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Bugfix: preventing TLO calibration if machine has not been homed #15

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Bugfix: preventing TLO calibration if machine has not been homed #15

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4 changes: 3 additions & 1 deletion src/modules/robot/Robot.h
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,8 @@ class Robot : public Module {
uint8_t plane_axis_2:2;
};

bool is_homed(uint8_t i) const;

private:
enum MOTION_MODE_T {
NONE,
Expand All @@ -116,7 +118,7 @@ class Robot : public Module {
bool append_arc( Gcode* gcode, const float target[], const float offset[], float radius, bool is_clockwise );
bool compute_arc(Gcode* gcode, const float offset[], const float target[], enum MOTION_MODE_T motion_mode);
void process_move(Gcode *gcode, enum MOTION_MODE_T);
bool is_homed(uint8_t i) const;


float theta(float x, float y);
void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
Expand Down
44 changes: 41 additions & 3 deletions src/modules/tools/atc/ATCHandler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,6 +141,14 @@ void ATCHandler::fill_change_scripts(int new_tool, bool clear_z) {

void ATCHandler::fill_drop_scripts(int old_tool) {
char buff[100];
for (int i = X_AXIS; i <= Z_AXIS; ++i) {
if (!THEROBOT->is_homed(i)){
THEKERNEL->set_halt_reason(HOME_FAIL);
THEKERNEL->call_event(ON_HALT, nullptr);
THEKERNEL->streams->printf("Machine has not been homed\n");
return;
}
}
struct atc_tool *current_tool = &atc_tools[old_tool];
// set atc status
this->script_queue.push("M497.1");
Expand Down Expand Up @@ -174,6 +182,14 @@ void ATCHandler::fill_drop_scripts(int old_tool) {

void ATCHandler::fill_pick_scripts(int new_tool, bool clear_z) {
char buff[100];
for (int i = X_AXIS; i <= Z_AXIS; ++i) {
if (!THEROBOT->is_homed(i)){
THEKERNEL->set_halt_reason(HOME_FAIL);
THEKERNEL->call_event(ON_HALT, nullptr);
THEKERNEL->streams->printf("Machine has not been homed\n");
return;
}
}
struct atc_tool *current_tool = &atc_tools[new_tool];
// set atc status
this->script_queue.push("M497.2");
Expand Down Expand Up @@ -211,7 +227,15 @@ void ATCHandler::fill_pick_scripts(int new_tool, bool clear_z) {

void ATCHandler::fill_cali_scripts(bool is_probe, bool clear_z) {
char buff[100];

for (int i = X_AXIS; i <= Z_AXIS; ++i) {
if (!THEROBOT->is_homed(i)){
THEKERNEL->set_halt_reason(HOME_FAIL);
THEKERNEL->call_event(ON_HALT, nullptr);
THEKERNEL->streams->printf("Machine has not been homed\n");
return;
}
}

if(is_probe){
// open probe laser
this->script_queue.push("M494.1");
Expand Down Expand Up @@ -373,7 +397,14 @@ void ATCHandler::fill_zprobe_scripts(float x_pos, float y_pos, float x_offset, f

void ATCHandler::fill_zprobe_abs_scripts() {
char buff[100];

for (int i = X_AXIS; i <= Z_AXIS; ++i) {
if (!THEROBOT->is_homed(i)){
THEKERNEL->set_halt_reason(HOME_FAIL);
THEKERNEL->call_event(ON_HALT, nullptr);
THEKERNEL->streams->printf("Machine has not been homed\n");
return;
}
}
// set atc status
this->script_queue.push("M497.5");

Expand Down Expand Up @@ -504,7 +535,14 @@ void ATCHandler::fill_autolevel_scripts(float x_pos, float y_pos,
float x_size, float y_size, int x_grids, int y_grids, float height)
{
char buff[100];

for (int i = X_AXIS; i <= Z_AXIS; ++i) {
if (!THEROBOT->is_homed(i)){
THEKERNEL->set_halt_reason(HOME_FAIL);
THEKERNEL->call_event(ON_HALT, nullptr);
THEKERNEL->streams->printf("Machine has not been homed\n");
return;
}
}
// set atc status
this->script_queue.push("M497.6");

Expand Down