Clear ABC axes when probing (#2680)

winder · Jan 17, 2025 · bf4ba7c · bf4ba7c
1 parent 8bb7c49
commit bf4ba7c
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Showing 3 changed files with 49 additions and 3 deletions.
diff --git a/ugs-core/src/com/willwinder/universalgcodesender/model/PartialPosition.java b/ugs-core/src/com/willwinder/universalgcodesender/model/PartialPosition.java
@@ -372,6 +372,13 @@ public Builder setC(Double c) {
             }
             return this;
         }
+
+        public Builder clearABC() {
+            this.a = null;
+            this.b = null;
+            this.c = null;
+            return this;
+        }
     }
 
     public String getFormattedGCode() {

diff --git a/...rfacescanner/src/main/java/com/willwinder/ugs/platform/surfacescanner/SurfaceScanner.java b/...rfacescanner/src/main/java/com/willwinder/ugs/platform/surfacescanner/SurfaceScanner.java
@@ -199,13 +199,17 @@ private void moveToSafeStartPoint(Position currentPosition) {
             }
 
             // Move to the XY start position
-            PartialPosition startPos = PartialPosition.builder(minXYZ).clearZ().build();
+            PartialPosition startPos = PartialPosition.builder(minXYZ)
+                    .clearZ()
+                    .clearABC()
+                    .build();
+
             String cmd = GcodeUtils.generateMoveCommand(
                     "G90G0", getProbeScanFeedRate(), startPos);
             logger.log(Level.INFO, "Move to start position {0}", new Object[]{startPos});
             backend.sendGcodeCommand(true, cmd);
 
-            // Move to the Y start position
+            // Move to the Z start position
             PartialPosition startHeight = PartialPosition.builder(maxXYZ.getUnits()).setZ(maxXYZ.getZ()).build();
             cmd = GcodeUtils.generateMoveCommand(
                     "G90G0", getProbeScanFeedRate(), startHeight);
@@ -226,7 +230,11 @@ private void probeNextPoint(Double zBackoff) {
             Position p = this.pendingPositions.peek();
 
             // Position over next probe position
-            PartialPosition startPos = PartialPosition.builder(p).clearZ().build();
+            PartialPosition startPos = PartialPosition.builder(p)
+                    .clearZ()
+                    .clearABC()
+                    .build();
+
             String cmd = GcodeUtils.generateMoveCommand(
                     "G90G0", getProbeScanFeedRate(), startPos);
             logger.log(Level.INFO, "MoveTo {0} {1}", new Object[]{startPos, cmd});

diff --git a/...escanner/src/test/java/com/willwinder/ugs/platform/surfacescanner/SurfaceScannerTest.java b/...escanner/src/test/java/com/willwinder/ugs/platform/surfacescanner/SurfaceScannerTest.java
@@ -3,10 +3,14 @@
 import com.willwinder.universalgcodesender.model.BackendAPI;
 import com.willwinder.universalgcodesender.model.Position;
 import com.willwinder.universalgcodesender.model.UnitUtils;
+import com.willwinder.universalgcodesender.utils.AutoLevelSettings;
 import com.willwinder.universalgcodesender.utils.Settings;
 import org.junit.Before;
 import org.junit.Test;
+import org.mockito.ArgumentCaptor;
+import static org.mockito.ArgumentMatchers.anyBoolean;
 import org.mockito.Mock;
+import static org.mockito.Mockito.doNothing;
 import org.mockito.MockitoAnnotations;
 
 import static org.junit.Assert.assertEquals;
@@ -149,6 +153,33 @@ public void probeEventShouldProgressTheScanForEachProbeEventInInches() {
         assertEquals(25.4, surfaceScanner.getProbePositionGrid()[1][1].getZ(), 0.1);
     }
 
+    @Test
+    public void scanShouldMoveToSafe() throws Exception {
+        Settings settings = new Settings();
+        settings.setSafetyHeight(6);
+
+        AutoLevelSettings autoLevelSettings = settings.getAutoLevelSettings();
+        autoLevelSettings.setMin(new Position(0,0,0, UnitUtils.Units.MM));
+        autoLevelSettings.setMax(new Position(0,0,0, UnitUtils.Units.MM));
+        autoLevelSettings.setProbeScanFeedRate(500);
+
+        when(backendAPI.getSettings()).thenReturn(settings);
+        when(backendAPI.getWorkPosition()).thenReturn(new Position(0,0,0 ,UnitUtils.Units.MM));
+        when(backendAPI.getMachinePosition()).thenReturn(new Position(0,0,0, UnitUtils.Units.MM));
+
+        ArgumentCaptor<String> sentGcodeCommandCaptor = ArgumentCaptor.forClass(String.class);
+        doNothing().when(backendAPI).sendGcodeCommand(anyBoolean(), sentGcodeCommandCaptor.capture());
+
+        SurfaceScanner surfaceScanner = new SurfaceScanner(backendAPI);
+        surfaceScanner.reset();
+        surfaceScanner.scan();
+
+        assertEquals(4, sentGcodeCommandCaptor.getAllValues().size());
+        assertEquals("G21G90G0Z6F500", sentGcodeCommandCaptor.getAllValues().get(0));
+        assertEquals("G21G90G0X0Y0F500", sentGcodeCommandCaptor.getAllValues().get(1));
+        assertEquals("G21G90G0Z0F500", sentGcodeCommandCaptor.getAllValues().get(2));
+        assertEquals("G21G90G0X0Y0F500", sentGcodeCommandCaptor.getAllValues().get(3));
+    }
 
     private static Position createProbePoint(Position position, UnitUtils.Units units, double z) {
         Position probePoint = new Position(position.getPositionIn(units));