sled improvements
- create sled pin definition - G28 Works with sled
This commit is contained in:
Christian Bohn
parent
8a0dc4d54a
commit
fb44b53ae3
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@ -276,6 +276,13 @@
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#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
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#endif
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/**
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* Sled Options
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*/
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#ifdef Z_PROBE_SLED
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#define Z_SAFE_HOMING
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#endif
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/**
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* MAX_STEP_FREQUENCY differs for TOSHIBA
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*/
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@ -650,8 +650,8 @@ void setup() {
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#endif
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#ifdef Z_PROBE_SLED
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pinMode(SERVO0_PIN, OUTPUT);
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digitalWrite(SERVO0_PIN, LOW); // turn it off
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pinMode(SLED_PIN, OUTPUT);
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digitalWrite(SLED_PIN, LOW); // turn it off
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#endif // Z_PROBE_SLED
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setup_homepin();
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@ -1516,6 +1516,48 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
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#endif // ENABLE_AUTO_BED_LEVELING
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#ifdef Z_PROBE_SLED
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#ifndef SLED_DOCKING_OFFSET
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#define SLED_DOCKING_OFFSET 0
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#endif
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/**
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* Method to dock/undock a sled designed by Charles Bell.
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*
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* dock[in] If true, move to MAX_X and engage the electromagnet
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* offset[in] The additional distance to move to adjust docking location
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*/
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static void dock_sled(bool dock, int offset=0) {
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if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
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return;
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}
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if (dock) {
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float oldXpos = current_position[X_AXIS]; // save x position
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // rise Z
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1, current_position[Y_AXIS], current_position[Z_AXIS]); // Dock sled a bit closer to ensure proper capturing
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digitalWrite(SLED_PIN, LOW); // turn off magnet
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do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - Z_RAISE_AFTER_PROBING);
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} else {
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float oldXpos = current_position[X_AXIS]; // save x position
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float z_loc = current_position[Z_AXIS];
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if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
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digitalWrite(SLED_PIN, HIGH); // turn on magnet
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do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking
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}
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}
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#endif // Z_PROBE_SLED
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/**
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* Home an individual axis
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*/
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@ -1538,6 +1580,13 @@ static void homeaxis(AxisEnum axis) {
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current_position[axis] = 0;
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sync_plan_position();
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#ifdef Z_PROBE_SLED
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// Get Probe
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if (axis == Z_AXIS) {
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if (axis_home_dir < 0) dock_sled(false);
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}
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#endif
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#if SERVO_LEVELING && !defined(Z_PROBE_SLED)
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// Deploy a probe if there is one, and homing towards the bed
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@ -1634,6 +1683,13 @@ static void homeaxis(AxisEnum axis) {
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endstops_hit_on_purpose(); // clear endstop hit flags
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axis_known_position[axis] = true;
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#ifdef Z_PROBE_SLED
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// bring probe back
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if (axis == Z_AXIS) {
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if (axis_home_dir < 0) dock_sled(true);
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}
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#endif
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#if SERVO_LEVELING && !defined(Z_PROBE_SLED)
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// Deploy a probe if there is one, and homing towards the bed
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@ -1708,39 +1764,6 @@ static void homeaxis(AxisEnum axis) {
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#endif // FWRETRACT
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#ifdef Z_PROBE_SLED
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#ifndef SLED_DOCKING_OFFSET
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#define SLED_DOCKING_OFFSET 0
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#endif
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/**
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* Method to dock/undock a sled designed by Charles Bell.
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*
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* dock[in] If true, move to MAX_X and engage the electromagnet
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* offset[in] The additional distance to move to adjust docking location
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*/
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static void dock_sled(bool dock, int offset=0) {
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if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
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return;
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}
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if (dock) {
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], current_position[Z_AXIS]); // this also updates current_position
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digitalWrite(SERVO0_PIN, LOW); // turn off magnet
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} else {
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float z_loc = current_position[Z_AXIS];
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if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc); // this also updates current_position
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digitalWrite(SERVO0_PIN, HIGH); // turn on magnet
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}
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}
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#endif // Z_PROBE_SLED
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/**
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*
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* G-Code Handler functions
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@ -2586,7 +2609,7 @@ inline void gcode_G28() {
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#endif // !DELTA
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#ifdef Z_PROBE_SLED
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dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
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dock_sled(true); // dock the probe
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#elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
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stow_z_probe();
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#endif
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@ -44,6 +44,10 @@
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#define FAN_PIN 4
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#endif
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#ifdef Z_PROBE_SLED
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#define SLED_PIN 27
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#endif
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#ifdef NUM_SERVOS
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#define SERVO0_PIN -1
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