Z Axis limits - Githubissues

ariasr commented 4 years ago

Thanks for contributing to The Maslow Firmware! You rock.

Please let the community know some basic information about this pull request.

What does this pull request do?

Does it add a new feature or fix a bug?

This is a new feature. I have made some small tweaks to the code to be able to set upper and lower limits for the z axis in order to prevent motors from forcing the Z Axis beyond its limits.

I have added two variables to settings float zAxisUpperLimit float zAxisLowerLimit

I have created 4 "B" commands B17 Sets the z axis upper limit to the current z axis position B18 Sets the z axis lower limit to the current z axis position B19 Clears z axis limits B20 Echoes back z axis limits

Does this firmware change affect kinematics or any part of the calibration process?

It does not affect Kinematics. And I have kept it apart from calibration as some users might want to adjust this on the fly as part of the regular use.

a) If so, does this change require recalibration?

It does not require recalibration. However if the user wishes to establish some limits, he/she must set the limits using gcode commands B17 (Upper) and B18 (Lower)

b) If so, is there an option for user to opt-out of the change until ready for recalibration? If not, explain why this is not possible.

By default this limits are set to NAN and will be ignored until specified.

c) Has the calibration model in gc/hc/wc been updated to agree with firmware change?

No recalibration needed. I intend to update webcontrol to be able to set the limits within the user interface. Meanwhile to make use of it you can send gcode directly.

d) Has this PR been tested on actual machine and/or in fake servo mode (indicate which or both)?

It has been tested on an actual machine only

How can this pull request be tested?

Please provide detailed steps about how to test this pull request.

1 - Move the Z axis to the highest point you with to set as a limit. 2 - Send a B17 gcode command. 3 - Move the Z axis to the lowest point you with to set as a limit. 4 - Send a B18 gcode command. 5 - Now attempt to move the Z axis beyond those limits. It should prevent you from exceeding the limits. 6 - Send the B20 gcode command and observe the limits echoed back 7 - Now attempt to reset the 0 location for the z axis 8 - Send the B20 gcode command and observe the limits echoed back, they should have been updated to account for the new 0 location 9 - Send the B19 gcode command to erase the limits 10 - Send the B20 gcode command and observe the limits echoed back, the limits should have been cleared. 11 - Now attempt to move the Z axis beyond the limits set in steps 1 and 2. It should allow you to move freely. (Careful not to exceed the physical limits of your machine)

Thanks for contributing!

MaslowCommunityGardenRobot commented 4 years ago

Congratulations on the pull request @ariasr

Now we need to decide as a community if we want to integrate these changes. You should vote by giving this comment a thumbs up or a thumbs down. Votes are counted in 48 hours. Ties will not be merged.

I'm just a robot, but I love to see people contributing so I'm going vote thumbs up (but my vote won't count...)!

BarbourSmith commented 4 years ago

This is a gorgeous pull request. Love how you documented the code. Love how you took time to answer all the pull request questions carefully. Awesome work, a great contribution. 👍 👍 🙏

ariasr commented 4 years ago

Thank you

ersdds commented 4 years ago

👍 this is awasom