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Z Probe triggered correctly at button pressed. Can read out all values

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This commit is contained in:
Jens Hauser
2020-07-27 22:49:28 +02:00
parent 7e99f55739
commit e56c87d70b
1 changed files with 18 additions and 3 deletions
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21
Grbl_Esp32/Custom/4axis_xyxz.cpp
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@@ -67,22 +67,36 @@ void machine_init()
#endif
void zProbeSyncTask(void* pvParameters) {
int32_t current_position[N_AXIS]; // copy of current location
int32_t sys_POS_steps[N_AXIS], sys_PROBE_steps[N_AXIS];
float sys_POS[N_AXIS], sys_PROBEPOS[N_AXIS];
float m_pos[N_AXIS]; // machine position in mm
TickType_t xLastWakeTime;
char temp[200];
const TickType_t xProbeFrequency = ZPROBE_TASK_FREQ; // in ticks (typically ms)
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) {
// don't ever return from this or the task dies
memcpy(sys_POS_steps, sys_position, sizeof(sys_position));
memcpy(sys_PROBE_steps, sys_probe_position, sizeof(sys_probe_position));
system_convert_array_steps_to_mpos(sys_POS, sys_POS_steps);
system_convert_array_steps_to_mpos(sys_PROBEPOS, sys_PROBE_steps);
//sprintf(temp, "lprobegestate=%d\r\n", probe_get_state());
//grbl_send(CLIENT_ALL, temp);
if ( (probe_get_state()==1) )
{
grbl_send(CLIENT_ALL, "Button pressed !");
sprintf(temp, "bla=%d\r\n", 4711);
grbl_send(CLIENT_ALL, temp);
sprintf(temp, "syspos/Z=%4.3f, probepos/Z=%4.3f\r\n", sys_POS[Z_AXIS], sys_PROBEPOS[Z_AXIS]);
//sprintf(temp, "last probe/Z =%4.3f\r\n", ZPosNew);
grbl_send(CLIENT_ALL, temp);
}
vTaskDelayUntil(&xLastWakeTime, xProbeFrequency);
}
@@ -180,6 +194,7 @@ void user_tool_change(uint8_t new_tool)
// Z probe again
inputBuffer.push("G38.2 Z-2 F30\r\n");
inputBuffer.push("G4 P2.0\r\n");
protocol_buffer_synchronize(); // wait for all previous moves to complete
// Clean up