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Add movement limits

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Remember whether each axis has been homed. Don't allow z-homing or G31
procedure unless X and Y have been homed. If axes have been homed, limit
travel to size of bed.
This commit is contained in:
David Crocker 2014-01-29 15:30:58 +00:00
parent b578dd5bc4
commit 0c47fbc923
2 changed files with 63 additions and 16 deletions
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73
GCodes.cpp
View file

@ -84,6 +84,7 @@ void GCodes::Init()
active = true;
longWait = platform->Time();
dwellTime = longWait;
axisIsHomed[0] = axisIsHomed[1] = axisIsHomed[2] = false;
}
void GCodes::doFilePrint(GCodeBuffer* gb)
@ -295,8 +296,9 @@ bool GCodes::Pop()
// Move expects all axis movements to be absolute, and all
// extruder drive moves to be relative. This function serves that.
// If applyLimits is true and we have homed the relevant axes, then we don't allow movement beyond the bed.
void GCodes::LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92)
void GCodes::LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92, bool applyLimits)
{
float absE;
@ -306,20 +308,38 @@ void GCodes::LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92)
{
if(gb->Seen(gCodeLetters[i]))
{
if(!axesRelative || doingG92)
moveBuffer[i] = gb->GetFValue()*distanceScale;
else
moveBuffer[i] += gb->GetFValue()*distanceScale;
float moveArg = gb->GetFValue()*distanceScale;
if (axesRelative && !doingG92)
{
moveArg += moveBuffer[i];
}
if (applyLimits && axisIsHomed[i] & !doingG92)
{
if (moveArg < (i == 2 ? -5.0 : 0.0)) // limits are 0 for X, Y and -5mm for Z
{
moveArg = 0.0;
}
else if (moveArg > platform->AxisLength(i))
{
moveArg = platform->AxisLength(i);
}
}
moveBuffer[i] = moveArg;
if (doingG92)
{
axisIsHomed[i] = true; // doing a G92 is equivalent to homing the axis
}
}
} else
{
if(gb->Seen(gCodeLetters[i]))
{
float moveArg = gb->GetFValue()*distanceScale;
if(drivesRelative || doingG92)
moveBuffer[i] = gb->GetFValue()*distanceScale;
moveBuffer[i] = moveArg;
else
{
absE = gb->GetFValue()*distanceScale;
absE = moveArg;
moveBuffer[i] = absE - lastPos[i - AXES];
lastPos[i - AXES] = absE;
}
@ -352,8 +372,6 @@ bool GCodes::SetUpMove(GCodeBuffer *gb)
if(!reprap.GetMove()->GetCurrentState(moveBuffer))
return false;
LoadMoveBufferFromGCode(gb, false);
checkEndStops = false;
if(gb->Seen('S'))
{
@ -361,6 +379,8 @@ bool GCodes::SetUpMove(GCodeBuffer *gb)
checkEndStops = true;
}
LoadMoveBufferFromGCode(gb, false, !checkEndStops);
moveAvailable = true;
return true;
}
@ -488,7 +508,7 @@ bool GCodes::SetPositions(GCodeBuffer *gb)
if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
return false;
LoadMoveBufferFromGCode(gb, true);
LoadMoveBufferFromGCode(gb, true, false);
reprap.GetMove()->SetLiveCoordinates(moveBuffer);
reprap.GetMove()->SetPositions(moveBuffer);
@ -554,8 +574,11 @@ bool GCodes::OffsetAxes(GCodeBuffer* gb)
// Home one or more of the axes. Which ones are decided by the
// booleans homeX, homeY and homeZ.
bool GCodes::DoHome()
// Returns true if completed, false if needs to be called again.
// 'reply' is only written if there is an error.
// 'error' is false on entry, gets changed to true iff there is an error.
bool GCodes::DoHome(char* reply, bool& error)
//pre(reply.upb == STRING_LENGTH)
{
if(homeX && homeY && homeZ)
{
@ -565,6 +588,7 @@ bool GCodes::DoHome()
homeX = false;
homeY = false;
homeZ = false;
axisIsHomed[0] = axisIsHomed[1] = axisIsHomed[2] = true;
return true;
}
return false;
@ -576,6 +600,7 @@ bool GCodes::DoHome()
{
homeAxisMoveCount = 0;
homeX = false;
axisIsHomed[0] = true;
return NoHome();
}
return false;
@ -588,6 +613,7 @@ bool GCodes::DoHome()
{
homeAxisMoveCount = 0;
homeY = false;
axisIsHomed[1] = true;
return NoHome();
}
return false;
@ -596,10 +622,19 @@ bool GCodes::DoHome()
if(homeZ)
{
if (!(axisIsHomed[0] && axisIsHomed[1]))
{
// We can only home Z if X and Y have already been homed. Possibly this should only be if we are using an IR probe.
strncpy(reply, "Must home X and Y before homing Z", STRING_LENGTH);
error = true;
homeZ = false;
return true;
}
if(DoFileCannedCycles(HOME_Z_G))
{
homeAxisMoveCount = 0;
homeZ = false;
axisIsHomed[2] = true;
return NoHome();
}
return false;
@ -1260,7 +1295,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
homeZ = true;
}
}
result = DoHome();
result = DoHome(reply, error);
break;
case 30: // Z probe/manually set at a position and set that as point P
@ -1272,7 +1307,17 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
break;
case 32: // Probe Z at multiple positions and generate the bed transform
result = DoMultipleZProbe();
if (!(axisIsHomed[0] && axisIsHomed[1]))
{
// We can only do a Z probe if X and Y have already been homed
strncpy(reply, "Must home X and Y before bed probing", STRING_LENGTH);
error = true;
result = true;
}
else
{
result = DoMultipleZProbe();
}
break;
case 90: // Absolute coordinates

6
GCodes.h
View file

@ -80,6 +80,7 @@ class GCodes
bool PrintingAFile() const;
void Diagnostics();
bool HaveIncomingData() const;
bool GetAxisIsHomed(uint8_t axis) const { return axisIsHomed[axis]; }
private:
@ -91,7 +92,7 @@ class GCodes
bool ActOnGcode(GCodeBuffer* gb);
bool SetUpMove(GCodeBuffer* gb);
bool DoDwell(GCodeBuffer *gb);
bool DoHome();
bool DoHome(char *reply, bool& error);
bool DoSingleZProbeAtPoint();
bool DoSingleZProbe();
bool SetSingleZProbeAtAPosition(GCodeBuffer *gb);
@ -99,7 +100,7 @@ class GCodes
bool SetPrintZProbe(GCodeBuffer *gb, char *reply);
bool SetOffsets(GCodeBuffer *gb);
bool SetPositions(GCodeBuffer *gb);
void LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92);
void LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92, bool applyLimits);
bool NoHome() const;
bool Push();
bool Pop();
@ -159,6 +160,7 @@ class GCodes
bool cannedCycleMoveQueued;
bool zProbesSet;
float longWait;
bool axisIsHomed[3]; // these record which of the axes have been homed
};
//*****************************************************************************************************