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Simplify MBL movement, zigzag

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This commit is contained in:
Scott Lahteine 2016-04-13 02:37:41 -07:00
parent 0493fccc0b
commit 2129db581e
3 changed files with 75 additions and 38 deletions
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53
Marlin/Marlin_main.cpp
View file

@ -2799,6 +2799,28 @@ inline void gcode_G28() {
enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet, MeshSetZOffset };
inline void _mbl_goto_xy(float x, float y) {
saved_feedrate = feedrate;
feedrate = homing_feedrate[X_AXIS];
#if MIN_Z_HEIGHT_FOR_HOMING > 0
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z + MIN_Z_HEIGHT_FOR_HOMING;
line_to_current_position();
#endif
current_position[X_AXIS] = x + home_offset[X_AXIS];
current_position[Y_AXIS] = y + home_offset[Y_AXIS];
line_to_current_position();
#if MIN_Z_HEIGHT_FOR_HOMING > 0
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
line_to_current_position();
#endif
feedrate = saved_feedrate;
st_synchronize();
}
/**
* G29: Mesh-based Z probe, probes a grid and produces a
* mesh to compensate for variable bed height
@ -2866,33 +2888,28 @@ inline void gcode_G28() {
SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
return;
}
// For each G29 S2...
if (probe_point == 0) {
// Set Z to a positive value before recording the first Z.
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z + home_offset[Z_AXIS];
// For the intial G29 S2 make Z a positive value (e.g., 4.0)
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position();
}
else {
// For others, save the Z of the previous point, then raise Z again.
ix = (probe_point - 1) % (MESH_NUM_X_POINTS);
iy = (probe_point - 1) / (MESH_NUM_X_POINTS);
if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
mbl.set_z(ix, iy, current_position[Z_AXIS]);
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z + home_offset[Z_AXIS];
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 60, active_extruder);
st_synchronize();
// For G29 S2 after adjusting Z.
mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
}
// Is there another point to sample? Move there.
// If there's another point to sample, move there with optional lift.
if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
ix = probe_point % (MESH_NUM_X_POINTS);
iy = probe_point / (MESH_NUM_X_POINTS);
if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
current_position[X_AXIS] = mbl.get_x(ix) + home_offset[X_AXIS];
current_position[Y_AXIS] = mbl.get_y(iy) + home_offset[Y_AXIS];
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 60, active_extruder);
st_synchronize();
mbl.zigzag(probe_point, ix, iy);
_mbl_goto_xy(mbl.get_x(ix), mbl.get_y(iy));
probe_point++;
}
else {
// One last "return to the bed" (as originally coded) at completion
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
line_to_current_position();
st_synchronize();
// After recording the last point, activate the mbl and home
SERIAL_PROTOCOLLNPGM("Mesh probing done.");
probe_point = -1;

12
Marlin/mesh_bed_leveling.h
View file

@ -41,6 +41,18 @@
float get_y(int i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
void set_z(int ix, int iy, float z) { z_values[iy][ix] = z; }
inline void zigzag(int index, int &ix, int &iy) {
ix = index % (MESH_NUM_X_POINTS);
iy = index / (MESH_NUM_X_POINTS);
if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
}
void set_zigzag_z(int index, float z) {
int ix, iy;
zigzag(index, ix, iy);
set_z(ix, iy, z);
}
int select_x_index(float x) {
int i = 1;
while (x > get_x(i) && i < MESH_NUM_X_POINTS - 1) i++;

48
Marlin/ultralcd.cpp
View file

@ -887,6 +887,28 @@ void lcd_cooldown() {
*/
static int _lcd_level_bed_position;
static bool mbl_wait_for_move = false;
// Utility to go to the next mesh point
// A raise is added between points if MIN_Z_HEIGHT_FOR_HOMING is in use
// Note: During Manual Bed Leveling the homed Z position is MESH_HOME_SEARCH_Z
// Z position will be restored with the final action, a G28
inline void _mbl_goto_xy(float x, float y) {
mbl_wait_for_move = true;
#if MIN_Z_HEIGHT_FOR_HOMING > 0
current_position[Z_AXIS] += MIN_Z_HEIGHT_FOR_HOMING;
line_to_current(Z_AXIS);
#endif
current_position[X_AXIS] = x + home_offset[X_AXIS];
current_position[Y_AXIS] = y + home_offset[Y_AXIS];
line_to_current(manual_feedrate[X_AXIS] <= manual_feedrate[Y_AXIS] ? X_AXIS : Y_AXIS);
#if MIN_Z_HEIGHT_FOR_HOMING > 0
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
line_to_current(Z_AXIS);
#endif
st_synchronize();
mbl_wait_for_move = false;
}
/**
* 5. MBL Wait for controller movement and clicks:
@ -894,7 +916,6 @@ void lcd_cooldown() {
* - Click saves the Z, goes to the next mesh point
*/
static void _lcd_level_bed_procedure() {
static bool mbl_wait_for_move = false;
// Menu handlers may be called in a re-entrant fashion
// if they call st_synchronize or plan_buffer_line. So
// while waiting for a move we just ignore new input.
@ -931,11 +952,7 @@ void lcd_cooldown() {
if (LCD_CLICKED) {
if (!debounce_click) {
debounce_click = true; // ignore multiple "clicks" in a row
int ix = _lcd_level_bed_position % (MESH_NUM_X_POINTS),
iy = _lcd_level_bed_position / (MESH_NUM_X_POINTS);
if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
mbl.set_z(ix, iy, current_position[Z_AXIS]);
_lcd_level_bed_position++;
mbl.set_zigzag_z(_lcd_level_bed_position++, current_position[Z_AXIS]);
if (_lcd_level_bed_position == (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
lcd_return_to_status();
LCD_ALERTMESSAGEPGM(MSG_LEVEL_BED_DONE);
@ -953,17 +970,9 @@ void lcd_cooldown() {
#if ENABLED(NEWPANEL)
lcd_quick_feedback();
#endif
mbl_wait_for_move = true;
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
line_to_current(Z_AXIS);
ix = _lcd_level_bed_position % (MESH_NUM_X_POINTS);
iy = _lcd_level_bed_position / (MESH_NUM_X_POINTS);
if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
current_position[X_AXIS] = mbl.get_x(ix);
current_position[Y_AXIS] = mbl.get_y(iy);
line_to_current(manual_feedrate[X_AXIS] <= manual_feedrate[Y_AXIS] ? X_AXIS : Y_AXIS);
st_synchronize();
mbl_wait_for_move = false;
int ix, iy;
mbl.zigzag(_lcd_level_bed_position, ix, iy);
_mbl_goto_xy(mbl.get_x(ix), mbl.get_y(iy));
encoderPosition = 0;
}
}
@ -980,12 +989,11 @@ void lcd_cooldown() {
static void _lcd_level_bed_homing_done() {
if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR(MSG_LEVEL_BED_WAITING), NULL);
lcdDrawUpdate = LCDVIEW_CALL_NO_REDRAW;
if (mbl_wait_for_move) return;
if (LCD_CLICKED) {
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
current_position[X_AXIS] = MESH_MIN_X;
current_position[Y_AXIS] = MESH_MIN_Y;
line_to_current(manual_feedrate[X_AXIS] <= manual_feedrate[Y_AXIS] ? X_AXIS : Y_AXIS);
_mbl_goto_xy(MESH_MIN_X, MESH_MIN_Y);
_lcd_level_bed_position = 0;
lcd_goto_menu(_lcd_level_bed_procedure, true);
}