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Merge pull request #4781 from thinkyhead/rc_final_z_correction
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Use simplified Z correction in G29 when possible
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@thinkyhead
thinkyhead authored Sep 16, 2016
2 parents 5021500 + 57564ae commit d41eeb6
Showing 1 changed file with 46 additions and 36 deletions.
82 changes: 46 additions & 36 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3397,6 +3397,8 @@ inline void gcode_G28() {

bed_leveling_in_progress = true;

float xProbe, yProbe, measured_z = 0;

#if ENABLED(AUTO_BED_LEVELING_GRID)

// probe at the points of a lattice grid
Expand Down Expand Up @@ -3434,8 +3436,8 @@ inline void gcode_G28() {
bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]

for (uint8_t yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
float yBase = front_probe_bed_position + yGridSpacing * yCount,
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
float yBase = front_probe_bed_position + yGridSpacing * yCount;
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
int8_t xStart, xStop, xInc;

if (zig) {
Expand All @@ -3452,8 +3454,8 @@ inline void gcode_G28() {
zig = !zig;

for (int8_t xCount = xStart; xCount != xStop; xCount += xInc) {
float xBase = left_probe_bed_position + xGridSpacing * xCount,
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
float xBase = left_probe_bed_position + xGridSpacing * xCount;
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));

#if ENABLED(DELTA)
// Avoid probing outside the round or hexagonal area of a delta printer
Expand Down Expand Up @@ -3497,12 +3499,12 @@ inline void gcode_G28() {
vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
};

for (uint8_t i = 0; i < 3; ++i)
points[i].z = probe_pt(
LOGICAL_X_POSITION(points[i].x),
LOGICAL_Y_POSITION(points[i].y),
stow_probe_after_each, verbose_level
);
for (uint8_t i = 0; i < 3; ++i) {
// Retain the last probe position
xProbe = LOGICAL_X_POSITION(points[i].x);
yProbe = LOGICAL_Y_POSITION(points[i].y);
measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
}

if (!dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
Expand Down Expand Up @@ -3635,42 +3637,50 @@ inline void gcode_G28() {
// Correct the current XYZ position based on the tilted plane.
//

// Get the distance from the reference point to the current position
// The current XY is in sync with the planner/steppers at this point
// but the current Z is only known to the steppers.
// 1. Get the distance from the current position to the reference point.
float x_dist = RAW_CURRENT_POSITION(X_AXIS) - X_TILT_FULCRUM,
y_dist = RAW_CURRENT_POSITION(Y_AXIS) - Y_TILT_FULCRUM,
z_real = RAW_Z_POSITION(stepper.get_axis_position_mm(Z_AXIS));
z_real = RAW_CURRENT_POSITION(Z_AXIS),
z_zero = 0;

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("BEFORE ROTATION ... x_dist:", x_dist);
SERIAL_ECHOPAIR("y_dist:", y_dist);
SERIAL_ECHOPAIR("z_real:", z_real);
}
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
#endif

// Apply the matrix to the distance from the reference point to XY,
// and from the homed Z to the current Z.
apply_rotation_xyz(planner.bed_level_matrix, x_dist, y_dist, z_real);
matrix_3x3 inverse = matrix_3x3::transpose(planner.bed_level_matrix);

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("AFTER ROTATION ... x_dist:", x_dist);
SERIAL_ECHOPAIR("y_dist:", y_dist);
SERIAL_ECHOPAIR("z_real:", z_real);
}
#endif
// 2. Apply the inverse matrix to the distance
// from the reference point to X, Y, and zero.
apply_rotation_xyz(inverse, x_dist, y_dist, z_zero);

// 3. Get the matrix-based corrected Z.
// (Even if not used, get it for comparison.)
float new_z = z_real + z_zero;

// 4. Use the last measured distance to the bed, if possible
if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
&& NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
) {
float simple_z = z_real - (measured_z - (-zprobe_zoffset));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Z from Probe:", simple_z);
SERIAL_ECHOPAIR(" Matrix:", new_z);
SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - new_z);
}
#endif
new_z = simple_z;
}

// Apply the rotated distance and Z to the current position
current_position[X_AXIS] = LOGICAL_X_POSITION(X_TILT_FULCRUM + x_dist);
current_position[Y_AXIS] = LOGICAL_Y_POSITION(Y_TILT_FULCRUM + y_dist);
current_position[Z_AXIS] = LOGICAL_Z_POSITION(z_real);
// 5. The rotated XY and corrected Z are now current_position
current_position[X_AXIS] = LOGICAL_X_POSITION(x_dist) + X_TILT_FULCRUM;
current_position[Y_AXIS] = LOGICAL_Y_POSITION(y_dist) + Y_TILT_FULCRUM;
current_position[Z_AXIS] = LOGICAL_Z_POSITION(new_z);

SYNC_PLAN_POSITION_KINEMATIC();

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected XYZ in G29", current_position);
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
#endif
}

Expand Down Expand Up @@ -7962,8 +7972,8 @@ void set_current_from_steppers_for_axis(AxisEnum axis) {
LOOP_XYZE(i) difference[i] = target[i] - current_position[i];

float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
if (cartesian_mm < 0.000001) return false;
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
if (UNEAR_ZERO(cartesian_mm)) return false;
float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
float seconds = cartesian_mm / _feedrate_mm_s;
int steps = max(1, int(delta_segments_per_second * seconds));
Expand Down

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