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Fix bouncy probes. #485

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Fix bouncy probes. #485

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8 changes: 5 additions & 3 deletions g2core/cycle_probing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,9 +81,9 @@ static void _send_probe_report(void);
***********************************************************************************/

/***********************************************************************************
* cm_probing_cycle_start() - G38.x probing cycle using contact (digital input)
* cm_straight_probe() - G38.x probing cycle using contact (digital input)
*
* cm_probe_cycle_start() is the entry point for a probe cycle. It checks for
* cm_straight_probe() is the entry point for a probe cycle. It checks for
* some errors, sets up the cycle, then prevents any new commands from queuing
* to the planner so that the planner can move to a stop and report motion stopped.
*
Expand Down Expand Up @@ -261,6 +261,8 @@ static uint8_t _probing_start()
return(_probing_exception_exit(STAT_PROBE_IS_ALREADY_TRIPPED));
}

en_clear_snapped();

// Everything checks out. Run the probe move
_probe_move(pb.target, pb.flags);
pb.func = _probing_backoff;
Expand All @@ -279,7 +281,7 @@ static stat_t _probing_backoff()
// captured from the encoder in step space to steps to mm. The encoder snapshot
// was taken by input interrupt at the time of closure.

if (pb.trip_sense == gpio_read_input(pb.probe_input)) { // exclusive or for booleans
if (en_get_snapped()) {
cm->probe_state[0] = PROBE_SUCCEEDED;
float contact_position[AXES];
kn_forward_kinematics(en_get_encoder_snapshot_vector(), contact_position);
Expand Down
7 changes: 7 additions & 0 deletions g2core/encoder.cpp
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Expand Up @@ -112,8 +112,15 @@ void en_take_encoder_snapshot() {
en.snapshot[MOTOR_5] = en.en[MOTOR_5].encoder_steps + en.en[MOTOR_5].steps_run;
en.snapshot[MOTOR_6] = en.en[MOTOR_6].encoder_steps + en.en[MOTOR_6].steps_run;
*/

en.snapped = true;
}

void en_clear_snapped() { en.snapped = false; }

bool en_get_snapped() { return en.snapped; }


float en_get_encoder_snapshot_steps(uint8_t motor) { return (en.snapshot[motor]); }

float* en_get_encoder_snapshot_vector() { return (en.snapshot); }
Expand Down
4 changes: 4 additions & 0 deletions g2core/encoder.h
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Expand Up @@ -112,6 +112,7 @@ typedef struct enEncoder { // one real or virtual encoder per controlle

typedef struct enEncoders {
magic_t magic_start;
bool snapped;
enEncoder_t en[MOTORS]; // runtime encoder structures
float snapshot[MOTORS]; // snapshot vector
magic_t magic_end;
Expand All @@ -134,4 +135,7 @@ void en_take_encoder_snapshot();
float en_get_encoder_snapshot_steps(uint8_t motor);
float* en_get_encoder_snapshot_vector();

void en_clear_snapped();
bool en_get_snapped();

#endif // End of include guard: ENCODER_H_ONCE