Merge branch 'ProbeDeployment' into Development

Marlin/Marlin_main.cpp

@@ -1296,32 +1296,73 @@ static void setup_for_endstop_move() {
       }
 
     #elif defined(Z_PROBE_ALLEN_KEY)
+      feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
 
-      feedrate = homing_feedrate[X_AXIS];
+      // If endstop is already false, the probe is deployed
+      #ifdef Z_PROBE_ENDSTOP
+        bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
+        if (z_probe_endstop)
+      #else
+        bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+        if (z_min_endstop)
+      #endif
+        {
 
-      // Move to the start position to initiate deployment
-      destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
-      destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
-      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
-      prepare_move_raw(); // this will also set_current_to_destination
+          // Move to the start position to initiate deployment
+          destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X;
+          destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y;
+          destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z;
+          prepare_move_raw(); // this will also set_current_to_destination
 
-      // Home X to touch the belt
-      feedrate = homing_feedrate[X_AXIS]/10;
-      destination[X_AXIS] = 0;
-      prepare_move_raw(); // this will also set_current_to_destination
-      
-      // Home Y for safety
-      feedrate = homing_feedrate[X_AXIS]/2;
-      destination[Y_AXIS] = 0;
+          // Move to engage deployment
+          if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE) {
+            feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE;
+          }
+          if (Z_PROBE_ALLEN_KEY_DEPLOY_2_X != Z_PROBE_ALLEN_KEY_DEPLOY_1_X) {
+            destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_X;
+          }
+          if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Y != Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) {
+            destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y;
+          }
+          if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Z != Z_PROBE_ALLEN_KEY_DEPLOY_1_Z) {
+            destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Z;
+          }
+          prepare_move_raw();
+
+          #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
+            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE) {
+              feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
+            }
+
+            // Move to trigger deployment
+            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE) {
+              feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
+            }
+            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_X != Z_PROBE_ALLEN_KEY_DEPLOY_2_X) {
+              destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_X;
+            }
+            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Y != Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) {
+              destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Y;
+            }
+            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Z != Z_PROBE_ALLEN_KEY_DEPLOY_2_Z) {
+              destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Z;
+            }
+            prepare_move_raw();
+          #endif
+      }
+
+      // Partially Home X,Y for safety
+      destination[X_AXIS] = destination[X_AXIS]*0.75;
+      destination[Y_AXIS] = destination[Y_AXIS]*0.75;
       prepare_move_raw(); // this will also set_current_to_destination
-      
+
       st_synchronize();
 
       #ifdef Z_PROBE_ENDSTOP
-        bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
+        z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
         if (z_probe_endstop)
       #else
-        bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+        z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
         if (z_min_endstop)
       #endif
         {
@@ -1366,25 +1407,41 @@ static void setup_for_endstop_move() {
     #elif defined(Z_PROBE_ALLEN_KEY)
 
       // Move up for safety
-      feedrate = homing_feedrate[X_AXIS];
+      feedrate = Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE;
       destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
       prepare_move_raw(); // this will also set_current_to_destination
 
       // Move to the start position to initiate retraction
-      destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_X;
-      destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Y;
-      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Z;
-      prepare_move_raw(); // this will also set_current_to_destination
+      destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_X;
+      destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Y;
+      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Z;
+      prepare_move_raw();
 
       // Move the nozzle down to push the probe into retracted position
-      feedrate = homing_feedrate[Z_AXIS]/10;
-      destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_STOW_DEPTH;
-      prepare_move_raw(); // this will also set_current_to_destination
+      if (Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE) {
+        feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
+      }
+      if (Z_PROBE_ALLEN_KEY_STOW_2_X != Z_PROBE_ALLEN_KEY_STOW_1_X) {
+        destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_X;
+      }
+      if (Z_PROBE_ALLEN_KEY_STOW_2_Y != Z_PROBE_ALLEN_KEY_STOW_1_Y) {
+        destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Y;
+      }
+      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z;
+      prepare_move_raw();
       
       // Move up for safety
-      feedrate = homing_feedrate[Z_AXIS]/2;
-      destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_STOW_DEPTH * 2;
-      prepare_move_raw(); // this will also set_current_to_destination
+      if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE) {
+        feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
+      }
+      if (Z_PROBE_ALLEN_KEY_STOW_3_X != Z_PROBE_ALLEN_KEY_STOW_2_X) {
+        destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_X;
+      }
+      if (Z_PROBE_ALLEN_KEY_STOW_3_Y != Z_PROBE_ALLEN_KEY_STOW_2_Y) {
+        destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Y;
+      }
+      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z;
+      prepare_move_raw();
       
       // Home XY for safety
       feedrate = homing_feedrate[X_AXIS]/2;

Marlin/example_configurations/delta/kossel_mini/Configuration.h

@@ -401,8 +401,8 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
   const bool FIL_RUNOUT_INVERTING = true;  // Should be uncommented and true or false should assigned
   #define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.
   #define FILAMENT_RUNOUT_SCRIPT "M600"
-#endif 
-  
+#endif
+
 //===========================================================================
 //=========================== Manual Bed Leveling ===========================
 //===========================================================================
@@ -454,10 +454,10 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 
     #define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS
     #define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
-    #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS  
+    #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS
     #define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
 
-    #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this      
+    #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
 
     // Non-linear bed leveling will be used.
     // Compensate by interpolating between the nearest four Z probe values for each point.
@@ -495,7 +495,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 
 //   #define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10" //These commands will be executed in the end of G29 routine.
                                                                             //Useful to retract a deployable probe.
-                                                                           
+
   //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
   //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
 
@@ -507,16 +507,36 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
   // Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
   #define Z_PROBE_ALLEN_KEY
   #ifdef Z_PROBE_ALLEN_KEY
-    #define Z_PROBE_ALLEN_KEY_DEPLOY_X 30
-    #define Z_PROBE_ALLEN_KEY_DEPLOY_Y DELTA_PRINTABLE_RADIUS
-    #define Z_PROBE_ALLEN_KEY_DEPLOY_Z 100
-    
-    #define Z_PROBE_ALLEN_KEY_STOW_X     -64
-    #define Z_PROBE_ALLEN_KEY_STOW_Y     56
-    #define Z_PROBE_ALLEN_KEY_STOW_Z     23
+
+    // Kossel Mini
+    #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X 30.0
+    #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y DELTA_PRINTABLE_RADIUS
+    #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z 100.0
+    #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_TRAVEL_SPEED
+    #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X 0.0
+    #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y DELTA_PRINTABLE_RADIUS
+    #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
+    #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_TRAVEL_SPEED/10)
+
     #define Z_PROBE_ALLEN_KEY_STOW_DEPTH 20
+    // Move the probe into position
+    #define Z_PROBE_ALLEN_KEY_STOW_1_X -64.0
+    #define Z_PROBE_ALLEN_KEY_STOW_1_Y 56.0
+    #define Z_PROBE_ALLEN_KEY_STOW_1_Z 23.0
+    #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_TRAVEL_SPEED
+    // Move the nozzle down further to push the probe into retracted position.
+    #define Z_PROBE_ALLEN_KEY_STOW_2_X  Z_PROBE_ALLEN_KEY_STOW_1_X
+    #define Z_PROBE_ALLEN_KEY_STOW_2_Y  Z_PROBE_ALLEN_KEY_STOW_1_Y
+    #define Z_PROBE_ALLEN_KEY_STOW_2_Z  (Z_PROBE_ALLEN_KEY_STOW_1_Z-Z_PROBE_ALLEN_KEY_STOW_DEPTH)
+    #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_TRAVEL_SPEED/10)
+    // Raise things back up slightly so we don't bump into anything
+    #define Z_PROBE_ALLEN_KEY_STOW_3_X  Z_PROBE_ALLEN_KEY_STOW_2_X
+    #define Z_PROBE_ALLEN_KEY_STOW_3_Y  Z_PROBE_ALLEN_KEY_STOW_2_Y
+    #define Z_PROBE_ALLEN_KEY_STOW_3_Z  (Z_PROBE_ALLEN_KEY_STOW_1_Z+Z_PROBE_ALLEN_KEY_STOW_DEPTH)
+    #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE (XY_TRAVEL_SPEED/2)
+
   #endif
-  
+
   //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
   //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
   // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.