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Simplify MBL movement, zigzag

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This commit is contained in:
Scott Lahteine
2016-04-13 02:37:41 -07:00
parent 0493fccc0b
commit 2129db581e
3 changed files with 75 additions and 38 deletions
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53
Marlin/Marlin_main.cpp
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@ -2799,6 +2799,28 @@ inline void gcode_G28() {
enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet, MeshSetZOffset };
inline void _mbl_goto_xy(float x, float y) {
saved_feedrate = feedrate;
feedrate = homing_feedrate[X_AXIS];
#if MIN_Z_HEIGHT_FOR_HOMING > 0
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z + MIN_Z_HEIGHT_FOR_HOMING;
line_to_current_position();
#endif
current_position[X_AXIS] = x + home_offset[X_AXIS];
current_position[Y_AXIS] = y + home_offset[Y_AXIS];
line_to_current_position();
#if MIN_Z_HEIGHT_FOR_HOMING > 0
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
line_to_current_position();
#endif
feedrate = saved_feedrate;
st_synchronize();
}
/**
* G29: Mesh-based Z probe, probes a grid and produces a
* mesh to compensate for variable bed height
@ -2866,33 +2888,28 @@ inline void gcode_G28() {
SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
return;
}
// For each G29 S2...
if (probe_point == 0) {
// Set Z to a positive value before recording the first Z.
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z + home_offset[Z_AXIS];
// For the intial G29 S2 make Z a positive value (e.g., 4.0)
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position();
}
else {
// For others, save the Z of the previous point, then raise Z again.
ix = (probe_point - 1) % (MESH_NUM_X_POINTS);
iy = (probe_point - 1) / (MESH_NUM_X_POINTS);
if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
mbl.set_z(ix, iy, current_position[Z_AXIS]);
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z + home_offset[Z_AXIS];
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 60, active_extruder);
st_synchronize();
// For G29 S2 after adjusting Z.
mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
}
// Is there another point to sample? Move there.
// If there's another point to sample, move there with optional lift.
if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
ix = probe_point % (MESH_NUM_X_POINTS);
iy = probe_point / (MESH_NUM_X_POINTS);
if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
current_position[X_AXIS] = mbl.get_x(ix) + home_offset[X_AXIS];
current_position[Y_AXIS] = mbl.get_y(iy) + home_offset[Y_AXIS];
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 60, active_extruder);
st_synchronize();
mbl.zigzag(probe_point, ix, iy);
_mbl_goto_xy(mbl.get_x(ix), mbl.get_y(iy));
probe_point++;
}
else {
// One last "return to the bed" (as originally coded) at completion
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
line_to_current_position();
st_synchronize();
// After recording the last point, activate the mbl and home
SERIAL_PROTOCOLLNPGM("Mesh probing done.");
probe_point = -1;