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Encapsulate probe as singleton class (#16751)

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This commit is contained in:
Scott Lahteine
2020-02-01 04:21:36 -06:00
committed by GitHub
parent 43d3463d5d
commit 90b6324563
33 changed files with 341 additions and 303 deletions
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4
Marlin/src/gcode/calibrate/G28.cpp
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@ -133,7 +133,7 @@
destination.set(safe_homing_xy, current_position.z);
#if HOMING_Z_WITH_PROBE
destination -= probe_offset_xy;
destination -= probe.offset_xy;
#endif
if (position_is_reachable(destination)) {
@ -416,7 +416,7 @@ void GcodeSuite::G28(const bool always_home_all) {
#endif
#if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING)
move_z_after_probing();
probe.move_z_after_probing();
#endif
} // doZ

4
Marlin/src/gcode/calibrate/G33.cpp
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@ -100,7 +100,7 @@ void ac_cleanup(
do_blocking_move_to_z(delta_clip_start_height);
#endif
#if HAS_BED_PROBE
STOW_PROBE();
probe.stow();
#endif
restore_feedrate_and_scaling();
#if HOTENDS > 1
@ -190,7 +190,7 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
*/
static float calibration_probe(const xy_pos_t &xy, const bool stow) {
#if HAS_BED_PROBE
return probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
#else
UNUSED(stow);
return lcd_probe_pt(xy);

12
Marlin/src/gcode/calibrate/G34_M422.cpp
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@ -133,8 +133,8 @@ void GcodeSuite::G34() {
do { // break out on error
#if NUM_Z_STEPPER_DRIVERS == 4
SERIAL_ECHOLNPGM("Quad Z Stepper Leveling not Yet Supported");
#if NUM_Z_STEPPER_DRIVERS >= 4
SERIAL_ECHOLNPGM("Alignment not supported for over 3 steppers");
break;
#endif
@ -240,7 +240,7 @@ void GcodeSuite::G34() {
if (iteration == 0 || i > 0) do_blocking_move_to_z(z_probe);
// Probe a Z height for each stepper.
const float z_probed_height = probe_at_point(z_stepper_align_pos[iprobe], raise_after, 0, true);
const float z_probed_height = probe.probe_at_point(z_stepper_align_pos[iprobe], raise_after, 0, true);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed.");
err_break = true;
@ -314,7 +314,7 @@ void GcodeSuite::G34() {
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Optimize one iteration's correction based on the first measurements
if (z_align_abs > 0.0f) amplification = iteration == 1 ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
#endif
// Check for less accuracy compared to last move
@ -379,9 +379,9 @@ void GcodeSuite::G34() {
// After this operation the z position needs correction
set_axis_is_not_at_home(Z_AXIS);
// Stow the probe, as the last call to probe_at_point(...) left
// Stow the probe, as the last call to probe.probe_at_point(...) left
// the probe deployed if it was successful.
STOW_PROBE();
probe.stow();
// Home Z after the alignment procedure
process_subcommands_now_P(PSTR("G28 Z"));

16
Marlin/src/gcode/calibrate/G76_M871.cpp
View File

@ -113,8 +113,8 @@ void GcodeSuite::G76() {
}
// Ensure probe position is reachable
destination.set(
temp_comp.measure_point_x - probe_offset.x,
temp_comp.measure_point_y - probe_offset.y
temp_comp.measure_point_x - probe.offset_xy.x,
temp_comp.measure_point_y - probe.offset_xy.y
);
if (!position_is_reachable_by_probe(destination)) {
SERIAL_ECHOLNPGM("!Probe position unreachable - aborting.");
@ -209,9 +209,9 @@ void GcodeSuite::G76() {
// Do a single probe
remember_feedrate_scaling_off();
const float measured_z = probe_at_point(
destination.x + probe_offset.x,
destination.y + probe_offset.y,
const float measured_z = probe.probe_at_point(
destination.x + probe.offset_xy.x,
destination.y + probe.offset_xy.y,
PROBE_PT_NONE
);
restore_feedrate_and_scaling();
@ -318,9 +318,9 @@ void GcodeSuite::G76() {
// Do a single probe
remember_feedrate_scaling_off();
const float measured_z = probe_at_point(
destination.x + probe_offset.x,
destination.y + probe_offset.y,
const float measured_z = probe.probe_at_point(
destination.x + probe.offset_xy.x,
destination.y + probe.offset_xy.y,
PROBE_PT_NONE
);
restore_feedrate_and_scaling();

12
Marlin/src/gcode/calibrate/M48.cpp
View File

@ -80,8 +80,8 @@ void GcodeSuite::M48() {
xy_float_t next_pos = current_position;
const xy_pos_t probe_pos = {
parser.linearval('X', next_pos.x + probe_offset_xy.x),
parser.linearval('Y', next_pos.y + probe_offset_xy.y)
parser.linearval('X', next_pos.x + probe.offset_xy.x),
parser.linearval('Y', next_pos.y + probe.offset_xy.y)
};
if (!position_is_reachable_by_probe(probe_pos)) {
@ -120,7 +120,7 @@ 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(probe_pos, raise_after, verbose_level);
const float t = probe.probe_at_point(probe_pos, raise_after, verbose_level);
bool probing_good = !isnan(t);
if (probing_good) {
@ -169,7 +169,7 @@ 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.
const xy_pos_t noz_pos = probe_pos - probe_offset_xy;
const xy_pos_t noz_pos = probe_pos - probe.offset_xy;
next_pos.set(noz_pos.x + cos(RADIANS(angle)) * radius,
noz_pos.y + sin(RADIANS(angle)) * radius);
@ -194,7 +194,7 @@ void GcodeSuite::M48() {
} // n_legs
// Probe a single point
sample_set[n] = probe_at_point(probe_pos, raise_after, 0);
sample_set[n] = probe.probe_at_point(probe_pos, raise_after, 0);
// Break the loop if the probe fails
probing_good = !isnan(sample_set[n]);
@ -238,7 +238,7 @@ void GcodeSuite::M48() {
} // n_samples loop
}
STOW_PROBE();
probe.stow();
if (probing_good) {
SERIAL_ECHOLNPGM("Finished!");