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Fix for issues #6997 and #7152

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Probing with the effector in the printing area, but an eccentric probe (e.g. allen key) outside it but still touching the bed gives meaninfull information for calibration. Since calibration is most accurate when probing as close to the towers as possible the testing was way to restrictive hence this fix.
This commit is contained in:
LVD-AC
2017-06-29 16:42:42 +02:00
committed by Scott Lahteine
parent 57fff2e95e
commit 567941e341
8 changed files with 238 additions and 243 deletions
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72
Marlin/Marlin_main.cpp
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@@ -2299,18 +2299,23 @@ static void clean_up_after_endstop_or_probe_move() {
* - Raise to the BETWEEN height
* - Return the probed Z position
*/
float probe_pt(const float &x, const float &y, const bool stow, const uint8_t verbose_level) {
float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable=true) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", x);
SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(">>> probe_pt(", lx);
SERIAL_ECHOPAIR(", ", ly);
SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
SERIAL_ECHOLNPGM("stow)");
DEBUG_POS("", current_position);
}
#endif
if (!position_is_reachable_by_probe_xy(x, y)) return NAN;
const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
if (printable)
if (!position_is_reachable_by_probe_xy(lx, ly)) return NAN;
else
if (!position_is_reachable_xy(nx, ny)) return NAN;
const float old_feedrate_mm_s = feedrate_mm_s;
@@ -2325,7 +2330,7 @@ static void clean_up_after_endstop_or_probe_move() {
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the given XY
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
do_blocking_move_to_xy(nx, ny);
if (DEPLOY_PROBE()) return NAN;
@@ -2338,9 +2343,9 @@ static void clean_up_after_endstop_or_probe_move() {
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOL_F(x, 3);
SERIAL_PROTOCOL_F(lx, 3);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL_F(y, 3);
SERIAL_PROTOCOL_F(ly, 3);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL_F(measured_z, 3);
SERIAL_EOL();
@@ -5136,7 +5141,7 @@ void home_all_axes() { gcode_G28(true); }
* P3 Probe all positions: center, towers and opposite towers. Set all.
* P4-P7 Probe all positions at different locations and average them.
*
* T Don't calibrate tower angle corrections
* T0 Don't calibrate tower angle corrections
*
* Cn.nn Calibration precision; when omitted calibrates to maximum precision
*
@@ -5185,7 +5190,7 @@ void home_all_axes() { gcode_G28(true); }
return;
}
const bool towers_set = !parser.boolval('T'),
const bool towers_set = parser.boolval('T', true),
stow_after_each = parser.boolval('E'),
_1p_calibration = probe_points == 1,
_4p_calibration = probe_points == 2,
@@ -5198,20 +5203,6 @@ void home_all_axes() { gcode_G28(true); }
_7p_quadruple_circle = probe_points == 7,
_7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
_7p_intermed_points = _7p_calibration && !_7p_half_circle;
if (!_1p_calibration) { // test if the outer radius is reachable
const float circles = (_7p_quadruple_circle ? 1.5 :
_7p_triple_circle ? 1.0 :
_7p_double_circle ? 0.5 : 0),
radius = (1 + circles * 0.1) * delta_calibration_radius;
for (uint8_t axis = 1; axis < 13; ++axis) {
if (!position_is_reachable_xy(cos(RADIANS(180 + 30 * axis)) * radius, sin(RADIANS(180 + 30 * axis)) * radius)) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return;
}
}
}
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
@@ -5230,6 +5221,19 @@ void home_all_axes() { gcode_G28(true); }
alpha_old = delta_tower_angle_trim[A_AXIS],
beta_old = delta_tower_angle_trim[B_AXIS];
if (!_1p_calibration) { // test if the outer radius is reachable
const float circles = (_7p_quadruple_circle ? 1.5 :
_7p_triple_circle ? 1.0 :
_7p_double_circle ? 0.5 : 0),
r = (1 + circles * 0.1) * delta_calibration_radius;
for (uint8_t axis = 1; axis < 13; ++axis) {
const float a = RADIANS(180 + 30 * axis);
if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return;
}
}
}
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
stepper.synchronize();
@@ -5269,13 +5273,11 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_EOL();
}
home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1); // 1st probe to set height
do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
do {
float z_at_pt[13] = { 0.0 }, S1 = 0.0, S2 = 0.0;
int16_t N = 0;
float z_at_pt[13] = { 0.0 };
test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
@@ -5284,12 +5286,12 @@ void home_all_axes() { gcode_G28(true); }
// Probe the points
if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1);
z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
}
if (_7p_calibration) { // probe extra center points
for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
}
z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
}
@@ -5305,19 +5307,19 @@ void home_all_axes() { gcode_G28(true); }
for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
const float a = RADIANS(180 + 30 * axis),
r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
}
zig_zag = !zig_zag;
z_at_pt[axis] /= (2 * offset_circles + 1);
}
}
if (_7p_intermed_points) // average intermediates to tower and opposites
for (uint8_t axis = 1; axis <= 11; axis += 2)
for (uint8_t axis = 1; axis < 13; axis += 2)
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
S1 += z_at_pt[0];
S2 += sq(z_at_pt[0]);
N++;
float S1 = z_at_pt[0],
S2 = sq(z_at_pt[0]);
int16_t N = 1;
if (!_1p_calibration) // std dev from zero plane
for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
S1 += z_at_pt[axis];