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Add 'E' argument to G34 to allow stowing between probes (#14533)

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- Use the return value from probe_pt during `G34`
  Eliminate the assumption that probe_pt leaves current_position set to values relative to the probed points. This is not always true, depending on the raise_after argument.
- Add '`E`' argument to `G34` command allowing stowing between each probe.
This commit is contained in:
Jason Smith 2019-07-17 02:18:16 -07:00 committed by Scott Lahteine
parent 2c5436e315
commit f2c5740d06
1 changed files with 9 additions and 7 deletions
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16
Marlin/src/gcode/calibrate/G34_M422.cpp
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@ -142,6 +142,8 @@ void GcodeSuite::G34() {
z_maxdiff = 0.0f,
amplification = z_auto_align_amplification;
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
uint8_t iteration;
bool err_break = false;
for (iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
@ -159,18 +161,18 @@ void GcodeSuite::G34() {
// Safe clearance even on an incline
if (iteration == 0 || izstepper > 0) do_blocking_move_to_z(z_probe);
// Probe a Z height for each stepper
if (isnan(probe_pt(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], PROBE_PT_RAISE, 0, true))) {
// Probe a Z height for each stepper.
const float z_probed_height = probe_pt(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], raise_after, 0, true);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed.");
err_break = true;
break;
}
// This is not the trigger Z value. It is the position of the probe after raising it.
// It is higher than the trigger value by a constant value (not known here). This value
// is more useful for determining the desired next iteration Z position for probing. It is
// equally well suited for determining the misalignment, just like the trigger position would be.
z_measured[zstepper] = current_position[Z_AXIS];
// Add height to each value, to provide a more useful target height for
// the next iteration of probing. This allows adjustments to be made away from the bed.
z_measured[zstepper] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " measured position is ", z_measured[zstepper]);
// Remember the minimum measurement to calculate the correction later on