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Homing/probing feedrate, comments

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This commit is contained in:
Scott Lahteine 2016-09-21 16:47:12 -05:00
parent 7d72ed688c
commit e69d1e2879
1 changed files with 44 additions and 51 deletions
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73
Marlin/Marlin_main.cpp
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@ -307,7 +307,7 @@ static uint8_t cmd_queue_index_r = 0,
* Feed rates are often configured with mm/m * Feed rates are often configured with mm/m
* but the planner and stepper like mm/s units. * but the planner and stepper like mm/s units.
*/ */
const float homing_feedrate_mm_s[] = { float constexpr homing_feedrate_mm_s[] = {
#if ENABLED(DELTA) #if ENABLED(DELTA)
MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
#else #else
@ -1368,6 +1368,9 @@ static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(MORGAN_SCARA) #if ENABLED(MORGAN_SCARA)
/**
* Morgan SCARA homes XY at the same time
*/
if (axis == X_AXIS || axis == Y_AXIS) { if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[XYZ]; float homeposition[XYZ];
@ -1399,34 +1402,37 @@ static void set_axis_is_at_home(AxisEnum axis) {
#endif #endif
{ {
current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis); current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
}
if (axis == Z_AXIS) { /**
* Z Probe Z Homing? Account for the probe's Z offset.
*/
#if HAS_BED_PROBE && Z_HOME_DIR < 0 #if HAS_BED_PROBE && Z_HOME_DIR < 0
if (axis == Z_AXIS) {
#if HOMING_Z_WITH_PROBE #if HOMING_Z_WITH_PROBE
current_position[Z_AXIS] -= zprobe_zoffset; current_position[Z_AXIS] -= zprobe_zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***"); SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset); SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
} }
#endif #endif
#elif ENABLED(DEBUG_LEVELING_FEATURE) #elif ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
#endif
#endif #endif
} }
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]); SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
SERIAL_ECHOLNPAIR("] = ", home_offset[axis]); SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
DEBUG_POS("", current_position); DEBUG_POS("", current_position);
}
#endif
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]); SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
SERIAL_ECHOLNPGM(")"); SERIAL_ECHOLNPGM(")");
} }
@ -1437,7 +1443,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
* Some planner shorthand inline functions * Some planner shorthand inline functions
*/ */
inline float get_homing_bump_feedrate(AxisEnum axis) { inline float get_homing_bump_feedrate(AxisEnum axis) {
const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR; int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
int hbd = homing_bump_divisor[axis]; int hbd = homing_bump_divisor[axis];
if (hbd < 1) { if (hbd < 1) {
hbd = 10; hbd = 10;
@ -1475,13 +1481,13 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
/** /**
* Calculate delta, start a line, and set current_position to destination * Calculate delta, start a line, and set current_position to destination
*/ */
void prepare_uninterpolated_move_to_destination() { void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination); if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
#endif #endif
refresh_cmd_timeout(); refresh_cmd_timeout();
inverse_kinematics(destination); inverse_kinematics(destination);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder); planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
set_current_to_destination(); set_current_to_destination();
} }
#endif #endif
@ -1499,7 +1505,7 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
#if ENABLED(DELTA) #if ENABLED(DELTA)
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
set_destination_to_current(); // sync destination at the start set_destination_to_current(); // sync destination at the start
@ -1561,41 +1567,37 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
// If Z needs to raise, do it before moving XY // If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < z) { if (current_position[Z_AXIS] < z) {
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
destination[Z_AXIS] = z; destination[Z_AXIS] = z;
prepare_uninterpolated_move_to_destination(); prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
} }
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
destination[X_AXIS] = x; destination[X_AXIS] = x;
destination[Y_AXIS] = y; destination[Y_AXIS] = y;
prepare_uninterpolated_move_to_destination(); prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
// If Z needs to lower, do it after moving XY // If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > z) { if (current_position[Z_AXIS] > z) {
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
destination[Z_AXIS] = z; destination[Z_AXIS] = z;
prepare_uninterpolated_move_to_destination(); prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
} }
#else #else
// If Z needs to raise, do it before moving XY // If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < z) { if (current_position[Z_AXIS] < z) {
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
current_position[Z_AXIS] = z; current_position[Z_AXIS] = z;
line_to_current_position(); line_to_current_position();
} }
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
current_position[X_AXIS] = x; current_position[X_AXIS] = x;
current_position[Y_AXIS] = y; current_position[Y_AXIS] = y;
line_to_current_position(); line_to_current_position();
// If Z needs to lower, do it after moving XY // If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > z) { if (current_position[Z_AXIS] > z) {
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
current_position[Z_AXIS] = z; current_position[Z_AXIS] = z;
line_to_current_position(); line_to_current_position();
} }
@ -2221,7 +2223,7 @@ static void clean_up_after_endstop_or_probe_move() {
* Home an individual linear axis * Home an individual linear axis
*/ */
static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) { static void do_homing_move(AxisEnum axis, float where, float fr_mm_s=0.0) {
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
if (axis == Z_AXIS) set_bltouch_deployed(true); if (axis == Z_AXIS) set_bltouch_deployed(true);
@ -2230,7 +2232,7 @@ static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
current_position[axis] = 0; current_position[axis] = 0;
sync_plan_position(); sync_plan_position();
current_position[axis] = where; current_position[axis] = where;
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder); planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
stepper.synchronize(); stepper.synchronize();
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
@ -2287,23 +2289,13 @@ static void homeaxis(AxisEnum axis) {
if (axis == Z_AXIS) stepper.set_homing_flag(true); if (axis == Z_AXIS) stepper.set_homing_flag(true);
#endif #endif
// Move towards the endstop until an endstop is triggered // 1. Fast move towards endstop until triggered
// 2. Move away from the endstop by the axis HOME_BUMP_MM
// 3. Slow move towards endstop until triggered
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir); do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 1st Home ", current_position[axis]);
#endif
// Move away from the endstop by the axis HOME_BUMP_MM
do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir); do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir);
// Move slowly towards the endstop until triggered
do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis)); do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 2nd Home ", current_position[axis]);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS) #if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) { if (axis == Z_AXIS) {
float adj = fabs(z_endstop_adj); float adj = fabs(z_endstop_adj);
@ -2349,7 +2341,8 @@ static void homeaxis(AxisEnum axis) {
#else #else
// Set the axis position to its home position (plus home offsets) // For cartesian/core machines,
// set the axis to its home position
set_axis_is_at_home(axis); set_axis_is_at_home(axis);
sync_plan_position(); sync_plan_position();