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Adjust M48 raise / move handling

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This commit is contained in:
Scott Lahteine 2016-06-18 03:16:13 -07:00
parent 46d3ef2223
commit 1dad912b03
1 changed files with 17 additions and 15 deletions
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32
Marlin/Marlin_main.cpp
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@ -4274,17 +4274,18 @@ inline void gcode_M42() {
*/ */
setup_for_endstop_move(); setup_for_endstop_move();
// Height before each probe (except the first)
float z_before = current_position[Z_AXIS] + (deploy_probe_for_each_reading ? Z_RAISE_BEFORE_PROBING : Z_RAISE_BETWEEN_PROBINGS);
// Deploy the probe and probe the first point
probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy, deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy,
verbose_level); verbose_level);
raise_z_after_probing();
randomSeed(millis()); randomSeed(millis());
double mean, sigma, sample_set[n_samples]; double mean, sigma, sample_set[n_samples];
for (uint8_t n = 0; n < n_samples; n++) { for (uint8_t n = 0; n < n_samples; n++) {
delay(500);
if (n_legs) { if (n_legs) {
int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
float angle = random(0.0, 360.0), float angle = random(0.0, 360.0),
@ -4359,18 +4360,13 @@ inline void gcode_M42() {
} // n_legs loop } // n_legs loop
} // n_legs } // n_legs
/** // The last probe will differ
* We don't really have to do this move, but if we don't we can see a
* funny shift in the Z Height because the user might not have the
* Z_RAISE_BEFORE_PROBING height identical to the Z_RAISE_BETWEEN_PROBINGS
* height. This gets us back to the probe location at the same height that
* we have been running around the circle at.
*/
bool last_probe = (n == n_samples - 1); bool last_probe = (n == n_samples - 1);
do_blocking_move_to_xy(X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER), Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER));
// Probe a single point
sample_set[n] = probe_pt( sample_set[n] = probe_pt(
X_probe_location, Y_probe_location, X_probe_location, Y_probe_location,
Z_RAISE_BEFORE_PROBING, z_before,
deploy_probe_for_each_reading ? ProbeDeployAndStow : last_probe ? ProbeStow : ProbeStay, deploy_probe_for_each_reading ? ProbeDeployAndStow : last_probe ? ProbeStow : ProbeStay,
verbose_level verbose_level
); );
@ -4392,6 +4388,7 @@ inline void gcode_M42() {
sum += ss * ss; sum += ss * ss;
} }
sigma = sqrt(sum / (n + 1)); sigma = sqrt(sum / (n + 1));
if (verbose_level > 1) { if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1); SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOLPGM(" of "); SERIAL_PROTOCOLPGM(" of ");
@ -4407,9 +4404,14 @@ inline void gcode_M42() {
} }
} }
if (verbose_level > 0) SERIAL_EOL; if (verbose_level > 0) SERIAL_EOL;
delay(50);
do_blocking_move_to_z(current_position[Z_AXIS] + (last_probe ? Z_RAISE_AFTER_PROBING : Z_RAISE_BETWEEN_PROBINGS)); // Raise before the next loop for the legs
} // End of probe loop code if (n_legs || last_probe) {
do_blocking_move_to_z(last_probe ? Z_RAISE_AFTER_PROBING : z_before);
if (!last_probe) delay(500);
}
} // End of probe loop
if (verbose_level > 0) { if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: "); SERIAL_PROTOCOLPGM("Mean: ");