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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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34
Marlin/src/gcode/calibrate/M48.cpp
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@ -74,13 +74,14 @@ void GcodeSuite::M48() {
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS];
xy_float_t next_pos = current_position;
const float X_probe_location = parser.linearval('X', X_current + probe_offset[X_AXIS]),
Y_probe_location = parser.linearval('Y', Y_current + probe_offset[Y_AXIS]);
const xy_pos_t probe_pos = {
parser.linearval('X', next_pos.x + probe_offset.x),
parser.linearval('Y', next_pos.y + probe_offset.y)
};
if (!position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
if (!position_is_reachable_by_probe(probe_pos)) {
SERIAL_ECHOLNPGM("? (X,Y) out of bounds.");
return;
}
@ -116,7 +117,7 @@ void GcodeSuite::M48() {
float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
// Move to the first point, deploy, and probe
const float t = probe_at_point(X_probe_location, Y_probe_location, raise_after, verbose_level);
const float t = probe_at_point(probe_pos, raise_after, verbose_level);
bool probing_good = !isnan(t);
if (probing_good) {
@ -165,32 +166,31 @@ void GcodeSuite::M48() {
while (angle < 0.0) angle += 360.0; // outside of this range. It looks like they behave correctly with
// numbers outside of the range, but just to be safe we clamp them.
X_current = X_probe_location - probe_offset[X_AXIS] + cos(RADIANS(angle)) * radius;
Y_current = Y_probe_location - probe_offset[Y_AXIS] + sin(RADIANS(angle)) * radius;
next_pos.set(probe_pos.x - probe_offset.x + cos(RADIANS(angle)) * radius,
probe_pos.y - probe_offset.y + sin(RADIANS(angle)) * radius);
#if DISABLED(DELTA)
LIMIT(X_current, X_MIN_POS, X_MAX_POS);
LIMIT(Y_current, Y_MIN_POS, Y_MAX_POS);
LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
LIMIT(next_pos.y, 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 (!position_is_reachable_by_probe(X_current, Y_current)) {
X_current *= 0.8;
Y_current *= 0.8;
while (!position_is_reachable_by_probe(next_pos)) {
next_pos *= 0.8;
if (verbose_level > 3)
SERIAL_ECHOLNPAIR("Moving inward: X", X_current, " Y", Y_current);
SERIAL_ECHOLNPAIR("Moving inward: X", next_pos.x, " Y", next_pos.y);
}
#endif
if (verbose_level > 3)
SERIAL_ECHOLNPAIR("Going to: X", X_current, " Y", Y_current, " Z", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("Going to: X", next_pos.x, " Y", next_pos.y);
do_blocking_move_to_xy(X_current, Y_current);
do_blocking_move_to_xy(next_pos);
} // n_legs loop
} // n_legs
// Probe a single point
sample_set[n] = probe_at_point(X_probe_location, Y_probe_location, raise_after, 0);
sample_set[n] = probe_at_point(probe_pos, raise_after, 0);
// Break the loop if the probe fails
probing_good = !isnan(sample_set[n]);