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Add Z_SERVO_INTERMEDIATE_STOW and measuring angle for servo probe #21427

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merged 13 commits into from
Mar 9, 2023
Merged

Add Z_SERVO_INTERMEDIATE_STOW and measuring angle for servo probe #21427

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407d2e0
Add Z_SERVO_INTERMEDIATE_STOW qnd measuring angle for servo probe
Mar 16, 2021
5c3826f
Merge remote-tracking branch 'upstream/bugfix-2.0.x' into pr/21427
thinkyhead Mar 24, 2021
135c2de
Add Z_SERVO_INTERMEDIATE_STOW and measuring angle for servo probe
Mar 16, 2021
1f6aeff
Merge remote-tracking branch 'remotes/quintux/feature/tri-state-servo…
Mar 24, 2021
c4d2c9d
Update G29.cpp
thinkyhead Mar 31, 2021
30d36ef
Update probe.cpp
thinkyhead Mar 31, 2021
bb7e5ce
Update probe.cpp
thinkyhead Mar 31, 2021
22db90e
Merge branch 'bugfix-2.0.x' into pr/21427
thinkyhead Jan 25, 2022
45c071b
Merge 'bugfix-2.0.x' into pr/21427
thinkyhead Apr 20, 2022
735e406
fix Z_SERVO_MEASURE_ANGLE
thinkyhead Apr 20, 2022
77b81f7
Merge branch 'bugfix-2.0.x' into pr/21427
thinkyhead Apr 24, 2022
1be5564
Merge branch 'bugfix-2.1.x' into pr/21427
thinkyhead Mar 8, 2023
8092cf1
adjust
thinkyhead Mar 9, 2023
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6 changes: 4 additions & 2 deletions Marlin/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1388,8 +1388,10 @@
/**
* Z Servo Probe, such as an endstop switch on a rotating arm.
*/
//#define Z_PROBE_SERVO_NR 0 // Defaults to SERVO 0 connector.
//#define Z_SERVO_ANGLES { 70, 0 } // Z Servo Deploy and Stow angles
//#define Z_PROBE_SERVO_NR 0 // Defaults to SERVO 0 connector.
//#define Z_SERVO_ANGLES { 70, 0 } // Z Servo Deploy and Stow angles
//#define Z_SERVO_MEASURE_ANGLE 45 // Use if the servo must move to a "free" position for measuring after deploy.
//#define Z_SERVO_INTERMEDIATE_STOW // Stow the probe between points.

/**
* The BLTouch probe uses a Hall effect sensor and emulates a servo.
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2 changes: 1 addition & 1 deletion Marlin/src/gcode/bedlevel/abl/G29.cpp
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Expand Up @@ -491,7 +491,7 @@ G29_TYPE GcodeSuite::G29() {
if (!no_action) set_bed_leveling_enabled(false);

// Deploy certain probes before starting probing
#if ENABLED(BLTOUCH)
#if ENABLED(BLTOUCH) || BOTH(HAS_Z_SERVO_PROBE, Z_SERVO_INTERMEDIATE_STOW)
do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE);
#elif HAS_BED_PROBE
if (probe.deploy()) { // (returns true on deploy failure)
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14 changes: 14 additions & 0 deletions Marlin/src/module/probe.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -405,6 +405,11 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {

servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]);

#ifdef Z_SERVO_MEASURE_ANGLE
// After deploy move back to the measure angle...
if (deploy) MOVE_SERVO(Z_PROBE_SERVO_NR, Z_SERVO_MEASURE_ANGLE);
#endif

#elif ANY(TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY, MAG_MOUNTED_PROBE)

deploy ? run_deploy_moves() : run_stow_moves();
Expand Down Expand Up @@ -582,11 +587,16 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
#if BOTH(HAS_TEMP_HOTEND, WAIT_FOR_HOTEND)
thermalManager.wait_for_hotend_heating(active_extruder);
#endif

#if ENABLED(BLTOUCH)
if (!bltouch.high_speed_mode && bltouch.deploy())
return true; // Deploy in LOW SPEED MODE on every probe action
#endif

#if HAS_Z_SERVO_PROBE && (ENABLED(Z_SERVO_INTERMEDIATE_STOW) || defined(Z_SERVO_MEASURE_ANGLE))
probe_specific_action(true); // Always re-deploy in this case
#endif

// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_PROBING)
sensorless_t stealth_states { false };
Expand Down Expand Up @@ -636,6 +646,10 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
return true; // Stow in LOW SPEED MODE on every trigger
#endif

#if BOTH(HAS_Z_SERVO_PROBE, Z_SERVO_INTERMEDIATE_STOW)
probe_specific_action(false); // Always stow
#endif

// Clear endstop flags
endstops.hit_on_purpose();

Expand Down