if (verbose_level > 3) {
+ SERIAL_PROTOCOL("Going to:");
SERIAL_ECHOPAIR("x: ", X_current);
SERIAL_ECHOPAIR("y: ", Y_current);
+ SERIAL_ECHOPAIR(" z: ", current_position[Z_AXIS]);
SERIAL_EOL;
+ delay(55);
}
-
- do_blocking_move_to(X_current, Y_current, Z_current); // this also updates current_position
-
+ do_blocking_move_to_xy(X_current, Y_current);
} // n_legs loop
-
- // Go back to the probe location
- do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // this also updates current_position
-
} // n_legs
- if (deploy_probe_for_each_reading) {
- deploy_z_probe();
- delay(1000);
+ // We don't really have to do this move, but if we don't we can see a funny shift in the Z Height
+ // Because the user might not have the Z_RAISE_BEFORE_PROBING height identical to the
+ // Z_RAISE_BETWEEN_PROBING height. This gets us back to the probe location at the same height that
+ // we have been running around the circle at.
+ do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);
+ if (deploy_probe_for_each_reading)
+ sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level);
+ else {
+ if (n == n_samples - 1)
+ sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStow, verbose_level); else
+ sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
}
- setup_for_endstop_move();
- run_z_probe();
-
- sample_set[n] = current_position[Z_AXIS];
-
//
// Get the current mean for the data points we have so far
//
@@ -3821,13 +3855,13 @@ inline void gcode_M42() {
sum += ss * ss;
}
sigma = sqrt(sum / (n + 1));
-
if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL((int)n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
+ delay(50);
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" mean: ");
SERIAL_PROTOCOL_F(mean, 6);
@@ -3835,36 +3869,26 @@ inline void gcode_M42() {
SERIAL_PROTOCOL_F(sigma, 6);
}
}
-
if (verbose_level > 0) SERIAL_EOL;
+ delay(50);
+ do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
+ } // End of probe loop code
- plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
- st_synchronize();
-
- // Stow between
- if (deploy_probe_for_each_reading) {
- stow_z_probe();
- delay(1000);
- }
- }
-
- // Stow after
- if (!deploy_probe_for_each_reading) {
- stow_z_probe();
- delay(1000);
- }
-
- clean_up_after_endstop_move();
+ // raise_z_after_probing();
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_EOL;
+ delay(25);
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL; SERIAL_EOL;
+ delay(25);
+
+ clean_up_after_endstop_move();
}
#endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 91e5fc6e74..c6b9f0c737 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -231,10 +231,6 @@
#error You cannot use Z_PROBE_SLED with DELTA.
#endif
- #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
- #error Z_MIN_PROBE_REPEATABILITY_TEST is not supported with DELTA yet.
- #endif
-
#endif
#endif