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Add G38.4 and G38.5 (#13348)

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This commit is contained in:
Michiel Baird
2019-03-10 15:22:09 -07:00
committed by Scott Lahteine
parent e4d080e63c
commit b824a517aa
80 changed files with 732 additions and 264 deletions
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70
Marlin/src/gcode/probe/G38.cpp
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@@ -31,7 +31,18 @@
#include "../../module/stepper.h"
#include "../../module/probe.h"
static bool G38_run_probe() {
inline void G38_single_probe(const uint8_t move_value) {
endstops.enable(true);
G38_move = move_value;
prepare_move_to_destination();
planner.synchronize();
G38_move = 0;
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(ALL_AXES);
sync_plan_position();
}
inline bool G38_run_probe() {
bool G38_pass_fail = false;
@@ -46,19 +57,19 @@ static bool G38_run_probe() {
planner.synchronize(); // wait until the machine is idle
// Move flag value
#if ENABLED(G38_PROBE_AWAY)
const uint8_t move_value = parser.subcode;
#else
constexpr uint8_t move_value = 1;
#endif
G38_did_trigger = false;
// Move until destination reached or target hit
endstops.enable(true);
G38_move = true;
G38_endstop_hit = false;
prepare_move_to_destination();
planner.synchronize();
G38_move = false;
G38_single_probe(move_value);
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(ALL_AXES);
sync_plan_position();
if (G38_endstop_hit) {
if (G38_did_trigger) {
G38_pass_fail = true;
@@ -70,45 +81,50 @@ static bool G38_run_probe() {
prepare_move_to_destination();
planner.synchronize();
feedrate_mm_s /= 4;
REMEMBER(fr, feedrate_mm_s, feedrate_mm_s * 0.25);
// Bump the target more slowly
LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
endstops.enable(true);
G38_move = true;
prepare_move_to_destination();
planner.synchronize();
G38_move = false;
set_current_from_steppers_for_axis(ALL_AXES);
sync_plan_position();
G38_single_probe(move_value);
#endif
}
endstops.hit_on_purpose();
endstops.not_homing();
return G38_pass_fail;
}
/**
* G38.2 - probe toward workpiece, stop on contact, signal error if failure
* G38.3 - probe toward workpiece, stop on contact
* G38 Probe Target
*
* Like G28 except uses Z min probe for all axes
* G38.2 - Probe toward workpiece, stop on contact, signal error if failure
* G38.3 - Probe toward workpiece, stop on contact
*
* With G38_PROBE_AWAY:
*
* G38.4 - Probe away from workpiece, stop on contact break, signal error if failure
* G38.5 - Probe away from workpiece, stop on contact break
*/
void GcodeSuite::G38(const bool is_38_2) {
void GcodeSuite::G38(const int8_t subcode) {
// Get X Y Z E F
get_destination_from_command();
setup_for_endstop_or_probe_move();
const bool error_on_fail =
#if ENABLED(G38_PROBE_AWAY)
!TEST(subcode, 0)
#else
(subcode == 2)
#endif
;
// If any axis has enough movement, do the move
LOOP_XYZ(i)
if (ABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
// If G38.2 fails throw an error
if (!G38_run_probe() && is_38_2) SERIAL_ERROR_MSG("Failed to reach target");
if (!G38_run_probe() && error_on_fail) SERIAL_ERROR_MSG("Failed to reach target");
break;
}