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Merge pull request #4096 from thinkyhead/rc_always_raise_servo
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Always raise Z (if needed) for servo deploy/stow
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@thinkyhead
thinkyhead authored Jun 20, 2016
2 parents 9beb3f2 + 7e9d4a6 commit 524f6d9
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Showing 2 changed files with 44 additions and 64 deletions.
1 change: 0 additions & 1 deletion Marlin/Conditionals.h
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Original file line number Diff line number Diff line change
Expand Up @@ -383,7 +383,6 @@
#endif

#define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
#define SERVO_LEVELING (ENABLED(AUTO_BED_LEVELING_FEATURE) && HAS_Z_SERVO_ENDSTOP)

/**
* Sled Options
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107 changes: 44 additions & 63 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -750,9 +750,6 @@ void servo_init() {
#endif

#if HAS_Z_SERVO_ENDSTOP

endstops.enable_z_probe(false);

/**
* Set position of Z Servo Endstop
*
Expand All @@ -763,8 +760,11 @@ void servo_init() {
*
*/
STOW_Z_SERVO();
#endif // HAS_Z_SERVO_ENDSTOP
#endif

#if HAS_BED_PROBE
endstops.enable_z_probe(false);
#endif
}

/**
Expand Down Expand Up @@ -1661,6 +1661,29 @@ static void setup_for_endstop_move() {

#endif //HAS_BED_PROBE

#if HAS_Z_SERVO_ENDSTOP

/**
* Raise Z to a minimum height to make room for a servo to move
*
* zprobe_zoffset: Negative of the Z height where the probe engages
* z_dest: The before / after probing raise distance
*
* The zprobe_zoffset is negative for a switch below the nozzle, so
* multiply by Z_HOME_DIR (-1) to move enough away from the bed.
*/
void raise_z_for_servo(float z_dest) {
z_dest += home_offset[Z_AXIS];

if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
z_dest -= zprobe_zoffset;

if (z_dest > current_position[Z_AXIS])
do_blocking_move_to_z(z_dest); // also updates current_position
}

#endif

#if ENABLED(AUTO_BED_LEVELING_FEATURE)

#if ENABLED(AUTO_BED_LEVELING_GRID)
Expand Down Expand Up @@ -1861,6 +1884,9 @@ static void setup_for_endstop_move() {

#if HAS_Z_SERVO_ENDSTOP

// Make room for Z Servo
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);

// Engage Z Servo endstop if enabled
DEPLOY_Z_SERVO();

Expand Down Expand Up @@ -1941,17 +1967,14 @@ static void setup_for_endstop_move() {
#endif // Z_PROBE_ALLEN_KEY

#if ENABLED(FIX_MOUNTED_PROBE)
// Noting to be done. Just set endstops.z_probe_enabled
// Nothing to be done. Just enable_z_probe below...
#endif

endstops.enable_z_probe();

}

static void stow_z_probe(bool doRaise = true) {
#if !(HAS_Z_SERVO_ENDSTOP && (Z_RAISE_AFTER_PROBING > 0))
UNUSED(doRaise);
#endif
static void stow_z_probe() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
#endif
Expand All @@ -1960,13 +1983,8 @@ static void setup_for_endstop_move() {

#if HAS_Z_SERVO_ENDSTOP

// Retract Z Servo endstop if enabled
#if Z_RAISE_AFTER_PROBING > 0
if (doRaise) {
raise_z_after_probing(); // this also updates current_position
stepper.synchronize();
}
#endif
// Make room for the servo
raise_z_for_servo(Z_RAISE_AFTER_PROBING);

// Change the Z servo angle
STOW_Z_SERVO();
Expand Down Expand Up @@ -2034,9 +2052,7 @@ static void setup_for_endstop_move() {
}
stop();
}
#endif // Z_PROBE_ALLEN_KEY

#if ENABLED(FIX_MOUNTED_PROBE)
#elif ENABLED(FIX_MOUNTED_PROBE)
// Nothing to do here. Just clear endstops.z_probe_enabled
#endif

Expand Down Expand Up @@ -2195,29 +2211,6 @@ static void setup_for_endstop_move() {

#endif // AUTO_BED_LEVELING_FEATURE

#if HAS_Z_SERVO_ENDSTOP

/**
* Raise Z to a minimum height to make room for a servo to move
*
* zprobe_zoffset: Negative of the Z height where the probe engages
* z_dest: The before / after probing raise distance
*
* The zprobe_zoffset is negative for a switch below the nozzle, so
* multiply by Z_HOME_DIR (-1) to move enough away from the bed.
*/
void raise_z_for_servo(float z_dest) {
z_dest += home_offset[Z_AXIS];

if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
z_dest -= zprobe_zoffset;

if (z_dest > current_position[Z_AXIS])
do_blocking_move_to_z(z_dest); // also updates current_position
}

#endif

#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
static void axis_unhomed_error(bool xyz=false) {
if (xyz) {
Expand Down Expand Up @@ -2313,7 +2306,7 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(Z_PROBE_SLED)
#define _Z_DEPLOY (dock_sled(false))
#define _Z_STOW (dock_sled(true))
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
#elif ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_Z_SERVO_ENDSTOP || ENABLED(FIX_MOUNTED_PROBE))
#define _Z_DEPLOY (deploy_z_probe())
#define _Z_STOW (stow_z_probe())
#elif HAS_Z_SERVO_ENDSTOP
Expand All @@ -2322,10 +2315,10 @@ static void homeaxis(AxisEnum axis) {
#endif

// Homing Z towards the bed? Deploy the Z probe or endstop.
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_SERVO_ENDSTOP
#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY));
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_DEPLOY));
#endif
_Z_DEPLOY;

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@MagoKimbra

MagoKimbra Jun 20, 2016

Contributor

Sorry @thinkyhead...
If defined FIX_MOUNTED_PROBE and not AUTO_BED_LEVELING_FEATURE _Z_DEPLOY is not defined...

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@thinkyhead

thinkyhead Jun 20, 2016 •
edited
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Author Member

Thanks! I missed that, but it's ok in the more complete PR #4021, which I'm now trying to bring in more gradually. #4100 should fix this.
}
Expand Down Expand Up @@ -2445,10 +2438,10 @@ static void homeaxis(AxisEnum axis) {
axis_homed[axis] = true;

// Put away the Z probe
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_SERVO_ENDSTOP
#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE)
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_STOW));
#endif
_Z_STOW;
}
Expand Down Expand Up @@ -3474,7 +3467,7 @@ inline void gcode_G28() {

#if ENABLED(Z_PROBE_SLED)
dock_sled(false); // engage (un-dock) the Z probe
#elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && SERVO_LEVELING)
#elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && HAS_Z_SERVO_ENDSTOP)
deploy_z_probe();
#endif

Expand Down Expand Up @@ -3727,7 +3720,7 @@ inline void gcode_G28() {

#if ENABLED(DELTA)
// Allen Key Probe for Delta
#if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
#if ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_ENDSTOP
stow_z_probe();
#else
raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
Expand Down Expand Up @@ -3848,9 +3841,6 @@ inline void gcode_G28() {
* G30: Do a single Z probe at the current XY
*/
inline void gcode_G30() {
#if HAS_Z_SERVO_ENDSTOP
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
#endif
deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.

stepper.synchronize();
Expand All @@ -3869,10 +3859,7 @@ inline void gcode_G28() {

clean_up_after_endstop_move(); // Too early. must be done after the stowing.

#if HAS_Z_SERVO_ENDSTOP
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
#endif
stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
stow_z_probe(); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.

report_current_position();
}
Expand Down Expand Up @@ -5989,20 +5976,14 @@ inline void gcode_M400() { stepper.synchronize(); }
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() {
#if HAS_Z_SERVO_ENDSTOP
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
#endif
deploy_z_probe();
}

/**
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() {
#if HAS_Z_SERVO_ENDSTOP
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
#endif
stow_z_probe(false);
stow_z_probe();
}

#endif // AUTO_BED_LEVELING_FEATURE && (HAS_Z_SERVO_ENDSTOP || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
Expand Down

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