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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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80
Marlin/src/module/probe.cpp
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@ -56,7 +56,7 @@
#include "../feature/backlash.h"
#endif
float probe_offset[XYZ]; // Initialized by settings.load()
xyz_pos_t probe_offset; // Initialized by settings.load()
#if ENABLED(BLTOUCH)
#include "../feature/bltouch.h"
@ -146,10 +146,10 @@ float probe_offset[XYZ]; // Initialized by settings.load()
// Move down to the bed to stow the probe
void run_stow_moves_script() {
const float old_pos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
const xyz_pos_t oldpos = current_position;
endstops.enable_z_probe(false);
do_blocking_move_to_z(TOUCH_MI_RETRACT_Z, MMM_TO_MMS(HOMING_FEEDRATE_Z));
do_blocking_move_to(old_pos, MMM_TO_MMS(HOMING_FEEDRATE_Z));
do_blocking_move_to(oldpos, MMM_TO_MMS(HOMING_FEEDRATE_Z));
}
#elif ENABLED(Z_PROBE_ALLEN_KEY)
@ -159,35 +159,35 @@ float probe_offset[XYZ]; // Initialized by settings.load()
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
#endif
constexpr float deploy_1[] = Z_PROBE_ALLEN_KEY_DEPLOY_1;
constexpr xyz_pos_t deploy_1 = Z_PROBE_ALLEN_KEY_DEPLOY_1;
do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_2
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
#endif
constexpr float deploy_2[] = Z_PROBE_ALLEN_KEY_DEPLOY_2;
constexpr xyz_pos_t deploy_2 = Z_PROBE_ALLEN_KEY_DEPLOY_2;
do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
#endif
constexpr float deploy_3[] = Z_PROBE_ALLEN_KEY_DEPLOY_3;
constexpr xyz_pos_t deploy_3 = Z_PROBE_ALLEN_KEY_DEPLOY_3;
do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_4
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
#endif
constexpr float deploy_4[] = Z_PROBE_ALLEN_KEY_DEPLOY_4;
constexpr xyz_pos_t deploy_4 = Z_PROBE_ALLEN_KEY_DEPLOY_4;
do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_5
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
#endif
constexpr float deploy_5[] = Z_PROBE_ALLEN_KEY_DEPLOY_5;
constexpr xyz_pos_t deploy_5 = Z_PROBE_ALLEN_KEY_DEPLOY_5;
do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
#endif
}
@ -197,35 +197,35 @@ float probe_offset[XYZ]; // Initialized by settings.load()
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
#endif
constexpr float stow_1[] = Z_PROBE_ALLEN_KEY_STOW_1;
constexpr xyz_pos_t stow_1 = Z_PROBE_ALLEN_KEY_STOW_1;
do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_STOW_2
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
#endif
constexpr float stow_2[] = Z_PROBE_ALLEN_KEY_STOW_2;
constexpr xyz_pos_t stow_2 = Z_PROBE_ALLEN_KEY_STOW_2;
do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_STOW_3
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
#endif
constexpr float stow_3[] = Z_PROBE_ALLEN_KEY_STOW_3;
constexpr xyz_pos_t stow_3 = Z_PROBE_ALLEN_KEY_STOW_3;
do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_STOW_4
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
#endif
constexpr float stow_4[] = Z_PROBE_ALLEN_KEY_STOW_4;
constexpr xyz_pos_t stow_4 = Z_PROBE_ALLEN_KEY_STOW_4;
do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_STOW_5
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
#endif
constexpr float stow_5[] = Z_PROBE_ALLEN_KEY_STOW_5;
constexpr xyz_pos_t stow_5 = Z_PROBE_ALLEN_KEY_STOW_5;
do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
#endif
}
@ -263,11 +263,11 @@ inline void do_probe_raise(const float z_raise) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("do_probe_raise(", z_raise, ")");
float z_dest = z_raise;
if (probe_offset[Z_AXIS] < 0) z_dest -= probe_offset[Z_AXIS];
if (probe_offset.z < 0) z_dest -= probe_offset.z;
NOMORE(z_dest, Z_MAX_POS);
if (z_dest > current_position[Z_AXIS])
if (z_dest > current_position.z)
do_blocking_move_to_z(z_dest);
}
@ -384,8 +384,7 @@ bool set_probe_deployed(const bool deploy) {
}
#endif
const float oldXpos = current_position[X_AXIS],
oldYpos = current_position[Y_AXIS];
const xy_pos_t old_xy = current_position;
#if ENABLED(PROBE_TRIGGERED_WHEN_STOWED_TEST)
#if USES_Z_MIN_PROBE_ENDSTOP
@ -419,7 +418,7 @@ bool set_probe_deployed(const bool deploy) {
#endif
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
do_blocking_move_to(old_xy);
endstops.enable_z_probe(deploy);
return false;
}
@ -427,9 +426,9 @@ bool set_probe_deployed(const bool deploy) {
#ifdef Z_AFTER_PROBING
// After probing move to a preferred Z position
void move_z_after_probing() {
if (current_position[Z_AXIS] != Z_AFTER_PROBING) {
if (current_position.z != Z_AFTER_PROBING) {
do_blocking_move_to_z(Z_AFTER_PROBING);
current_position[Z_AXIS] = Z_AFTER_PROBING;
current_position.z = Z_AFTER_PROBING;
}
}
#endif
@ -532,7 +531,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
* @brief Probe at the current XY (possibly more than once) to find the bed Z.
*
* @details Used by probe_at_point to get the bed Z height at the current XY.
* Leaves current_position[Z_AXIS] at the height where the probe triggered.
* Leaves current_position.z at the height where the probe triggered.
*
* @return The Z position of the bed at the current XY or NAN on error.
*/
@ -542,7 +541,7 @@ static float run_z_probe() {
// Stop the probe before it goes too low to prevent damage.
// If Z isn't known then probe to -10mm.
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -probe_offset[Z_AXIS] + Z_PROBE_LOW_POINT : -10.0;
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -probe_offset.z + Z_PROBE_LOW_POINT : -10.0;
// Double-probing does a fast probe followed by a slow probe
#if TOTAL_PROBING == 2
@ -556,22 +555,22 @@ static float run_z_probe() {
return NAN;
}
const float first_probe_z = current_position[Z_AXIS];
const float first_probe_z = current_position.z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("1st Probe Z:", first_probe_z);
// Raise to give the probe clearance
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
#elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW
// If the nozzle is well over the travel height then
// move down quickly before doing the slow probe
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (probe_offset[Z_AXIS] < 0 ? -probe_offset[Z_AXIS] : 0);
if (current_position[Z_AXIS] > z) {
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (probe_offset.z < 0 ? -probe_offset.z : 0);
if (current_position.z > z) {
// Probe down fast. If the probe never triggered, raise for probe clearance
if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
}
#endif
@ -603,7 +602,7 @@ static float run_z_probe() {
backlash.measure_with_probe();
#endif
const float z = current_position[Z_AXIS];
const float z = current_position.z;
#if EXTRA_PROBING
// Insert Z measurement into probes[]. Keep it sorted ascending.
@ -654,7 +653,7 @@ static float run_z_probe() {
#elif TOTAL_PROBING == 2
const float z2 = current_position[Z_AXIS];
const float z2 = current_position.z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("2nd Probe Z:", z2, " Discrepancy:", first_probe_z - z2);
@ -664,7 +663,7 @@ static float run_z_probe() {
#else
// Return the single probe result
const float measured_z = current_position[Z_AXIS];
const float measured_z = current_position.z;
#endif
@ -694,20 +693,19 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
}
// TODO: Adapt for SCARA, where the offset rotates
float nx = rx, ny = ry;
xyz_pos_t npos = { rx, ry };
if (probe_relative) {
if (!position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe
nx -= probe_offset[X_AXIS]; // Get the nozzle position
ny -= probe_offset[Y_AXIS];
if (!position_is_reachable_by_probe(npos)) return NAN; // The given position is in terms of the probe
npos -= probe_offset; // Get the nozzle position
}
else if (!position_is_reachable(nx, ny)) return NAN; // The given position is in terms of the nozzle
else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle
const float nz =
npos.z =
#if ENABLED(DELTA)
// Move below clip height or xy move will be aborted by do_blocking_move_to
_MIN(current_position[Z_AXIS], delta_clip_start_height)
_MIN(current_position.z, delta_clip_start_height)
#else
current_position[Z_AXIS]
current_position.z
#endif
;
@ -715,15 +713,15 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the starting XYZ
do_blocking_move_to(nx, ny, nz);
do_blocking_move_to(npos);
float measured_z = NAN;
if (!DEPLOY_PROBE()) {
measured_z = run_z_probe() + probe_offset[Z_AXIS];
measured_z = run_z_probe() + probe_offset.z;
const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
if (big_raise || raise_after == PROBE_PT_RAISE)
do_blocking_move_to_z(current_position[Z_AXIS] + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
else if (raise_after == PROBE_PT_STOW)
if (STOW_PROBE()) measured_z = NAN;
}