Move G38 to cpp

2017-09-15 23:44:29 -05:00
parent b8adae0785
commit 84ddae56a8
4 changed files with 15 additions and 9 deletions
--- a/Marlin/src/gcode/probe/G38.cpp
+++ b/Marlin/src/gcode/probe/G38.cpp
@@ -0,0 +1,121 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(G38_PROBE_TARGET)
+
+#include "../gcode.h"
+
+#include "../../module/endstops.h"
+#include "../../module/motion.h"
+#include "../../module/stepper.h"
+#include "../../module/probe.h"
+
+static bool G38_run_probe() {
+
+  bool G38_pass_fail = false;
+
+  #if ENABLED(PROBE_DOUBLE_TOUCH)
+    // Get direction of move and retract
+    float retract_mm[XYZ];
+    LOOP_XYZ(i) {
+      float dist = destination[i] - current_position[i];
+      retract_mm[i] = FABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
+    }
+  #endif
+
+  stepper.synchronize();  // wait until the machine is idle
+
+  // Move until destination reached or target hit
+  endstops.enable(true);
+  G38_move = true;
+  G38_endstop_hit = false;
+  prepare_move_to_destination();
+  stepper.synchronize();
+  G38_move = false;
+
+  endstops.hit_on_purpose();
+  set_current_from_steppers_for_axis(ALL_AXES);
+  SYNC_PLAN_POSITION_KINEMATIC();
+
+  if (G38_endstop_hit) {
+
+    G38_pass_fail = true;
+
+    #if ENABLED(PROBE_DOUBLE_TOUCH)
+      // Move away by the retract distance
+      set_destination_to_current();
+      LOOP_XYZ(i) destination[i] += retract_mm[i];
+      endstops.enable(false);
+      prepare_move_to_destination();
+      stepper.synchronize();
+
+      feedrate_mm_s /= 4;
+
+      // Bump the target more slowly
+      LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
+
+      endstops.enable(true);
+      G38_move = true;
+      prepare_move_to_destination();
+      stepper.synchronize();
+      G38_move = false;
+
+      set_current_from_steppers_for_axis(ALL_AXES);
+      SYNC_PLAN_POSITION_KINEMATIC();
+    #endif
+  }
+
+  endstops.hit_on_purpose();
+  endstops.not_homing();
+  return G38_pass_fail;
+}
+
+/**
+ * G38.2 - probe toward workpiece, stop on contact, signal error if failure
+ * G38.3 - probe toward workpiece, stop on contact
+ *
+ * Like G28 except uses Z min probe for all axes
+ */
+void GcodeSuite::G38(const bool is_38_2) {
+  // Get X Y Z E F
+  get_destination_from_command();
+
+  setup_for_endstop_or_probe_move();
+
+  // If any axis has enough movement, do the move
+  LOOP_XYZ(i)
+    if (FABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
+      if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
+      // If G38.2 fails throw an error
+      if (!G38_run_probe() && is_38_2) {
+        SERIAL_ERROR_START();
+        SERIAL_ERRORLNPGM("Failed to reach target");
+      }
+      break;
+    }
+
+  clean_up_after_endstop_or_probe_move();
+}
+
+#endif // G38_PROBE_TARGET