Merge pull request #1586 from maverikou/delta_auto_bed_level

Delta auto bed level (Updated PR)

.travis.yml

@@ -140,8 +140,12 @@ script:
   - rm -rf .build/
   - ino build -m mega2560
   ######## Example Configurations ##############
-  # Delta Config
-  - cp Marlin/example_configurations/delta/Configuration* Marlin/
+  # Delta Config (generic)
+  - cp Marlin/example_configurations/delta/generic/Configuration* Marlin/
+  - rm -rf .build/
+  - ino build -m mega2560
+  # Delta Config (Mini Kossel)
+  - cp Marlin/example_configurations/delta/kossel_mini/Configuration* Marlin/
   - rm -rf .build/
   - ino build -m mega2560
   # Makibox Config  need to check board type for Teensy++ 2.0

Marlin/Configuration.h

@@ -443,6 +443,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
   #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
   #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
 
 //   #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.

Marlin/Marlin.h

@@ -192,12 +192,18 @@ void ClearToSend();
 void get_coordinates();
 #ifdef DELTA
 void calculate_delta(float cartesian[3]);
+  #ifdef ENABLE_AUTO_BED_LEVELING
+  extern int delta_grid_spacing[2];
+  void adjust_delta(float cartesian[3]);
+  #endif
 extern float delta[3];
+void prepare_move_raw();
 #endif
 #ifdef SCARA
 void calculate_delta(float cartesian[3]);
 void calculate_SCARA_forward_Transform(float f_scara[3]);
 #endif
+void reset_bed_level();
 void prepare_move();
 void kill();
 void Stop();

Marlin/Marlin_main.cpp

@@ -350,6 +350,9 @@ int fanSpeed = 0;
   float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
   float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
   float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
+  #ifdef ENABLE_AUTO_BED_LEVELING
+    float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
+  #endif
 #endif
 
 #ifdef SCARA
@@ -1077,6 +1080,8 @@ static void axis_is_at_home(int axis) {
 
 #ifdef ENABLE_AUTO_BED_LEVELING
 #ifdef AUTO_BED_LEVELING_GRID
+
+#ifndef DELTA
 static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
 {
     vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
@@ -1099,6 +1104,7 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
 
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 }
+#endif
 
 #else // not AUTO_BED_LEVELING_GRID
 
@@ -1132,6 +1138,27 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
 #endif // AUTO_BED_LEVELING_GRID
 
 static void run_z_probe() {
+  #ifdef DELTA
+    
+    float start_z = current_position[Z_AXIS];
+    long start_steps = st_get_position(Z_AXIS);
+  
+    // move down slowly until you find the bed
+    feedrate = homing_feedrate[Z_AXIS] / 4;
+    destination[Z_AXIS] = -10;
+    prepare_move_raw();
+    st_synchronize();
+    endstops_hit_on_purpose();
+    
+    // we have to let the planner know where we are right now as it is not where we said to go.
+    long stop_steps = st_get_position(Z_AXIS);
+    float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
+    current_position[Z_AXIS] = mm;
+    calculate_delta(current_position);
+    plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+    
+  #else
+
     plan_bed_level_matrix.set_to_identity();
     feedrate = homing_feedrate[Z_AXIS];
 
@@ -1169,11 +1196,25 @@ static void run_z_probe() {
     current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
     // make sure the planner knows where we are as it may be a bit different than we last said to move to
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    
+  #endif
 }
 
 static void do_blocking_move_to(float x, float y, float z) {
     float oldFeedRate = feedrate;
 
+#ifdef DELTA
+
+    feedrate = XY_TRAVEL_SPEED;
+    
+    destination[X_AXIS] = x;
+    destination[Y_AXIS] = y;
+    destination[Z_AXIS] = z;
+    prepare_move_raw();
+    st_synchronize();
+
+#else
+
     feedrate = homing_feedrate[Z_AXIS];
 
     current_position[Z_AXIS] = z;
@@ -1187,6 +1228,8 @@ static void do_blocking_move_to(float x, float y, float z) {
     plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
 
+#endif
+
     feedrate = oldFeedRate;
 }
 
@@ -1226,7 +1269,40 @@ static void engage_z_probe() {
         servos[servo_endstops[Z_AXIS]].detach();
       #endif
     }
+  #elif defined(Z_PROBE_ALLEN_KEY)
+    feedrate = homing_feedrate[X_AXIS];
+    
+    // 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();
+
+    // Home X to touch the belt
+    feedrate = homing_feedrate[X_AXIS]/10;
+    destination[X_AXIS] = 0;
+    prepare_move_raw();
+    
+    // Home Y for safety
+    feedrate = homing_feedrate[X_AXIS]/2;
+    destination[Y_AXIS] = 0;
+    prepare_move_raw();
+    
+    st_synchronize();
+    
+    bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+    if (z_min_endstop)
+    {
+        if (!Stopped)
+        {
+            SERIAL_ERROR_START;
+            SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
+            LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+        }
+        Stop();
+    }
   #endif
+
 }
 
 static void retract_z_probe() {
@@ -1242,7 +1318,49 @@ static void retract_z_probe() {
         servos[servo_endstops[Z_AXIS]].detach();
       #endif
     }
+  #elif defined(Z_PROBE_ALLEN_KEY)
+    // Move up for safety
+    feedrate = homing_feedrate[X_AXIS];
+    destination[Z_AXIS] = current_position[Z_AXIS] + 20;
+    prepare_move_raw();
+
+    // Move to the start position to initiate retraction
+    destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
+    destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
+    destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_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_RETRACT_DEPTH;
+    prepare_move_raw();
+    
+    // Move up for safety
+    feedrate = homing_feedrate[Z_AXIS]/2;
+    destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
+    prepare_move_raw();
+    
+    // Home XY for safety
+    feedrate = homing_feedrate[X_AXIS]/2;
+    destination[X_AXIS] = 0;
+    destination[Y_AXIS] = 0;
+    prepare_move_raw();
+    
+    st_synchronize();
+    
+    bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+    if (!z_min_endstop)
+    {
+        if (!Stopped)
+        {
+            SERIAL_ERROR_START;
+            SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
+            LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+        }
+        Stop();
+    }
   #endif
+
 }
 
 enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract };
@@ -1253,14 +1371,14 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
   do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
   do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
 
-  #ifndef Z_PROBE_SLED
+  #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
     if (retract_action & ProbeEngage) engage_z_probe();
   #endif
 
   run_z_probe();
   float measured_z = current_position[Z_AXIS];
 
-  #ifndef Z_PROBE_SLED
+  #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
     if (retract_action & ProbeRetract) retract_z_probe();
   #endif
 
@@ -1277,6 +1395,62 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
   return measured_z;
 }
 
+#ifdef DELTA
+static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
+  if (bed_level[x][y] != 0.0) {
+    return;  // Don't overwrite good values.
+  }
+  float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y];  // Left to right.
+  float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2];  // Front to back.
+  float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2];  // Diagonal.
+  float median = c;  // Median is robust (ignores outliers).
+  if (a < b) {
+    if (b < c) median = b;
+    if (c < a) median = a;
+  } else {  // b <= a
+    if (c < b) median = b;
+    if (a < c) median = a;
+  }
+  bed_level[x][y] = median;
+}
+
+// Fill in the unprobed points (corners of circular print surface)
+// using linear extrapolation, away from the center.
+static void extrapolate_unprobed_bed_level() {
+  int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
+  for (int y = 0; y <= half; y++) {
+    for (int x = 0; x <= half; x++) {
+      if (x + y < 3) continue;
+      extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0);
+      extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0);
+      extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0);
+      extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
+    }
+  }
+}
+
+// Print calibration results for plotting or manual frame adjustment.
+static void print_bed_level() {
+  for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
+    for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
+      SERIAL_PROTOCOL_F(bed_level[x][y], 2);
+      SERIAL_PROTOCOLPGM(" ");
+    }
+    SERIAL_ECHOLN("");
+  }
+}
+
+// Reset calibration results to zero.
+void reset_bed_level() {
+  for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
+    for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
+      bed_level[x][y] = 0.0;
+    }
+  }
+}
+
+#endif // DELTA
+
 #endif // ENABLE_AUTO_BED_LEVELING
 
 static void homeaxis(int axis) {
@@ -1559,7 +1733,11 @@ inline void gcode_G4() {
  */
 inline void gcode_G28() {
   #ifdef ENABLE_AUTO_BED_LEVELING
-    plan_bed_level_matrix.set_to_identity();  //Reset the plane ("erase" all leveling data)
+    #ifdef DELTA
+      reset_bed_level();
+    #else
+      plan_bed_level_matrix.set_to_identity();  //Reset the plane ("erase" all leveling data)
+    #endif
   #endif
 
   saved_feedrate = feedrate;
@@ -1831,6 +2009,7 @@ inline void gcode_G28() {
    * Parameters With AUTO_BED_LEVELING_GRID:
    *
    *  P  Set the size of the grid that will be probed (P x P points).
+   *     Not supported by non-linear delta printer bed leveling.
    *     Example: "G29 P4"
    *
    *  S  Set the XY travel speed between probe points (in mm/min)
@@ -1840,6 +2019,7 @@ inline void gcode_G28() {
    *  T  Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
    *     This is useful for manual bed leveling and finding flaws in the bed (to
    *     assist with part placement).
+   *     Not supported by non-linear delta printer bed leveling.
    *
    *  F  Set the Front limit of the probing grid
    *  B  Set the Back limit of the probing grid
@@ -1879,16 +2059,21 @@ inline void gcode_G28() {
 
     #ifdef AUTO_BED_LEVELING_GRID
 
+    #ifndef DELTA
       bool topo_flag = verbose_level > 2 || code_seen('T') || code_seen('t');
+    #endif
 
       if (verbose_level > 0)
         SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
 
-      int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : AUTO_BED_LEVELING_GRID_POINTS;
-      if (auto_bed_leveling_grid_points < 2) {
-        SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
-        return;
-      }
+      int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
+      #ifndef DELTA
+        if (code_seen('P')) auto_bed_leveling_grid_points = code_value_long();
+        if (auto_bed_leveling_grid_points < 2) {
+          SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
+          return;
+        }
+      #endif
 
       xy_travel_speed = code_seen('S') ? code_value_long() : XY_TRAVEL_SPEED;
 
@@ -1930,20 +2115,27 @@ inline void gcode_G28() {
 
     #ifdef Z_PROBE_SLED
       dock_sled(false); // engage (un-dock) the probe
+    #elif not defined(SERVO_ENDSTOPS)
+      engage_z_probe();
     #endif
 
     st_synchronize();
 
+  #ifdef DELTA
+    reset_bed_level();
+  #else
     // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
     //vector_3 corrected_position = plan_get_position_mm();
     //corrected_position.debug("position before G29");
     plan_bed_level_matrix.set_to_identity();
     vector_3 uncorrected_position = plan_get_position();
-    //uncorrected_position.debug("position durring G29");
+    //uncorrected_position.debug("position during G29");
     current_position[X_AXIS] = uncorrected_position.x;
     current_position[Y_AXIS] = uncorrected_position.y;
     current_position[Z_AXIS] = uncorrected_position.z;
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+  #endif
+
     setup_for_endstop_move();
 
     feedrate = homing_feedrate[Z_AXIS];
@@ -1951,9 +2143,10 @@ inline void gcode_G28() {
     #ifdef AUTO_BED_LEVELING_GRID
 
       // probe at the points of a lattice grid
-      int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
-      int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
+      const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
+      const int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
 
+    #ifndef DELTA
       // solve the plane equation ax + by + d = z
       // A is the matrix with rows [x y 1] for all the probed points
       // B is the vector of the Z positions
@@ -1966,26 +2159,60 @@ inline void gcode_G28() {
              eqnBVector[abl2],     // "B" vector of Z points
              mean = 0.0;
 
+    #else
+      delta_grid_spacing[0] = xGridSpacing;
+      delta_grid_spacing[1] = yGridSpacing;
+
+      float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
+      if (code_seen(axis_codes[Z_AXIS])) {
+        z_offset += code_value();
+      }
+    #endif
+
       int probePointCounter = 0;
       bool zig = true;
 
-      for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) {
-        int xProbe, xInc;
+      for (int yCount=0; yCount < auto_bed_leveling_grid_points; yCount++)
+      {
+        double yProbe = front_probe_bed_position + yGridSpacing * yCount;
+        int xStart, xStop, xInc;
 
         if (zig)
-          xProbe = left_probe_bed_position, xInc = xGridSpacing;
+        {
+          xStart = 0;
+          xStop = auto_bed_leveling_grid_points;
+          xInc = 1;
+          zig = false;
+        }
         else
-          xProbe = right_probe_bed_position, xInc = -xGridSpacing;
+        {
+          xStart = auto_bed_leveling_grid_points - 1;
+          xStop = -1;
+          xInc = -1;
+          zig = true;
+        }
 
+      #ifndef DELTA
         // If topo_flag is set then don't zig-zag. Just scan in one direction.
         // This gets the probe points in more readable order.
         if (!topo_flag) zig = !zig;
+      #endif
+
+        for (int xCount=xStart; xCount != xStop; xCount += xInc)
+        {
+          double xProbe = left_probe_bed_position + xGridSpacing * xCount;
 
-        for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) {
           // raise extruder
           float measured_z,
                 z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
 
+        #ifdef DELTA
+          // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
+          float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
+          if (distance_from_center > DELTA_PROBABLE_RADIUS)
+            continue;
+        #endif //DELTA
+
           // Enhanced G29 - Do not retract servo between probes
           ProbeAction act;
           if (enhanced_g29) {
@@ -2001,22 +2228,24 @@ inline void gcode_G28() {
 
           measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
 
+        #ifndef DELTA
           mean += measured_z;
 
           eqnBVector[probePointCounter] = measured_z;
           eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
           eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
           eqnAMatrix[probePointCounter + 2 * abl2] = 1;
+        #else
+          bed_level[xCount][yCount] = measured_z + z_offset;
+        #endif
 
           probePointCounter++;
-          xProbe += xInc;
-
         } //xProbe
-
       } //yProbe
 
       clean_up_after_endstop_move();
 
+    #ifndef DELTA
       // solve lsq problem
       double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
 
@@ -2084,6 +2313,10 @@ inline void gcode_G28() {
 
       set_bed_level_equation_lsq(plane_equation_coefficients);
       free(plane_equation_coefficients);
+    #else
+      extrapolate_unprobed_bed_level();
+      print_bed_level();
+    #endif
 
     #else // !AUTO_BED_LEVELING_GRID
 
@@ -2106,8 +2339,10 @@ inline void gcode_G28() {
 
     #endif // !AUTO_BED_LEVELING_GRID
 
+    do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
     st_synchronize();
 
+  #ifndef DELTA
     if (verbose_level > 0)
       plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
 
@@ -2122,15 +2357,18 @@ inline void gcode_G28() {
     apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);         //Apply the correction sending the probe offset
     current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS];   //The difference is added to current position and sent to planner.
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+  #endif
 
-    #ifdef Z_PROBE_SLED
-      dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
-    #endif
+  #ifdef Z_PROBE_SLED
+    dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
+  #elif not defined(SERVO_ENDSTOPS)
+    retract_z_probe();
+  #endif
     
-    #ifdef Z_PROBE_END_SCRIPT
-      enquecommands_P(PSTR(Z_PROBE_END_SCRIPT));
-      st_synchronize();
-    #endif
+  #ifdef Z_PROBE_END_SCRIPT
+    enquecommands_P(PSTR(Z_PROBE_END_SCRIPT));
+    st_synchronize();
+  #endif
   }
 
   #ifndef Z_PROBE_SLED
@@ -3899,7 +4137,7 @@ inline void gcode_M303() {
  */
 inline void gcode_M400() { st_synchronize(); }
 
-#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
+#if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
 
   /**
    * M401: Engage Z Servo endstop if available
@@ -4761,7 +4999,7 @@ void process_commands() {
         gcode_M400();
         break;
 
-      #if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
+      #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
         case 401:
           gcode_M401();
           break;
@@ -4979,7 +5217,64 @@ void calculate_delta(float cartesian[3])
   SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
   */
 }
-#endif
+
+#ifdef ENABLE_AUTO_BED_LEVELING
+// Adjust print surface height by linear interpolation over the bed_level array.
+int delta_grid_spacing[2] = { 0, 0 };
+void adjust_delta(float cartesian[3])
+{
+  if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0)
+    return; // G29 not done
+
+  int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
+  float grid_x = max(0.001-half, min(half-0.001, cartesian[X_AXIS] / delta_grid_spacing[0]));
+  float grid_y = max(0.001-half, min(half-0.001, cartesian[Y_AXIS] / delta_grid_spacing[1]));
+  int floor_x = floor(grid_x);
+  int floor_y = floor(grid_y);
+  float ratio_x = grid_x - floor_x;
+  float ratio_y = grid_y - floor_y;
+  float z1 = bed_level[floor_x+half][floor_y+half];
+  float z2 = bed_level[floor_x+half][floor_y+half+1];
+  float z3 = bed_level[floor_x+half+1][floor_y+half];
+  float z4 = bed_level[floor_x+half+1][floor_y+half+1];
+  float left = (1-ratio_y)*z1 + ratio_y*z2;
+  float right = (1-ratio_y)*z3 + ratio_y*z4;
+  float offset = (1-ratio_x)*left + ratio_x*right;
+
+  delta[X_AXIS] += offset;
+  delta[Y_AXIS] += offset;
+  delta[Z_AXIS] += offset;
+
+  /*
+  SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
+  SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
+  SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
+  SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
+  SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
+  SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
+  SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
+  SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
+  SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
+  SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
+  SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
+  SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
+  SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
+  */
+}
+#endif //ENABLE_AUTO_BED_LEVELING
+
+void prepare_move_raw()
+{
+  previous_millis_cmd = millis();
+  calculate_delta(destination);
+  plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
+                   destination[E_AXIS], feedrate*feedmultiply/60/100.0,
+                   active_extruder);
+  for(int8_t i=0; i < NUM_AXIS; i++) {
+    current_position[i] = destination[i];
+  }
+}
+#endif //DELTA
 
 void prepare_move()
 {

Marlin/example_configurations/Hephestos/Configuration.h

@@ -453,6 +453,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
   #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
 
   //#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.

Marlin/example_configurations/K8200/Configuration.h

@@ -458,6 +458,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
   #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
 
   //#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.

Marlin/example_configurations/SCARA/Configuration.h

@@ -482,6 +482,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
   #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
 
   //#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.

Marlin/example_configurations/WITBOX/Configuration.h

@@ -452,6 +452,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
   #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
 
   //#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.

Marlin/example_configurations/delta/Configuration.h → Marlin/example_configurations/delta/generic/Configuration.h

@@ -110,6 +110,9 @@ Here are some standard links for getting your machine calibrated:
 // Effective horizontal distance bridged by diagonal push rods.
 #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
 
+// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+#define DELTA_PRINTABLE_RADIUS 90
+
 
 //===========================================================================
 //============================= Thermal Settings ============================
@@ -361,8 +364,7 @@ const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
 const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
 //#define DISABLE_MAX_ENDSTOPS
-// Deltas never have min endstops
-#define DISABLE_MIN_ENDSTOPS
+#define DISABLE_MIN_ENDSTOPS // Deltas only use min endstops for probing
 
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
@@ -413,8 +415,80 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //============================= Bed Auto Leveling ===========================
 //===========================================================================
 
-//Bed Auto Leveling is still not compatible with Delta Kinematics
+//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
+// Z-Probe Repeatability test is not supported in Deltas yet.
+
+#ifdef ENABLE_AUTO_BED_LEVELING
+
+  // Deltas only support grid mode
+  #define AUTO_BED_LEVELING_GRID
+
+  #define DELTA_PROBABLE_RADIUS (DELTA_PRINTABLE_RADIUS - 10)
+  #define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS
+  #define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
+  #define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
+  #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS   
+
+  // Non-linear bed leveling will be used.
+  // Compensate by interpolating between the nearest four Z probe values for each point.
+  // Useful for deltas where the print surface may appear like a bowl or dome shape.
+  // Works best with ACCURATE_BED_LEVELING_POINTS 5 or higher.
+  #define AUTO_BED_LEVELING_GRID_POINTS 9
+
+  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
+  // X and Y offsets must be integers
+  #define X_PROBE_OFFSET_FROM_EXTRUDER 0     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -10   // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -3.5  // -below (always!)
+
+  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
+                                        // Be sure you have this distance over your Z_MAX_POS in case
+
+  #define XY_TRAVEL_SPEED 4000         // X and Y axis travel speed between probes, in mm/min
+
+  #define Z_RAISE_BEFORE_PROBING 15   //How much the extruder will be raised before traveling to the first probing point.
+  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+  #define Z_RAISE_AFTER_PROBING 50    //How much the extruder will be raised after the last probing point.
+  
+  // Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
+  // 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_RETRACT_X     -64
+    #define Z_PROBE_ALLEN_KEY_RETRACT_Y     56
+    #define Z_PROBE_ALLEN_KEY_RETRACT_Z     23
+    #define Z_PROBE_ALLEN_KEY_RETRACT_DEPTH 20
+  #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.
+
+//  #define PROBE_SERVO_DEACTIVATION_DELAY 300
+
+
+//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
+//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
+
+  #define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
+                          // When defined, it will:
+                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
+                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing
+                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
+                          // - Block Z homing only when the probe is outside bed area.
+
+  #ifdef Z_SAFE_HOMING
+
+    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
+    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)
+
+  #endif
 
+#endif // ENABLE_AUTO_BED_LEVELING
 
 
 

Marlin/example_configurations/delta/Configuration_adv.h → Marlin/example_configurations/delta/generic/Configuration_adv.h

@@ -456,9 +456,27 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 //===========================================================================
 
 #if defined (ENABLE_AUTO_BED_LEVELING) && defined (DELTA)
-  #error "Bed Auto Leveling is still not compatible with Delta Kinematics."
+
+  #if not defined(AUTO_BED_LEVELING_GRID)
+    #error "Only Grid Bed Auto Leveling is supported on Deltas."
+  #endif
+  
+  #if defined(Z_PROBE_SLED)
+    #error "You cannot use Z_PROBE_SLED together with DELTA."
+  #endif
+
+  #if defined(Z_PROBE_REPEATABILITY_TEST)
+    #error "Z-probe repeatability test is not supported on Deltas yet."
+  #endif
+
 #endif  
 
+#if defined(Z_PROBE_ALLEN_KEY)
+  #if !defined(AUTO_BED_LEVELING_GRID) || !defined(DELTA)
+    #error "Invalid use of Z_PROBE_ALLEN_KEY."
+  #endif
+#endif
+
 #if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
   #error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
 #endif

Marlin/example_configurations/delta/kossel_mini/Configuration.h

@@ -0,0 +1,877 @@
+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
+
+#include "boards.h"
+
+//===========================================================================
+//============================= Getting Started =============================
+//===========================================================================
+/*
+Here are some standard links for getting your machine calibrated:
+ * http://reprap.org/wiki/Calibration
+ * http://youtu.be/wAL9d7FgInk
+ * http://calculator.josefprusa.cz
+ * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
+ * http://www.thingiverse.com/thing:5573
+ * https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
+ * http://www.thingiverse.com/thing:298812
+*/
+
+// This configuration file contains the basic settings.
+// Advanced settings can be found in Configuration_adv.h
+// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
+
+//===========================================================================
+//============================= DELTA Printer ===============================
+//===========================================================================
+// For a Delta printer replace the configuration files with the files in the
+// example_configurations/delta directory.
+//
+
+//===========================================================================
+//============================= SCARA Printer ===============================
+//===========================================================================
+// For a Delta printer replace the configuration files with the files in the
+// example_configurations/SCARA directory.
+//
+
+// User-specified version info of this build to display in [Pronterface, etc] terminal window during
+// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
+// build by the user have been successfully uploaded into firmware.
+#define STRING_VERSION "1.0.2"
+#define STRING_URL "reprap.org"
+#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
+#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
+#define STRING_SPLASH_LINE1 "v" STRING_VERSION // will be shown during bootup in line 1
+//#define STRING_SPLASH_LINE2 STRING_VERSION_CONFIG_H // will be shown during bootup in line2
+
+// SERIAL_PORT selects which serial port should be used for communication with the host.
+// This allows the connection of wireless adapters (for instance) to non-default port pins.
+// Serial port 0 is still used by the Arduino bootloader regardless of this setting.
+#define SERIAL_PORT 0
+
+// This determines the communication speed of the printer
+#define BAUDRATE 250000
+
+// This enables the serial port associated to the Bluetooth interface
+//#define BTENABLED              // Enable BT interface on AT90USB devices
+
+// The following define selects which electronics board you have.
+// Please choose the name from boards.h that matches your setup
+#ifndef MOTHERBOARD
+  #define MOTHERBOARD BOARD_RAMPS_13_EFB
+#endif
+
+// Define this to set a custom name for your generic Mendel,
+#define CUSTOM_MENDEL_NAME "Mini Kossel"
+
+// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
+// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
+// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
+
+// This defines the number of extruders
+#define EXTRUDERS 1
+
+//// The following define selects which power supply you have. Please choose the one that matches your setup
+// 1 = ATX
+// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
+
+#define POWER_SUPPLY 1
+
+// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
+// #define PS_DEFAULT_OFF
+
+
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+// Enable DELTA kinematics and most of the default configuration for Deltas
+#define DELTA
+
+// Make delta curves from many straight lines (linear interpolation).
+// This is a trade-off between visible corners (not enough segments)
+// and processor overload (too many expensive sqrt calls).
+#define DELTA_SEGMENTS_PER_SECOND 200
+
+// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
+// Center-to-center distance of the holes in the diagonal push rods.
+#define DELTA_DIAGONAL_ROD 215.0 // mm
+
+// Horizontal offset from middle of printer to smooth rod center.
+#define DELTA_SMOOTH_ROD_OFFSET 145.0 // mm
+
+// Horizontal offset of the universal joints on the end effector.
+#define DELTA_EFFECTOR_OFFSET 19.9 // mm
+
+// Horizontal offset of the universal joints on the carriages.
+#define DELTA_CARRIAGE_OFFSET 19.5 // mm
+
+
+// Horizontal distance bridged by diagonal push rods when effector is centered.
+#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
+
+// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+#define DELTA_PRINTABLE_RADIUS 90
+
+
+//===========================================================================
+//============================= Thermal Settings ============================
+//===========================================================================
+//
+//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
+//
+//// Temperature sensor settings:
+// -2 is thermocouple with MAX6675 (only for sensor 0)
+// -1 is thermocouple with AD595
+// 0 is not used
+// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
+// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
+// 3 is Mendel-parts thermistor (4.7k pullup)
+// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
+// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
+// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
+// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
+// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
+// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
+// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
+// 10 is 100k RS thermistor 198-961 (4.7k pullup)
+// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
+// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
+// 13 is 100k Hisens 3950  1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE" 
+// 20 is the PT100 circuit found in the Ultimainboard V2.x
+// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
+//
+//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
+//                          (but gives greater accuracy and more stable PID)
+// 51 is 100k thermistor - EPCOS (1k pullup)
+// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
+// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
+//
+// 1047 is Pt1000 with 4k7 pullup
+// 1010 is Pt1000 with 1k pullup (non standard)
+// 147 is Pt100 with 4k7 pullup
+// 110 is Pt100 with 1k pullup (non standard)
+// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
+//     Use it for Testing or Development purposes. NEVER for production machine.
+//     #define DUMMY_THERMISTOR_998_VALUE 25
+//     #define DUMMY_THERMISTOR_999_VALUE 100
+
+#define TEMP_SENSOR_0 7
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 0
+#define TEMP_SENSOR_BED 11
+
+// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
+//#define TEMP_SENSOR_1_AS_REDUNDANT
+#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 5
+
+// Actual temperature must be close to target for this long before M109 returns success
+#define TEMP_RESIDENCY_TIME 10  // (seconds)
+#define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
+#define TEMP_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.
+
+// The minimal temperature defines the temperature below which the heater will not be enabled It is used
+// to check that the wiring to the thermistor is not broken.
+// Otherwise this would lead to the heater being powered on all the time.
+#define HEATER_0_MINTEMP 5
+#define HEATER_1_MINTEMP 5
+#define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
+#define BED_MINTEMP 5
+
+// When temperature exceeds max temp, your heater will be switched off.
+// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
+// You should use MINTEMP for thermistor short/failure protection.
+#define HEATER_0_MAXTEMP 275
+#define HEATER_1_MAXTEMP 275
+#define HEATER_2_MAXTEMP 275
+#define HEATER_3_MAXTEMP 275
+#define BED_MAXTEMP 150
+
+// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
+// average current. The value should be an integer and the heat bed will be turned on for 1 interval of
+// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
+//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4
+
+// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS
+//#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R
+//#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R
+
+//===========================================================================
+//============================= PID Settings ================================
+//===========================================================================
+// PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning
+
+// Comment the following line to disable PID and enable bang-bang.
+#define PIDTEMP
+#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
+#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
+#ifdef PIDTEMP
+  //#define PID_DEBUG // Sends debug data to the serial port.
+  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
+  //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
+  //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
+                                    // Set/get with gcode: M301 E[extruder number, 0-2]
+  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
+                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
+  #define PID_INTEGRAL_DRIVE_MAX PID_MAX  //limit for the integral term
+  #define K1 0.95 //smoothing factor within the PID
+  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
+
+// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
+// Ultimaker
+    #define  DEFAULT_Kp 22.2
+    #define  DEFAULT_Ki 1.08
+    #define  DEFAULT_Kd 114
+
+// MakerGear
+//    #define  DEFAULT_Kp 7.0
+//    #define  DEFAULT_Ki 0.1
+//    #define  DEFAULT_Kd 12
+
+// Mendel Parts V9 on 12V
+//    #define  DEFAULT_Kp 63.0
+//    #define  DEFAULT_Ki 2.25
+//    #define  DEFAULT_Kd 440
+#endif // PIDTEMP
+
+//===========================================================================
+//============================= PID > Bed Temperature Control ===============
+//===========================================================================
+// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
+//
+// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
+// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
+// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you probably
+// shouldn't use bed PID until someone else verifies your hardware works.
+// If this is enabled, find your own PID constants below.
+//#define PIDTEMPBED
+//
+//#define BED_LIMIT_SWITCHING
+
+// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
+// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
+// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
+// so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
+#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
+
+#ifdef PIDTEMPBED
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
+    #define  DEFAULT_bedKp 10.00
+    #define  DEFAULT_bedKi .023
+    #define  DEFAULT_bedKd 305.4
+
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from pidautotune
+//    #define  DEFAULT_bedKp 97.1
+//    #define  DEFAULT_bedKi 1.41
+//    #define  DEFAULT_bedKd 1675.16
+
+// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
+#endif // PIDTEMPBED
+
+
+//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
+//can be software-disabled for whatever purposes by
+#define PREVENT_DANGEROUS_EXTRUDE
+//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
+#define PREVENT_LENGTHY_EXTRUDE
+
+#define EXTRUDE_MINTEMP 170
+#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
+
+//===========================================================================
+//============================= Thermal Runaway Protection ==================
+//===========================================================================
+/*
+This is a feature to protect your printer from burn up in flames if it has
+a thermistor coming off place (this happened to a friend of mine recently and
+motivated me writing this feature).
+
+The issue: If a thermistor come off, it will read a lower temperature than actual.
+The system will turn the heater on forever, burning up the filament and anything
+else around.
+
+After the temperature reaches the target for the first time, this feature will 
+start measuring for how long the current temperature stays below the target 
+minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS).
+
+If it stays longer than _PERIOD, it means the thermistor temperature
+cannot catch up with the target, so something *may be* wrong. Then, to be on the
+safe side, the system will he halt.
+
+Bear in mind the count down will just start AFTER the first time the 
+thermistor temperature is over the target, so you will have no problem if
+your extruder heater takes 2 minutes to hit the target on heating.
+
+*/
+// If you want to enable this feature for all your extruder heaters,
+// uncomment the 2 defines below:
+
+// Parameters for all extruder heaters
+//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds
+//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius
+
+// If you want to enable this feature for your bed heater,
+// uncomment the 2 defines below:
+
+// Parameters for the bed heater
+//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds
+//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius
+
+
+//===========================================================================
+//============================= Mechanical Settings =========================
+//===========================================================================
+
+// Uncomment this option to enable CoreXY kinematics
+// #define COREXY
+
+// Enable this option for Toshiba steppers
+// #define CONFIG_STEPPERS_TOSHIBA
+
+// coarse Endstop Settings
+#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
+
+#ifndef ENDSTOPPULLUPS
+  // fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
+  // #define ENDSTOPPULLUP_XMAX
+  // #define ENDSTOPPULLUP_YMAX
+  // #define ENDSTOPPULLUP_ZMAX
+  // #define ENDSTOPPULLUP_XMIN
+  // #define ENDSTOPPULLUP_YMIN
+  // #define ENDSTOPPULLUP_ZMIN
+#endif
+
+#ifdef ENDSTOPPULLUPS
+  #define ENDSTOPPULLUP_XMAX
+  #define ENDSTOPPULLUP_YMAX
+  #define ENDSTOPPULLUP_ZMAX
+  #define ENDSTOPPULLUP_XMIN
+  #define ENDSTOPPULLUP_YMIN
+  #define ENDSTOPPULLUP_ZMIN
+#endif
+
+// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
+const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool X_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Y_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+//#define DISABLE_MAX_ENDSTOPS
+//#define DISABLE_MIN_ENDSTOPS // Deltas only use min endstops for probing
+
+// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
+#define X_ENABLE_ON 0
+#define Y_ENABLE_ON 0
+#define Z_ENABLE_ON 0
+#define E_ENABLE_ON 0 // For all extruders
+
+// Disables axis when it's not being used.
+#define DISABLE_X false
+#define DISABLE_Y false
+#define DISABLE_Z false
+#define DISABLE_E false // For all extruders
+#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
+
+#define INVERT_X_DIR false // DELTA does not invert
+#define INVERT_Y_DIR false
+#define INVERT_Z_DIR false
+
+#define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+
+// ENDSTOP SETTINGS:
+// Sets direction of endstops when homing; 1=MAX, -1=MIN
+// deltas always home to max
+#define X_HOME_DIR 1
+#define Y_HOME_DIR 1
+#define Z_HOME_DIR 1
+
+#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.
+
+// Travel limits after homing (units are in mm)
+#define X_MAX_POS DELTA_PRINTABLE_RADIUS
+#define X_MIN_POS -DELTA_PRINTABLE_RADIUS
+#define Y_MAX_POS DELTA_PRINTABLE_RADIUS
+#define Y_MIN_POS -DELTA_PRINTABLE_RADIUS
+#define Z_MAX_POS MANUAL_Z_HOME_POS
+#define Z_MIN_POS 0
+
+#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
+#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
+#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
+
+
+//===========================================================================
+//============================= Bed Auto Leveling ===========================
+//===========================================================================
+
+#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
+// Z-Probe Repeatability test is not supported in Deltas yet.
+
+#ifdef ENABLE_AUTO_BED_LEVELING
+
+  // Deltas only support grid mode
+  #define AUTO_BED_LEVELING_GRID
+
+  #define DELTA_PROBABLE_RADIUS (DELTA_PRINTABLE_RADIUS - 10)
+  #define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS
+  #define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
+  #define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
+  #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS  
+
+  #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.
+  // Useful for deltas where the print surface may appear like a bowl or dome shape.
+  // Works best with ACCURATE_BED_LEVELING_POINTS 5 or higher.
+  #define AUTO_BED_LEVELING_GRID_POINTS 9
+
+  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
+  // X and Y offsets must be integers
+  #define X_PROBE_OFFSET_FROM_EXTRUDER 0     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -10   // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -3.5  // -below (always!)
+
+  #define Z_RAISE_BEFORE_HOMING 15      // (in mm) Raise Z before homing (G28) for Probe Clearance.
+                                        // Be sure you have this distance over your Z_MAX_POS in case
+
+  #define XY_TRAVEL_SPEED 4000         // X and Y axis travel speed between probes, in mm/min
+
+  #define Z_RAISE_BEFORE_PROBING 15   //How much the extruder will be raised before traveling to the first probing point.
+  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+  #define Z_RAISE_AFTER_PROBING 50    //How much the extruder will be raised after the last probing point.
+  
+  // Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
+  // 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_RETRACT_X     -64
+    #define Z_PROBE_ALLEN_KEY_RETRACT_Y     56
+    #define Z_PROBE_ALLEN_KEY_RETRACT_Z     23
+    #define Z_PROBE_ALLEN_KEY_RETRACT_DEPTH 20
+  #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.
+
+//  #define PROBE_SERVO_DEACTIVATION_DELAY 300
+
+
+//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
+//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
+
+  #define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
+                          // When defined, it will:
+                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
+                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing
+                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
+                          // - Block Z homing only when the probe is outside bed area.
+
+  #ifdef Z_SAFE_HOMING
+
+    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
+    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)
+
+  #endif
+
+#endif // ENABLE_AUTO_BED_LEVELING
+
+
+
+// The position of the homing switches
+#define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used
+#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)
+
+//Manual homing switch locations:
+// For deltabots this means top and center of the Cartesian print volume.
+#define MANUAL_X_HOME_POS 0
+#define MANUAL_Y_HOME_POS 0
+#define MANUAL_Z_HOME_POS 250 // For delta: Distance between nozzle and print surface after homing.
+
+//// MOVEMENT SETTINGS
+#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
+
+// delta homing speeds must be the same on xyz
+#define HOMING_FEEDRATE {200*60, 200*60, 200*60, 0}  // set the homing speeds (mm/min)
+
+// default settings
+// delta speeds must be the same on xyz
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {80, 80, 80, 760*1.1}  // default steps per unit for Kossel (GT2, 20 tooth)
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 500, 25}    // (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {9000,9000,9000,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
+
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
+
+// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
+// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
+// For the other hotends it is their distance from the extruder 0 hotend.
+// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
+// #define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis
+
+// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
+#define DEFAULT_XYJERK                20.0    // (mm/sec)
+#define DEFAULT_ZJERK                 20.0    // (mm/sec) Must be same as XY for delta
+#define DEFAULT_EJERK                 5.0    // (mm/sec)
+
+
+//=============================================================================
+//============================= Additional Features ===========================
+//=============================================================================
+
+// Custom M code points
+#define CUSTOM_M_CODES
+#ifdef CUSTOM_M_CODES
+  #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+  #define Z_PROBE_OFFSET_RANGE_MIN -15
+  #define Z_PROBE_OFFSET_RANGE_MAX -5
+#endif
+
+
+// EEPROM
+// The microcontroller can store settings in the EEPROM, e.g. max velocity...
+// M500 - stores parameters in EEPROM
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
+// M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
+//define this to enable EEPROM support
+//#define EEPROM_SETTINGS
+//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
+// please keep turned on if you can.
+//#define EEPROM_CHITCHAT
+
+// Preheat Constants
+#define PLA_PREHEAT_HOTEND_TEMP 180
+#define PLA_PREHEAT_HPB_TEMP 70
+#define PLA_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
+
+#define ABS_PREHEAT_HOTEND_TEMP 240
+#define ABS_PREHEAT_HPB_TEMP 100
+#define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
+
+//==============================LCD and SD support=============================
+
+// Define your display language below. Replace (en) with your language code and uncomment.
+// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
+// See also language.h
+//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
+
+// Character based displays can have different extended charsets.
+#define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
+//#define DISPLAY_CHARSET_HD44780_WESTERN // "ÄäÖöÜüß²³°" if you see a '~' instead of a 'arrow_right' at the right of submenuitems - this is the right one.
+
+//#define ULTRA_LCD  //general LCD support, also 16x2
+//#define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+//#define SDSUPPORT // Enable SD Card Support in Hardware Console
+//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
+//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
+//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
+//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
+//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+//#define ULTIPANEL  //the UltiPanel as on Thingiverse
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
+
+// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
+// http://reprap.org/wiki/PanelOne
+#define PANEL_ONE
+
+// The MaKr3d Makr-Panel with graphic controller and SD support
+// http://reprap.org/wiki/MaKr3d_MaKrPanel
+//#define MAKRPANEL
+
+// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
+// http://panucatt.com
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define VIKI2
+//#define miniVIKI
+
+// The RepRapDiscount Smart Controller (white PCB)
+// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
+//#define REPRAP_DISCOUNT_SMART_CONTROLLER
+
+// The GADGETS3D G3D LCD/SD Controller (blue PCB)
+// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
+//#define G3D_PANEL
+
+// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)
+// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
+//
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
+
+// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
+// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
+//#define REPRAPWORLD_KEYPAD
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
+
+// The Elefu RA Board Control Panel
+// http://www.elefu.com/index.php?route=product/product&product_id=53
+// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
+//#define RA_CONTROL_PANEL
+
+// Delta calibration menu
+// uncomment to add three points calibration menu option.
+// See http://minow.blogspot.com/index.html#4918805519571907051
+// If needed, adjust the X, Y, Z calibration coordinates
+// in ultralcd.cpp@lcd_delta_calibrate_menu()
+// #define DELTA_CALIBRATION_MENU
+
+//automatic expansion
+#if defined (MAKRPANEL)
+ #define DOGLCD
+ #define SDSUPPORT
+ #define ULTIPANEL
+ #define NEWPANEL
+ #define DEFAULT_LCD_CONTRAST 17
+#endif
+
+#if defined(miniVIKI) || defined(VIKI2)
+ #define ULTRA_LCD  //general LCD support, also 16x2
+ #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+ #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+ 
+  #ifdef miniVIKI
+   #define DEFAULT_LCD_CONTRAST 95
+  #else
+   #define DEFAULT_LCD_CONTRAST 40
+  #endif
+  
+ #define ENCODER_PULSES_PER_STEP 4
+ #define ENCODER_STEPS_PER_MENU_ITEM 1
+#endif
+
+#if defined (PANEL_ONE)
+ #define SDSUPPORT
+ #define ULTIMAKERCONTROLLER
+#endif
+
+#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
+ #define DOGLCD
+ #define U8GLIB_ST7920
+ #define REPRAP_DISCOUNT_SMART_CONTROLLER
+#endif
+
+#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
+ #define ULTIPANEL
+ #define NEWPANEL
+#endif
+
+#if defined(REPRAPWORLD_KEYPAD)
+  #define NEWPANEL
+  #define ULTIPANEL
+#endif
+#if defined(RA_CONTROL_PANEL)
+ #define ULTIPANEL
+ #define NEWPANEL
+ #define LCD_I2C_TYPE_PCA8574
+ #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
+#endif
+
+//I2C PANELS
+
+//#define LCD_I2C_SAINSMART_YWROBOT
+#ifdef LCD_I2C_SAINSMART_YWROBOT
+  // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
+  // Make sure it is placed in the Arduino libraries directory.
+  #define LCD_I2C_TYPE_PCF8575
+  #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
+  #define NEWPANEL
+  #define ULTIPANEL
+#endif
+
+// PANELOLU2 LCD with status LEDs, separate encoder and click inputs
+//#define LCD_I2C_PANELOLU2
+#ifdef LCD_I2C_PANELOLU2
+  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
+  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
+  // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
+  // Note: The PANELOLU2 encoder click input can either be directly connected to a pin
+  //       (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
+  #define LCD_I2C_TYPE_MCP23017
+  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
+  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
+  #define NEWPANEL
+  #define ULTIPANEL
+
+  #ifndef ENCODER_PULSES_PER_STEP
+	#define ENCODER_PULSES_PER_STEP 4
+  #endif
+
+  #ifndef ENCODER_STEPS_PER_MENU_ITEM
+	#define ENCODER_STEPS_PER_MENU_ITEM 1
+  #endif
+
+
+  #ifdef LCD_USE_I2C_BUZZER
+	#define LCD_FEEDBACK_FREQUENCY_HZ 1000
+	#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100
+  #endif
+
+#endif
+
+// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
+//#define LCD_I2C_VIKI
+#ifdef LCD_I2C_VIKI
+  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
+  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
+  // Note: The pause/stop/resume LCD button pin should be connected to the Arduino
+  //       BTN_ENC pin (or set BTN_ENC to -1 if not used)
+  #define LCD_I2C_TYPE_MCP23017
+  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
+  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
+  #define NEWPANEL
+  #define ULTIPANEL
+#endif
+
+// Shift register panels
+// ---------------------
+// 2 wire Non-latching LCD SR from:
+// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection 
+
+//#define SAV_3DLCD
+#ifdef SAV_3DLCD
+   #define SR_LCD_2W_NL    // Non latching 2 wire shiftregister
+   #define NEWPANEL
+   #define ULTIPANEL
+#endif
+
+
+#ifdef ULTIPANEL
+//  #define NEWPANEL  //enable this if you have a click-encoder panel
+  #define SDSUPPORT
+  #define ULTRA_LCD
+  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
+    #define LCD_WIDTH 22
+    #define LCD_HEIGHT 5
+  #else
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 4
+  #endif
+#else //no panel but just LCD
+  #ifdef ULTRA_LCD
+  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
+    #define LCD_WIDTH 22
+    #define LCD_HEIGHT 5
+  #else
+    #define LCD_WIDTH 16
+    #define LCD_HEIGHT 2
+  #endif
+  #endif
+#endif
+
+// default LCD contrast for dogm-like LCD displays
+#ifdef DOGLCD
+# ifndef DEFAULT_LCD_CONTRAST
+#  define DEFAULT_LCD_CONTRAST 32
+# endif
+#endif
+
+// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
+//#define FAST_PWM_FAN
+
+// Temperature status LEDs that display the hotend and bet temperature.
+// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
+// Otherwise the RED led is on. There is 1C hysteresis.
+//#define TEMP_STAT_LEDS
+
+// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
+// which is not ass annoying as with the hardware PWM. On the other hand, if this frequency
+// is too low, you should also increment SOFT_PWM_SCALE.
+//#define FAN_SOFT_PWM
+
+// Incrementing this by 1 will double the software PWM frequency,
+// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
+// However, control resolution will be halved for each increment;
+// at zero value, there are 128 effective control positions.
+#define SOFT_PWM_SCALE 0
+
+// M240  Triggers a camera by emulating a Canon RC-1 Remote
+// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
+// #define PHOTOGRAPH_PIN     23
+
+// SF send wrong arc g-codes when using Arc Point as fillet procedure
+//#define SF_ARC_FIX
+
+// Support for the BariCUDA Paste Extruder.
+//#define BARICUDA
+
+//define BlinkM/CyzRgb Support
+//#define BLINKM
+
+/*********************************************************************\
+* R/C SERVO support
+* Sponsored by TrinityLabs, Reworked by codexmas
+**********************************************************************/
+
+// Number of servos
+//
+// If you select a configuration below, this will receive a default value and does not need to be set manually
+// set it manually if you have more servos than extruders and wish to manually control some
+// leaving it undefined or defining as 0 will disable the servo subsystem
+// If unsure, leave commented / disabled
+//
+//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
+
+// Servo Endstops
+//
+// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
+// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+//
+//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
+//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+
+/**********************************************************************\
+ * Support for a filament diameter sensor
+ * Also allows adjustment of diameter at print time (vs  at slicing)
+ * Single extruder only at this point (extruder 0)
+ * 
+ * Motherboards
+ * 34 - RAMPS1.4 - uses Analog input 5 on the AUX2 connector 
+ * 81 - Printrboard - Uses Analog input 2 on the Exp1 connector (version B,C,D,E)
+ * 301 - Rambo  - uses Analog input 3
+ * Note may require analog pins to be defined for different motherboards
+ **********************************************************************/
+// Uncomment below to enable
+//#define FILAMENT_SENSOR
+
+#define FILAMENT_SENSOR_EXTRUDER_NUM	0  //The number of the extruder that has the filament sensor (0,1,2)
+#define MEASUREMENT_DELAY_CM			14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel
+
+#define DEFAULT_NOMINAL_FILAMENT_DIA  3.0  //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software.  Used for sensor reading validation
+#define MEASURED_UPPER_LIMIT          3.30  //upper limit factor used for sensor reading validation in mm
+#define MEASURED_LOWER_LIMIT          1.90  //lower limit factor for sensor reading validation in mm
+#define MAX_MEASUREMENT_DELAY			20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)
+
+//defines used in the code
+#define DEFAULT_MEASURED_FILAMENT_DIA  DEFAULT_NOMINAL_FILAMENT_DIA  //set measured to nominal initially 
+
+//When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status.  Status will appear for 5 sec.
+//#define FILAMENT_LCD_DISPLAY
+
+
+
+
+
+
+#include "Configuration_adv.h"
+#include "thermistortables.h"
+
+#endif //__CONFIGURATION_H

Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h

@@ -0,0 +1,547 @@
+#ifndef CONFIGURATION_ADV_H
+#define CONFIGURATION_ADV_H
+
+//===========================================================================
+//=============================Thermal Settings  ============================
+//===========================================================================
+
+#ifdef BED_LIMIT_SWITCHING
+  #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
+#endif
+#define BED_CHECK_INTERVAL 5000 //ms between checks in bang-bang control
+
+//// Heating sanity check:
+// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
+// If the temperature has not increased at the end of that period, the target temperature is set to zero. 
+// It can be reset with another M104/M109. This check is also only triggered if the target temperature and the current temperature
+//  differ by at least 2x WATCH_TEMP_INCREASE
+//#define WATCH_TEMP_PERIOD 40000 //40 seconds
+//#define WATCH_TEMP_INCREASE 10  //Heat up at least 10 degree in 20 seconds
+
+#ifdef PIDTEMP
+  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
+  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
+  #define PID_ADD_EXTRUSION_RATE  
+  #ifdef PID_ADD_EXTRUSION_RATE
+    #define  DEFAULT_Kc (1) //heatingpower=Kc*(e_speed)
+  #endif
+#endif
+
+
+//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
+//The maximum buffered steps/sec of the extruder motor are called "se".
+//You enter the autotemp mode by a M109 S<mintemp> T<maxtemp> F<factor>
+// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
+// you exit the value by any M109 without F*
+// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
+// on an ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
+#define AUTOTEMP
+#ifdef AUTOTEMP
+  #define AUTOTEMP_OLDWEIGHT 0.98
+#endif
+
+//Show Temperature ADC value
+//The M105 command return, besides traditional information, the ADC value read from temperature sensors.
+//#define SHOW_TEMP_ADC_VALUES
+
+//  extruder run-out prevention. 
+//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+//#define EXTRUDER_RUNOUT_PREVENT  
+#define EXTRUDER_RUNOUT_MINTEMP 190  
+#define EXTRUDER_RUNOUT_SECONDS 30.
+#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
+#define EXTRUDER_RUNOUT_SPEED 1500.  //extrusion speed
+#define EXTRUDER_RUNOUT_EXTRUDE 100
+
+//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
+//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
+#define TEMP_SENSOR_AD595_OFFSET 0.0
+#define TEMP_SENSOR_AD595_GAIN   1.0
+
+//This is for controlling a fan to cool down the stepper drivers
+//it will turn on when any driver is enabled
+//and turn off after the set amount of seconds from last driver being disabled again
+#define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable)
+#define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run
+#define CONTROLLERFAN_SPEED 255  // == full speed
+
+// When first starting the main fan, run it at full speed for the
+// given number of milliseconds.  This gets the fan spinning reliably
+// before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
+//#define FAN_KICKSTART_TIME 100
+
+// Extruder cooling fans
+// Configure fan pin outputs to automatically turn on/off when the associated
+// extruder temperature is above/below EXTRUDER_AUTO_FAN_TEMPERATURE.
+// Multiple extruders can be assigned to the same pin in which case 
+// the fan will turn on when any selected extruder is above the threshold.
+#define EXTRUDER_0_AUTO_FAN_PIN   -1
+#define EXTRUDER_1_AUTO_FAN_PIN   -1
+#define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_3_AUTO_FAN_PIN   -1
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+
+//===========================================================================
+//=============================Mechanical Settings===========================
+//===========================================================================
+
+#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+
+
+//// AUTOSET LOCATIONS OF LIMIT SWITCHES
+//// Added by ZetaPhoenix 09-15-2012
+#ifdef MANUAL_HOME_POSITIONS  // Use manual limit switch locations
+  #define X_HOME_POS MANUAL_X_HOME_POS
+  #define Y_HOME_POS MANUAL_Y_HOME_POS
+  #define Z_HOME_POS MANUAL_Z_HOME_POS
+#else //Set min/max homing switch positions based upon homing direction and min/max travel limits
+  //X axis
+  #if X_HOME_DIR == -1
+    #ifdef BED_CENTER_AT_0_0
+      #define X_HOME_POS X_MAX_LENGTH * -0.5
+    #else
+      #define X_HOME_POS X_MIN_POS
+    #endif //BED_CENTER_AT_0_0
+  #else    
+    #ifdef BED_CENTER_AT_0_0
+      #define X_HOME_POS X_MAX_LENGTH * 0.5
+    #else
+      #define X_HOME_POS X_MAX_POS
+    #endif //BED_CENTER_AT_0_0
+  #endif //X_HOME_DIR == -1
+  
+  //Y axis
+  #if Y_HOME_DIR == -1
+    #ifdef BED_CENTER_AT_0_0
+      #define Y_HOME_POS Y_MAX_LENGTH * -0.5
+    #else
+      #define Y_HOME_POS Y_MIN_POS
+    #endif //BED_CENTER_AT_0_0
+  #else    
+    #ifdef BED_CENTER_AT_0_0
+      #define Y_HOME_POS Y_MAX_LENGTH * 0.5
+    #else
+      #define Y_HOME_POS Y_MAX_POS
+    #endif //BED_CENTER_AT_0_0
+  #endif //Y_HOME_DIR == -1
+  
+  // Z axis
+  #if Z_HOME_DIR == -1 //BED_CENTER_AT_0_0 not used
+    #define Z_HOME_POS Z_MIN_POS
+  #else    
+    #define Z_HOME_POS Z_MAX_POS
+  #endif //Z_HOME_DIR == -1
+#endif //End auto min/max positions
+//END AUTOSET LOCATIONS OF LIMIT SWITCHES -ZP
+
+
+//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
+
+// A single Z stepper driver is usually used to drive 2 stepper motors.
+// Uncomment this define to utilize a separate stepper driver for each Z axis motor.
+// Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used
+// to control the 2nd Z axis stepper motor). The pins are currently only defined for a RAMPS motherboards.
+// On a RAMPS (or other 5 driver) motherboard, using this feature will limit you to using 1 extruder.
+//#define Z_DUAL_STEPPER_DRIVERS
+
+#ifdef Z_DUAL_STEPPER_DRIVERS
+  #undef EXTRUDERS
+  #define EXTRUDERS 1
+#endif
+
+// Same again but for Y Axis.
+//#define Y_DUAL_STEPPER_DRIVERS
+
+// Define if the two Y drives need to rotate in opposite directions
+#define INVERT_Y2_VS_Y_DIR true
+
+#ifdef Y_DUAL_STEPPER_DRIVERS
+  #undef EXTRUDERS
+  #define EXTRUDERS 1
+#endif
+
+#if defined (Z_DUAL_STEPPER_DRIVERS) && defined (Y_DUAL_STEPPER_DRIVERS)
+  #error "You cannot have dual drivers for both Y and Z"
+#endif
+
+// Enable this for dual x-carriage printers. 
+// A dual x-carriage design has the advantage that the inactive extruder can be parked which
+// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
+// allowing faster printing speeds.
+//#define DUAL_X_CARRIAGE
+#ifdef DUAL_X_CARRIAGE
+// Configuration for second X-carriage
+// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
+// the second x-carriage always homes to the maximum endstop.
+#define X2_MIN_POS 80     // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
+#define X2_MAX_POS 353    // set maximum to the distance between toolheads when both heads are homed 
+#define X2_HOME_DIR 1     // the second X-carriage always homes to the maximum endstop position
+#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position 
+    // However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software 
+    // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
+    // without modifying the firmware (through the "M218 T1 X???" command).
+    // Remember: you should set the second extruder x-offset to 0 in your slicer.
+
+// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
+#define X2_ENABLE_PIN 29
+#define X2_STEP_PIN 25
+#define X2_DIR_PIN 23
+
+// There are a few selectable movement modes for dual x-carriages using M605 S<mode>
+//    Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
+//                           as long as it supports dual x-carriages. (M605 S0)
+//    Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
+//                           that additional slicer support is not required. (M605 S1)
+//    Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all  
+//                           actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
+//                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
+
+// This is the default power-up mode which can be later using M605. 
+#define DEFAULT_DUAL_X_CARRIAGE_MODE 0 
+
+// Default settings in "Auto-park Mode" 
+#define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder
+#define TOOLCHANGE_UNPARK_ZLIFT 1        // the distance to raise Z axis when unparking an extruder
+
+// Default x offset in duplication mode (typically set to half print bed width)
+#define DEFAULT_DUPLICATION_X_OFFSET 100
+
+#endif //DUAL_X_CARRIAGE
+    
+//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
+#define X_HOME_RETRACT_MM 5 
+#define Y_HOME_RETRACT_MM 5 
+#define Z_HOME_RETRACT_MM 5 // deltas need the same for all three axis
+#define HOMING_BUMP_DIVISOR {10, 10, 20}  // Re-Bump Speed Divisor (Divides the Homing Feedrate)
+
+//#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
+
+#define AXIS_RELATIVE_MODES {false, false, false, false}
+
+#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
+
+//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
+#define INVERT_X_STEP_PIN false
+#define INVERT_Y_STEP_PIN false
+#define INVERT_Z_STEP_PIN false
+#define INVERT_E_STEP_PIN false
+
+//default stepper release if idle. Set to 0 to deactivate.
+#define DEFAULT_STEPPER_DEACTIVE_TIME 60
+
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
+#define DEFAULT_MINTRAVELFEEDRATE     0.0
+
+// Feedrates for manual moves along X, Y, Z, E from panel
+#ifdef ULTIPANEL
+#define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60}  // set the speeds for manual moves (mm/min)
+#endif
+
+// minimum time in microseconds that a movement needs to take if the buffer is emptied.
+#define DEFAULT_MINSEGMENTTIME        20000
+
+// If defined the movements slow down when the look ahead buffer is only half full
+//#define SLOWDOWN
+
+// Frequency limit
+// See nophead's blog for more info
+// Not working O
+//#define XY_FREQUENCY_LIMIT  15
+
+// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
+// of the buffer and all stops. This should not be much greater than zero and should only be changed
+// if unwanted behavior is observed on a user's machine when running at very slow speeds.
+#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
+
+// MS1 MS2 Stepper Driver Microstepping mode table
+#define MICROSTEP1 LOW,LOW
+#define MICROSTEP2 HIGH,LOW
+#define MICROSTEP4 LOW,HIGH
+#define MICROSTEP8 HIGH,HIGH
+#define MICROSTEP16 HIGH,HIGH
+
+// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
+#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16]
+
+// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
+#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+
+// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
+//#define DIGIPOT_I2C
+// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8
+#define DIGIPOT_I2C_NUM_CHANNELS 8
+// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
+#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}
+
+//===========================================================================
+//=============================Additional Features===========================
+//===========================================================================
+
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
+//#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
+
+//#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
+#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
+
+#define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
+#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
+
+#define SDCARD_RATHERRECENTFIRST  //reverse file order of sd card menu display. Its sorted practically after the filesystem block order. 
+// if a file is deleted, it frees a block. hence, the order is not purely cronological. To still have auto0.g accessible, there is again the option to do that.
+// using:
+//#define MENU_ADDAUTOSTART
+
+// Show a progress bar on the LCD when printing from SD
+//#define LCD_PROGRESS_BAR
+
+#ifdef LCD_PROGRESS_BAR
+  // Amount of time (ms) to show the bar
+  #define PROGRESS_BAR_BAR_TIME 2000
+  // Amount of time (ms) to show the status message
+  #define PROGRESS_BAR_MSG_TIME 2000
+  // Amount of time (ms) to retain the status message (0=forever)
+  #define PROGRESS_MSG_EXPIRE   0
+  // Enable this to show messages for MSG_TIME then hide them
+  //#define PROGRESS_MSG_ONCE
+#endif
+
+// The hardware watchdog should reset the Microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation.
+//#define USE_WATCHDOG
+
+#ifdef USE_WATCHDOG
+// If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on.
+// The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset.
+//  However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
+//#define WATCHDOG_RESET_MANUAL
+#endif
+
+// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
+//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+
+// Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process
+// it can e.g. be used to change z-positions in the print startup phase in realtime
+// does not respect endstops!
+//#define BABYSTEPPING
+#ifdef BABYSTEPPING
+  #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
+  #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
+  #define BABYSTEP_Z_MULTIPLICATOR 2 //faster z movements
+  
+  #ifdef COREXY
+    #error BABYSTEPPING not implemented for COREXY yet.
+  #endif
+
+  #ifdef DELTA
+    #ifdef BABYSTEP_XY
+      #error BABYSTEPPING only implemented for Z axis on deltabots.
+    #endif
+  #endif
+#endif
+
+// extruder advance constant (s2/mm3)
+//
+// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K * cubic mm per second ^ 2
+//
+// hooke's law says:		force = k * distance
+// Bernoulli's principle says:	v ^ 2 / 2 + g . h + pressure / density = constant
+// so: v ^ 2 is proportional to number of steps we advance the extruder
+//#define ADVANCE
+
+#ifdef ADVANCE
+  #define EXTRUDER_ADVANCE_K .0
+
+  #define D_FILAMENT 2.85
+  #define STEPS_MM_E 836
+  #define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
+  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
+
+#endif // ADVANCE
+
+// Arc interpretation settings:
+#define MM_PER_ARC_SEGMENT 1
+#define N_ARC_CORRECTION 25
+
+const unsigned int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
+
+// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
+// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT 
+// in the pins.h file.  When using a push button pulling the pin to ground this will need inverted.  This setting should
+// be commented out otherwise
+#define SDCARDDETECTINVERTED 
+
+#ifdef ULTIPANEL
+ #undef SDCARDDETECTINVERTED
+#endif
+
+// Power Signal Control Definitions
+// By default use ATX definition
+#ifndef POWER_SUPPLY
+  #define POWER_SUPPLY 1
+#endif
+// 1 = ATX
+#if (POWER_SUPPLY == 1) 
+  #define PS_ON_AWAKE  LOW
+  #define PS_ON_ASLEEP HIGH
+#endif
+// 2 = X-Box 360 203W
+#if (POWER_SUPPLY == 2) 
+  #define PS_ON_AWAKE  HIGH
+  #define PS_ON_ASLEEP LOW
+#endif
+
+// Control heater 0 and heater 1 in parallel.
+//#define HEATERS_PARALLEL
+
+//===========================================================================
+//=============================Buffers           ============================
+//===========================================================================
+
+// The number of linear motions that can be in the plan at any give time.  
+// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
+#if defined SDSUPPORT
+  #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
+#else
+  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
+#endif
+
+
+//The ASCII buffer for recieving from the serial:
+#define MAX_CMD_SIZE 96
+#define BUFSIZE 4
+
+
+// Firmware based and LCD controled retract
+// M207 and M208 can be used to define parameters for the retraction. 
+// The retraction can be called by the slicer using G10 and G11
+// until then, intended retractions can be detected by moves that only extrude and the direction. 
+// the moves are than replaced by the firmware controlled ones.
+
+// #define FWRETRACT  //ONLY PARTIALLY TESTED
+#ifdef FWRETRACT
+  #define MIN_RETRACT 0.1                //minimum extruded mm to accept a automatic gcode retraction attempt
+  #define RETRACT_LENGTH 3               //default retract length (positive mm)
+  #define RETRACT_LENGTH_SWAP 13         //default swap retract length (positive mm), for extruder change
+  #define RETRACT_FEEDRATE 45            //default feedrate for retracting (mm/s)
+  #define RETRACT_ZLIFT 0                //default retract Z-lift
+  #define RETRACT_RECOVER_LENGTH 0       //default additional recover length (mm, added to retract length when recovering)
+  #define RETRACT_RECOVER_LENGTH_SWAP 0  //default additional swap recover length (mm, added to retract length when recovering from extruder change)
+  #define RETRACT_RECOVER_FEEDRATE 8     //default feedrate for recovering from retraction (mm/s)
+#endif
+
+//adds support for experimental filament exchange support M600; requires display
+#ifdef ULTIPANEL
+  #define FILAMENTCHANGEENABLE
+  #ifdef FILAMENTCHANGEENABLE
+    #define FILAMENTCHANGE_XPOS 3
+    #define FILAMENTCHANGE_YPOS 3
+    #define FILAMENTCHANGE_ZADD 10
+    #define FILAMENTCHANGE_FIRSTRETRACT -2
+    #define FILAMENTCHANGE_FINALRETRACT -100
+  #endif
+#endif
+
+#ifdef FILAMENTCHANGEENABLE
+  #ifdef EXTRUDER_RUNOUT_PREVENT
+    #error EXTRUDER_RUNOUT_PREVENT currently incompatible with FILAMENTCHANGE
+  #endif 
+#endif
+ 
+//===========================================================================
+//=============================  Define Defines  ============================
+//===========================================================================
+
+#if defined (ENABLE_AUTO_BED_LEVELING) && defined (DELTA)
+
+  #if not defined(AUTO_BED_LEVELING_GRID)
+    #error "Only Grid Bed Auto Leveling is supported on Deltas."
+  #endif
+  
+  #if defined(Z_PROBE_SLED)
+    #error "You cannot use Z_PROBE_SLED together with DELTA."
+  #endif
+
+  #if defined(Z_PROBE_REPEATABILITY_TEST)
+    #error "Z-probe repeatability test is not supported on Deltas yet."
+  #endif
+
+#endif  
+
+#if defined(Z_PROBE_ALLEN_KEY)
+  #if !defined(AUTO_BED_LEVELING_GRID) || !defined(DELTA)
+    #error "Invalid use of Z_PROBE_ALLEN_KEY."
+  #endif
+#endif
+
+#if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
+  #error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
+#endif
+
+#if EXTRUDERS > 1 && defined HEATERS_PARALLEL
+  #error "You cannot use HEATERS_PARALLEL if EXTRUDERS > 1"
+#endif
+
+#if TEMP_SENSOR_0 > 0
+  #define THERMISTORHEATER_0 TEMP_SENSOR_0
+  #define HEATER_0_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_1 > 0
+  #define THERMISTORHEATER_1 TEMP_SENSOR_1
+  #define HEATER_1_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_2 > 0
+  #define THERMISTORHEATER_2 TEMP_SENSOR_2
+  #define HEATER_2_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_3 > 0
+  #define THERMISTORHEATER_3 TEMP_SENSOR_3
+  #define HEATER_3_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_BED > 0
+  #define THERMISTORBED TEMP_SENSOR_BED
+  #define BED_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_0 == -1
+  #define HEATER_0_USES_AD595
+#endif
+#if TEMP_SENSOR_1 == -1
+  #define HEATER_1_USES_AD595
+#endif
+#if TEMP_SENSOR_2 == -1
+  #define HEATER_2_USES_AD595
+#endif
+#if TEMP_SENSOR_3 == -1
+  #define HEATER_3_USES_AD595
+#endif
+#if TEMP_SENSOR_BED == -1
+  #define BED_USES_AD595
+#endif
+#if TEMP_SENSOR_0 == -2
+  #define HEATER_0_USES_MAX6675
+#endif
+#if TEMP_SENSOR_0 == 0
+  #undef HEATER_0_MINTEMP
+  #undef HEATER_0_MAXTEMP
+#endif
+#if TEMP_SENSOR_1 == 0
+  #undef HEATER_1_MINTEMP
+  #undef HEATER_1_MAXTEMP
+#endif
+#if TEMP_SENSOR_2 == 0
+  #undef HEATER_2_MINTEMP
+  #undef HEATER_2_MAXTEMP
+#endif
+#if TEMP_SENSOR_3 == 0
+  #undef HEATER_3_MINTEMP
+  #undef HEATER_3_MAXTEMP
+#endif
+#if TEMP_SENSOR_BED == 0
+  #undef BED_MINTEMP
+  #undef BED_MAXTEMP
+#endif
+
+
+#endif //__CONFIGURATION_ADV_H

Marlin/example_configurations/makibox/Configuration.h

@@ -450,6 +450,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
   #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
 
   //#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.

Marlin/example_configurations/tvrrug/Round2/Configuration.h

@@ -452,6 +452,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
   #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+  #define Z_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.
 
   //#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.

Marlin/planner.cpp

@@ -1063,7 +1063,7 @@ Having the real displacement of the head, we can calculate the total movement le
   st_wake_up();
 }
 
-#ifdef ENABLE_AUTO_BED_LEVELING
+#if defined(ENABLE_AUTO_BED_LEVELING) && not defined(DELTA)
 vector_3 plan_get_position() {
 	vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
 

Marlin/planner.h

@@ -85,8 +85,10 @@ void plan_init();
 #ifdef ENABLE_AUTO_BED_LEVELING
 void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
 
-// Get the position applying the bed level matrix if enabled
-vector_3 plan_get_position();
+  #ifndef DELTA
+  // Get the position applying the bed level matrix if enabled
+  vector_3 plan_get_position();
+  #endif
 #else
 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
 #endif // ENABLE_AUTO_BED_LEVELING