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🧑‍💻 Modify try_to_probe sanity-checking

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This commit is contained in:
Scott Lahteine
2023-04-11 17:54:02 -05:00
parent 8c0ae93d2a
commit c599c939c1
1 changed files with 18 additions and 15 deletions
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33
Marlin/src/module/probe.cpp
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@@ -702,6 +702,10 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
* @details Used by probe_at_point to get the bed Z height at the current XY. * @details Used by probe_at_point to get the bed Z height at the current XY.
* Leaves current_position.z at the height where the probe triggered. * Leaves current_position.z at the height where the probe triggered.
* *
* @param sanity_check Flag to compare the probe result with the expected result
* based on the probe Z offset. If the result is too far away
* (more than 2mm too early) then consider it an error.
*
* @return The Z position of the bed at the current XY or NAN on error. * @return The Z position of the bed at the current XY or NAN on error.
*/ */
float Probe::run_z_probe(const bool sanity_check/*=true*/) { float Probe::run_z_probe(const bool sanity_check/*=true*/) {
@@ -709,22 +713,24 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
const float zoffs = SUM_TERN(HAS_HOTEND_OFFSET, -offset.z, hotend_offset[active_extruder].z); const float zoffs = SUM_TERN(HAS_HOTEND_OFFSET, -offset.z, hotend_offset[active_extruder].z);
auto try_to_probe = [&](PGM_P const plbl, const_float_t z_probe_low_point, const feedRate_t fr_mm_s, const bool scheck, const float clearance) -> bool { auto try_to_probe = [&](PGM_P const plbl, const_float_t z_probe_low_point, const feedRate_t fr_mm_s, const bool scheck) -> bool {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("try_to_probe(..., ", z_probe_low_point, ", ", fr_mm_s, ", ", scheck, ", ", clearance); constexpr float error_tolerance = 2.0f;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPGM_P(plbl);
DEBUG_ECHOLNPGM("> try_to_probe(..., ", z_probe_low_point, ", ", fr_mm_s, ", ...)");
}
// Tare the probe, if supported // Tare the probe, if supported
if (TERN0(PROBE_TARE, tare())) return true; if (TERN0(PROBE_TARE, tare())) return true;
// Do a first probe at the fast speed // Do a first probe at the fast speed
const bool probe_fail = probe_down_to_z(z_probe_low_point, fr_mm_s), // No probe trigger? const bool probe_fail = probe_down_to_z(z_probe_low_point, fr_mm_s), // No probe trigger?
early_fail = (scheck && current_position.z > zoffs + clearance); // Probe triggered too high? early_fail = (scheck && current_position.z > zoffs + error_tolerance); // Probe triggered too high?
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING) && (probe_fail || early_fail)) { if (DEBUGGING(LEVELING) && (probe_fail || early_fail)) {
DEBUG_ECHOPGM_P(plbl); DEBUG_ECHOPGM(" Probe fail! - ");
DEBUG_ECHOPGM(" Probe fail! -"); if (probe_fail) DEBUG_ECHOLNPGM("No trigger.");
if (probe_fail) DEBUG_ECHOPGM(" No trigger."); if (early_fail) DEBUG_ECHOLNPGM("Triggered early (above ", zoffs + error_tolerance, "mm)");
if (early_fail) DEBUG_ECHOPGM(" Triggered early.");
DEBUG_EOL();
} }
#else #else
UNUSED(plbl); UNUSED(plbl);
@@ -733,7 +739,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
}; };
// Stop the probe before it goes too low to prevent damage. // Stop the probe before it goes too low to prevent damage.
// If Z isn't known then probe to -10mm. // For known Z probe below the expected trigger point, otherwise -10mm.
const float z_probe_low_point = axis_is_trusted(Z_AXIS) ? zoffs + Z_PROBE_LOW_POINT : -10.0f; const float z_probe_low_point = axis_is_trusted(Z_AXIS) ? zoffs + Z_PROBE_LOW_POINT : -10.0f;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Probe Low Point: ", z_probe_low_point); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Probe Low Point: ", z_probe_low_point);
@@ -745,9 +751,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
if (TERN0(PROBE_TARE, tare())) return NAN; if (TERN0(PROBE_TARE, tare())) return NAN;
// Do a first probe at the fast speed // Do a first probe at the fast speed
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Fast Probe:"); if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s, sanity_check)) return NAN;
if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s,
sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN;
const float z1 = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj); const float z1 = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", z1); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", z1);
@@ -787,8 +791,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
// Probe downward slowly to find the bed // Probe downward slowly to find the bed
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Slow Probe:"); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Slow Probe:");
if (try_to_probe(PSTR("SLOW"), z_probe_low_point, MMM_TO_MMS(Z_PROBE_FEEDRATE_SLOW), if (try_to_probe(PSTR("SLOW"), z_probe_low_point, MMM_TO_MMS(Z_PROBE_FEEDRATE_SLOW), sanity_check)) return NAN;
sanity_check, Z_CLEARANCE_MULTI_PROBE) ) return NAN;
TERN_(MEASURE_BACKLASH_WHEN_PROBING, backlash.measure_with_probe()); TERN_(MEASURE_BACKLASH_WHEN_PROBING, backlash.measure_with_probe());