Dev version and bed levelling - wrong Z after G29 (several mm above bed)

[harerama]

I just upgraded to the latest dev version. I noticed one change that broke my init G-code.
I had the following:
G28
G1 Z10.0 F{travel_speed} ;move the platform down 10mm
G29
Now, with the new version, the G1 move is NOT substracted from the final Z height, which results a wrong first layer Z (in this case, my printer started at Z=10+layer height which messed up the print).

The same init sequence was working perfectly previously.
I just need to remove the G1 line to fix the problem, and I am fine with it, but you may want to lay the stress on this functional change.

As far as I remember I copied a starting sequence from some webpage, so there may be many users in the same situation.

Regards

[harerama]

Actually, it seems to be something in the G29 command and not in the G1 in between - I'll add further details

[thinkyhead]

@harerama Reset your homing offsets and see if that helps.

[harerama]

I tried M502, if that is what you mean. My home offsets are all set to 0.
If I send just G28, everything works fine (but no levelling of course), then if I add a G29, my print starts about 1cm above the bed...
If you have a working start G-code sequence that includes auto bed levelling,I can try it (I have a Prusa i3 with Ramps 1.4).
My bed is almost perfectly flat, so I can avoid the G29 completely, but there must be a way to have it work.

[thinkyhead]

Which of the bed leveling options are you using?

[brainscan]

After you tried M502 did you save the settings? Think it's M500. I had a similar problem a long time ago but my start sequence is just G28, G29. Sorry if you have tried this, just seems like the same as my old issue and this was the fix.

Sent from my iPhone

On 24 Mar 2015, at 13:52, harerama notifications@github.com wrote:

I tried M502, if that is what you mean. My home offsets are all set to 0.
If I send just G28, everything works fine (but no levelling of course), then if I add a G29, my print starts about 1cm above the bed...
If you have a working start G-code sequence that includes auto bed levelling,I can try it (I have a Prusa i3 with amps 1.4).
My bed is almost perfectly flat, so I can avoid the G29 completely, but there must be a way to have it work.

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[harerama]

I will try again tonight - I am using grid levelling

[Sniffle]

I just uploaded the firmware with the latest commits, the issue seems to me that the new raise before retracting probe isn't being taken into account for the Z height and z probe offset.

[harerama]

@Sniffle Does it mean that you can reproduce the problem ?

[Sniffle]

every time i go to print, the printer heats, runs through g28, then g29 and then begins printing in the air ~5mm which is what my rais before retracting is set to.

edit: I'm going to add my z raise after probing to my offset to see if this corrects and proves the issue. I'll report back in a couple hours.

[Sniffle]

At this point hte gap is reliable, I am working towards my new adjusted offset and it's looking like the gap is 4mm, where that number comes from i don't know. 5 which was my raise after probing was too much and caused a minor crash, i went from that to double my original offset, which was still a crash but less to make the hotend raise. so now i am down to 4mm + my original offset to make it print.

[epatel]

Looking at this, if the mesh bed leveling could be at fault here.
The default search height down to the bed is 4 mm (MESH_HOME_SEARCH_Z).

Are you using MESH_BED_LEVELING?

Note! It is not possible to compile the mesh + auto bed leveling, and a G29 by itself does not activate the mesh compensation. To activate mesh compensation one need to run through probing all points, either via the display (if MANUAL_BED_LEVELING was enabled) or a number of G29 S2.

[alexborro]

Is there any document about how to use the Mesh Leveling? I wanna try it
tomorrow..
Em 24/03/2015 21:01, "Edward Patel" notifications@github.com escreveu:

Looking at this, if the mesh bed leveling could be at fault here.
The default search height down to the bed is 4 mm (MESH_HOME_SEARCH_Z).

Are you using MESH_BED_LEVELING?

Note! It is not possible to compile the mesh + auto bed leveling, and a
G29 by itself does not activate the mesh compensation. To activate mesh
compensation one need to run through probing all points, either via the
display (if MANUAL_BED_LEVELING was enabled) or a number of G29 S2.

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#1682 (comment)
.

[Sniffle]

I finally got the new arbitrary of set setup and now I can reliably print
again.

My offset went from 4.2 to 6.5, how this happened I have no clue but math
has gone wrong somewhere by 2.3mm
On Mar 24, 2015 7:05 PM, "alexborro" notifications@github.com wrote:

Is there any document about how to use the Mesh Leveling? I wanna try it
tomorrow..
Em 24/03/2015 21:01, "Edward Patel" notifications@github.com escreveu:

Looking at this, if the mesh bed leveling could be at fault here.
The default search height down to the bed is 4 mm (MESH_HOME_SEARCH_Z).

Are you using MESH_BED_LEVELING?

Note! It is not possible to compile the mesh + auto bed leveling, and a
G29 by itself does not activate the mesh compensation. To activate mesh
compensation one need to run through probing all points, either via the
display (if MANUAL_BED_LEVELING was enabled) or a number of G29 S2.

—
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<
#1682 (comment)

.

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#1682 (comment)
.

[epatel]

@alexborro I think I described it shortly in the pull request. Maybe got lost in all the text.

The bed level option is added last in the Prepare menu. When selecting it the hotend will travel to all points and one use the encoder to move it up/down. Move it down until the usual paper thickness from the bed and press the encoder to "enter" that value, keep doing that until all points have been entered. The mesh can be saved in the EEPROM so storing them is good. A G28 homing will show if the mesh is active or not. If it does not travel to the first measure point (for sync position with mesh) the mesh is not active.

#1619

Later I also added G29, with which one can do this without a display.

G29 or G29 S0 Print mesh info

G29 S1 Initiate probing, will do a homing + travel to first probe point. Now use Printrun or what you use to slowly lower the hotend until it touches the bed, i.e. with a paper between to feel when it's close enough.

G29 S2 Save current height for the current point, then travel to next probe point. Repeat the manual lowering until touches. Do this until all points has been probed.

I use a paper and do the goto next point when the paper feel loose, which gets the compensation a little too loose so I compensate that in Slic3r with "Z offset" (in Printer Settings) set to -0.05.

When probing and MESH_HOME_SEARCH_Z set at 4 the Z endstop is considered being at 4 mm and it is possible to search downward (yes, this will press on the Z endstop unless it is an opto) to 0. It might be possible to have the endstop below the bed, but I think the traveling between the points need to change as it will travel on the endstop level between the probe points, so an extra lift might be needed.

[alexborro]

Got it, but how do I use my Z Probe to do an automatic probing?
Em 24/03/2015 21:31, "Edward Patel" notifications@github.com escreveu:

@alexborro https://github.com/alexborro I think I described it shortly
in the pull request. Maybe got lost in all the text.

The bed level option is added last in the Prepare menu. When selecting it
the hotend will travel to all points and one use the encoder to move it
up/down. Move it down until the usual paper thickness from the bed and
press the encoder to "enter" that value, keep doing that until all points
have been entered. The mesh can be saved in the EEPROM so storing them is
good. A G28 homing will show if the mesh is active or not. If it does not
travel to the first measure point (for sync position with mesh) the mesh is
not active.

#1619 #1619

Later I also added G29, with which one can do this without a display.

G29 or G29 S0 Print mesh info

G29 S1 Initiate probing, will do a homing + travel to first probe point.
Now use Printrun or what you use to slowly lower the hotend until it
touches the bed, i.e. with a paper between to feel when it's close enough.

G29 S2 Save current height for the current point, then travel to next
probe point. Repeat the manual lowering until touches.

I use a paper and do the goto next point when the paper feel loose,
which gets the compensation a little too loose so I compensate that in
Slic3r with "Z offset" (in Printer Settings) set to -0.05.

When probing and MESH_HOME_SEARCH_Z set at 4 the Z endstop is considered
being at 4 mm and it is possible to search downward (yes, this will press
on the Z endstop unless it is an opto) to 0. It might be possible to have
the endstop below the bed, but I think G28 might need to change as the
initial movement to the first probe point could be bad so an extra lift
might be needed.

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#1682 (comment)
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[epatel]

@alexborro I don't have that setup so I have not added that, sorry.

But I think it shouldn't be to hard to add, either taking code from the auto bed leveling parts or optionally add the mesh there.

[alexborro]

I will try to implement it tomorrow.
Em 24/03/2015 21:43, "Edward Patel" notifications@github.com escreveu:

@alexborro https://github.com/alexborro I don't have that setup so I
have not added that, sorry.

But I think it shouldn't be to hard to add, wither taking code from the
auto bed leveling parts or optionally add the mesh there.

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#1682 (comment)
.

[epatel]

@alexborro Cool! Please let me know how it works, and feel free to ask I'll help if I can.

[thinkyhead]

@Sniffle If you've figured out the printing in the air problem, please contribute to this conversation! #1507

Or… have you just found a workaround?

It sounds like a fairly simple issue, in a way, if it is persisting for you. Somehow the Z coordinate is getting lost by the time the probing routine ends, so the firmware probably thinks Z = 0 when printing starts.

[harerama]

Here is the log of the terminal:

• G28: if I print after that everything is ok (but no bed levelling)
• then G29
• then I manually go down Z for the nozzle to almost touch the bed (true manual homing)
  => the Z value is @ -2.7, so I would have printed 2.7 mm above the bed

I don't know where this 2.7 value comes from...

I am using grid levelling (the default one)

---

Send: M501
Recv: echo:V17 stored settings retrieved (366 bytes)
Recv: echo:Steps per unit:
Recv: echo: M92 X80.00 Y80.00 Z3990.00 E758.00
Recv: echo:Maximum feedrates (mm/s):
Recv: echo: M203 X250.00 Y250.00 Z1.75 E25.00
Recv: echo:Maximum Acceleration (mm/s2):
Recv: echo: M201 X3000 Y3000 Z100 E10000
Recv: echo:Accelerations: P=printing, R=retract and T=travel
Recv: echo: M204 P1000.00 R1000.00 T1000.00
Recv: echo:Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)
Recv: echo: M205 S0.00 T0.00 B20000 X10.00 Z0.40 E5.00
Recv: echo:Home offset (mm):
Recv: echo: M206 X0.00 Y0.00 Z0.00
Recv: echo:PID settings:
Recv: echo: M301 P15.13 I1.43 D40.17
Recv: echo:Filament settings: Disabled
Recv: echo:Z-Probe Offset (mm):
Recv: echo: M851 Z-7.30
Recv: ok
[...]
Send: M114
Recv: X:87.00 Y:148.99 Z:7.28 E:951.41 Count X: 87.00 Y:149.00 Z:7.22
Recv: ok
[...]
Send: G28
Recv: ok
[...]
Send: M114
Recv: X:169.00 Y:101.00 Z:7.30 E:951.41 Count X: 169.00 Y:101.00 Z:7.30
Recv: ok
[...]
Send: G29 V4
Recv: G29 Auto Bed Leveling
Recv: Bed X: 20.00 Y: 20.00 Z: 7.28
Recv: Bed X: 130.00 Y: 20.00 Z: 7.20
Recv: Bed X: 130.00 Y: 150.00 Z: 7.06
Recv: Bed X: 20.00 Y: 150.00 Z: 7.14
Recv: Eqn coefficients: a: -0.00073138 b: -0.00106613 d: 7.31540012
Recv: Mean of sampled points: 7.16992521
Recv:
Recv: Bed Height Topography:
Recv: +-----------+
Recv: |...Back....|
Recv: |Left..Right|
Recv: |...Front...|
Recv: +-----------+
Recv: -0.03058 -0.10802
Recv: +0.02757 +0.11103
Recv:
Recv: planeNormal x: 0.000731 y: 0.001066 z: 1.000000
Recv:
Recv:
Recv: Bed Level Correction Matrix:
Recv: 1.000000 0.000000 -0.000731
Recv: -0.000001 0.999999 -0.001066
Recv: 0.000731 0.001066 0.999999
Recv: ok
Recv: echo:endstops hit: Z:7.14
[...]
Send: M114
Recv: X:86.99 Y:148.99 Z:7.35 E:951.41 Count X: 87.00 Y:149.00 Z:7.13
Recv: ok
[...]
Send: G1 X100 Y100 F6000
Recv: ok
[...]
Send: G1 Z0
Recv: ok
[...]
Send: G91
Recv: ok
Send: G1 Z-1.0000 F200
Recv: ok
Send: G90
Recv: ok
Send: G91
Recv: ok
Send: G1 Z-1.0000 F200
Recv: ok
Send: G90
Recv: ok
Send: G91
Recv: ok
Send: G1 Z-1.0000 F200
Recv: ok
Send: G90
Recv: ok
[...]
Send: G91
Recv: ok
Send: G91
Recv: ok
Send: G1 Z1.0000 F200
Recv: ok
Send: G90
Recv: ok
[...]
Send: G91
Recv: ok
Send: G1 Z-0.1000 F200
Recv: ok
Send: G90
Recv: ok
Send: G91
Recv: ok
Send: G1 Z-0.1000 F200
Recv: ok
Send: G90
Recv: ok
Send: G91
Recv: ok
Send: G1 Z-0.1000 F200
Recv: ok
Send: G90
Recv: ok
Send: G91
Recv: ok
Send: G1 Z-0.1000 F200
Recv: ok
Send: G90
Recv: ok
Send: G91
Recv: ok
Send: G1 Z-0.1000 F200
Recv: ok
Send: G90
Recv: ok
Send: G91
Recv: ok
Send: G1 Z-0.1000 F200
Recv: ok
Send: G90
Recv: ok
Send: G91
Recv: ok
Send: G1 Z-0.1000 F200
Recv: ok
Send: G90
Recv: ok
Send: G91
Recv: ok
Send: G1 Z-0.1000 F200
Recv: ok
Send: G90
Recv: ok
[...]
Send: G91
Recv: ok
Send: G91
Recv: ok
Send: G1 Z0.1000 F200
Recv: ok
Send: G90
Recv: ok
[...]
Send: M114
Recv: X:100.00 Y:100.00 Z:-2.70 E:951.41 Count X: 100.00 Y:100.00 Z:-2.88
Recv: ok

[harerama]

Here is my full Configuration.h - in case it helps

#ifndef CONFIGURATION_H
#define CONFIGURATION_H

#include "boards.h"

//===========================================================================
//============================= Getting Started =============================
//===========================================================================
/*
Here are some standard links for getting your machine calibrated:
 * http://reprap.org/wiki/Calibration
 * http://youtu.be/wAL9d7FgInk
 * http://calculator.josefprusa.cz
 * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
 * http://www.thingiverse.com/thing:5573
 * https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
 * http://www.thingiverse.com/thing:298812
*/

// This configuration file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration

//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// example_configurations/delta directory.
//

//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// example_configurations/SCARA directory.
//

// User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
// build by the user have been successfully uploaded into firmware.
#define STRING_VERSION "1.0.2"
#define STRING_URL "reprap.org"
#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
#define STRING_SPLASH_LINE1 "v" STRING_VERSION // will be shown during bootup in line 1
//#define STRING_SPLASH_LINE2 STRING_VERSION_CONFIG_H // will be shown during bootup in line2

// SERIAL_PORT selects which serial port should be used for communication with the host.
// This allows the connection of wireless adapters (for instance) to non-default port pins.
// Serial port 0 is still used by the Arduino bootloader regardless of this setting.
#define SERIAL_PORT 0

// This determines the communication speed of the printer
#define BAUDRATE 115200

// This enables the serial port associated to the Bluetooth interface
//#define BTENABLED              // Enable BT interface on AT90USB devices

// The following define selects which electronics board you have.
// Please choose the name from boards.h that matches your setup
#ifndef MOTHERBOARD
  #define MOTHERBOARD BOARD_RAMPS_13_EFB
#endif

// Define this to set a custom name for your generic Mendel,
// #define CUSTOM_MENDEL_NAME "This Mendel"

// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"

// This defines the number of extruders
#define EXTRUDERS 1

//// The following define selects which power supply you have. Please choose the one that matches your setup
// 1 = ATX
// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)

#define POWER_SUPPLY 1

// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
// #define PS_DEFAULT_OFF

//===========================================================================
//============================= Thermal Settings ============================
//===========================================================================
//
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
//
//// Temperature sensor settings:
// -2 is thermocouple with MAX6675 (only for sensor 0)
// -1 is thermocouple with AD595
// 0 is not used
// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
// 3 is Mendel-parts thermistor (4.7k pullup)
// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
// 13 is 100k Hisens 3950  1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE" 
// 20 is the PT100 circuit found in the Ultimainboard V2.x
// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
//
//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
//                          (but gives greater accuracy and more stable PID)
// 51 is 100k thermistor - EPCOS (1k pullup)
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
//
// 1047 is Pt1000 with 4k7 pullup
// 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
//     Use it for Testing or Development purposes. NEVER for production machine.
//     #define DUMMY_THERMISTOR_998_VALUE 25
//     #define DUMMY_THERMISTOR_999_VALUE 100

#define TEMP_SENSOR_0 1
#define TEMP_SENSOR_1 0
#define TEMP_SENSOR_2 0
#define TEMP_SENSOR_3 0
#define TEMP_SENSOR_BED 1

// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
//#define TEMP_SENSOR_1_AS_REDUNDANT
#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10

// Actual temperature must be close to target for this long before M109 returns success
#define TEMP_RESIDENCY_TIME 10  // (seconds)
#define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
#define TEMP_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.

// The minimal temperature defines the temperature below which the heater will not be enabled It is used
// to check that the wiring to the thermistor is not broken.
// Otherwise this would lead to the heater being powered on all the time.
#define HEATER_0_MINTEMP 5
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define HEATER_3_MINTEMP 5
#define BED_MINTEMP 5

// When temperature exceeds max temp, your heater will be switched off.
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
// You should use MINTEMP for thermistor short/failure protection.
#define HEATER_0_MAXTEMP 275
#define HEATER_1_MAXTEMP 275
#define HEATER_2_MAXTEMP 275
#define HEATER_3_MAXTEMP 275
#define BED_MAXTEMP 150

// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
// average current. The value should be an integer and the heat bed will be turned on for 1 interval of
// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4

// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS
//#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R
//#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R

//===========================================================================
//============================= PID Settings ================================
//===========================================================================
// PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning

// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP
  //#define PID_DEBUG // Sends debug data to the serial port.
  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
  //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
  //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
                                    // Set/get with gcode: M301 E[extruder number, 0-2]
  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
  #define PID_INTEGRAL_DRIVE_MAX PID_MAX  //limit for the integral term
  #define K1 0.95 //smoothing factor within the PID
  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
// Ultimaker
    #define  DEFAULT_Kp 21.28
    #define  DEFAULT_Ki 1.98
    #define  DEFAULT_Kd 57.08

// MakerGear
//    #define  DEFAULT_Kp 7.0
//    #define  DEFAULT_Ki 0.1
//    #define  DEFAULT_Kd 12

// Mendel Parts V9 on 12V
//    #define  DEFAULT_Kp 63.0
//    #define  DEFAULT_Ki 2.25
//    #define  DEFAULT_Kd 440
#endif // PIDTEMP

//===========================================================================
//============================= PID > Bed Temperature Control ===============
//===========================================================================
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//
// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
// If your configuration is significantly different than this and you don't understand the issues involved, you probably
// shouldn't use bed PID until someone else verifies your hardware works.
// If this is enabled, find your own PID constants below.
//#define PIDTEMPBED
//
//#define BED_LIMIT_SWITCHING

// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
// so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current

//#define PID_BED_DEBUG // Sends debug data to the serial port.

#ifdef PIDTEMPBED
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
    #define  DEFAULT_bedKp 10.00
    #define  DEFAULT_bedKi .023
    #define  DEFAULT_bedKd 305.4

//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from pidautotune
//    #define  DEFAULT_bedKp 97.1
//    #define  DEFAULT_bedKi 1.41
//    #define  DEFAULT_bedKd 1675.16

// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
#endif // PIDTEMPBED


//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
//can be software-disabled for whatever purposes by
#define PREVENT_DANGEROUS_EXTRUDE
//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
#define PREVENT_LENGTHY_EXTRUDE

#define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.

//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
/*
This is a feature to protect your printer from burn up in flames if it has
a thermistor coming off place (this happened to a friend of mine recently and
motivated me writing this feature).

The issue: If a thermistor come off, it will read a lower temperature than actual.
The system will turn the heater on forever, burning up the filament and anything
else around.

After the temperature reaches the target for the first time, this feature will 
start measuring for how long the current temperature stays below the target 
minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS).

If it stays longer than _PERIOD, it means the thermistor temperature
cannot catch up with the target, so something *may be* wrong. Then, to be on the
safe side, the system will he halt.

Bear in mind the count down will just start AFTER the first time the 
thermistor temperature is over the target, so you will have no problem if
your extruder heater takes 2 minutes to hit the target on heating.

*/
// If you want to enable this feature for all your extruder heaters,
// uncomment the 2 defines below:

// Parameters for all extruder heaters
#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds
#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius

// If you want to enable this feature for your bed heater,
// uncomment the 2 defines below:

// Parameters for the bed heater
#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds
#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius


//===========================================================================
//============================= Mechanical Settings =========================
//===========================================================================

// Uncomment this option to enable CoreXY kinematics
// #define COREXY

// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA

// The pullups are needed if you directly connect a mechanical endstop between the signal and ground pins.
#define ENDSTOPPULLUP_XMAX
#define ENDSTOPPULLUP_YMAX
#define ENDSTOPPULLUP_ZMAX
#define ENDSTOPPULLUP_XMIN
#define ENDSTOPPULLUP_YMIN
#define ENDSTOPPULLUP_ZMIN

// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
//#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS

// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0 // For all extruders

// Disables axis when it's not being used.
#define DISABLE_X false
#define DISABLE_Y false
#define DISABLE_Z false
#define DISABLE_E false // For all extruders
#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled

// If you motor turns to wrong direction, you can invert it here:
#define INVERT_X_DIR true
#define INVERT_Y_DIR false
#define INVERT_Z_DIR true
#define INVERT_E0_DIR false
#define INVERT_E1_DIR false
#define INVERT_E2_DIR false
#define INVERT_E3_DIR false

// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1

#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.

// Travel limits after homing (units are in mm)
#define X_MIN_POS 0
#define Y_MIN_POS 0
#define Z_MIN_POS 0
#define X_MAX_POS 205
#define Y_MAX_POS 205
#define Z_MAX_POS 200

#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)

//===========================================================================
//============================= Filament Runout Sensor ======================
//===========================================================================
//#define FILAMENT_RUNOUT_SENSOR // Uncomment for defining a filament runout sensor such as a mechanical or opto endstop to check the existence of filament
                                 // In RAMPS uses servo pin 2. Can be changed in pins file. For other boards pin definition should be made.
                                 // It is assumed that when logic high = filament available
                                 //                    when logic  low = filament ran out
//const bool FIL_RUNOUT_INVERTING = true;  // Should be uncommented and true or false should assigned
//#define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.

//===========================================================================
//============================ Manual Bed Leveling ==========================
//===========================================================================

// #define MANUAL_BED_LEVELING  // Add display menu option for bed leveling
// #define MESH_BED_LEVELING    // Enable mesh bed leveling

#if defined(MESH_BED_LEVELING)
  #define MESH_MIN_X 10
  #define MESH_MAX_X (X_MAX_POS - MESH_MIN_X)
  #define MESH_MIN_Y 10
  #define MESH_MAX_Y (Y_MAX_POS - MESH_MIN_Y)
  #define MESH_NUM_X_POINTS 3  // Don't use more than 7 points per axis, implementation limited
  #define MESH_NUM_Y_POINTS 3
  #define MESH_HOME_SEARCH_Z 4  // Z after Home, bed somewhere below but above 0.0
#endif  // MESH_BED_LEVELING

//===========================================================================
//============================= Bed Auto Leveling ===========================
//===========================================================================

#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
#define Z_PROBE_REPEATABILITY_TEST  // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.

#ifdef ENABLE_AUTO_BED_LEVELING

  // There are 2 different ways to specify probing locations
  //
  // - "grid" mode
  //   Probe several points in a rectangular grid.
  //   You specify the rectangle and the density of sample points.
  //   This mode is preferred because there are more measurements.
  //
  // - "3-point" mode
  //   Probe 3 arbitrary points on the bed (that aren't colinear)
  //   You specify the XY coordinates of all 3 points.

  // Enable this to sample the bed in a grid (least squares solution)
  // Note: this feature generates 10KB extra code size
  #define AUTO_BED_LEVELING_GRID

  #ifdef AUTO_BED_LEVELING_GRID

    #define LEFT_PROBE_BED_POSITION 20
    #define RIGHT_PROBE_BED_POSITION 130
    #define FRONT_PROBE_BED_POSITION 20
    #define BACK_PROBE_BED_POSITION 150

    #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this

    // Set the number of grid points per dimension
    // You probably don't need more than 3 (squared=9)
    #define AUTO_BED_LEVELING_GRID_POINTS 2


  #else  // !AUTO_BED_LEVELING_GRID

      // Arbitrary points to probe. A simple cross-product
      // is used to estimate the plane of the bed.
      #define ABL_PROBE_PT_1_X 15
      #define ABL_PROBE_PT_1_Y 180
      #define ABL_PROBE_PT_2_X 15
      #define ABL_PROBE_PT_2_Y 20
      #define ABL_PROBE_PT_3_X 170
      #define ABL_PROBE_PT_3_Y 20

  #endif // AUTO_BED_LEVELING_GRID


  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
  // X and Y offsets must be integers
  #define X_PROBE_OFFSET_FROM_EXTRUDER -67     // Probe on: -left  +right
  #define Y_PROBE_OFFSET_FROM_EXTRUDER 1     // Probe on: -front +behind
  #define Z_PROBE_OFFSET_FROM_EXTRUDER -7.28  // -below (always!)

  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case

  #define XY_TRAVEL_SPEED 8000         // X and Y axis travel speed between probes, in mm/min

  #define Z_RAISE_BEFORE_PROBING 10    //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 3  //How much the extruder will be raised when traveling from between next probing points
  #define Z_RAISE_AFTER_PROBING 10    //How much the extruder will be raised after the last probing point.

//   #define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10" //These commands will be executed in the end of G29 routine.
                                                                            //Useful to retract a deployable probe.

  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.

  //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
  //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
  // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.

//  #define PROBE_SERVO_DEACTIVATION_DELAY 300


//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
//it is highly recommended you let this Z_SAFE_HOMING enabled!!!

  #define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
                          // When defined, it will:
                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing
                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
                          // - Block Z homing only when the probe is outside bed area.

  #ifdef Z_SAFE_HOMING

    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)

  #endif

#endif // ENABLE_AUTO_BED_LEVELING


// The position of the homing switches
//#define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used
//#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)

// Manual homing switch locations:
// For deltabots this means top and center of the Cartesian print volume.
#ifdef MANUAL_HOME_POSITIONS
  #define MANUAL_X_HOME_POS 0
  #define MANUAL_Y_HOME_POS 0
  #define MANUAL_Z_HOME_POS 0
  //#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
#endif

//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {50*60, 50*60, 1.75*60, 0}  // set the homing speeds (mm/min)

// default settings

#define DEFAULT_AXIS_STEPS_PER_UNIT   {80,80,3990,758}  // default steps per unit for Ultimaker
#define DEFAULT_MAX_FEEDRATE          {250, 250, 1.75, 25}    // (mm/sec)
#define DEFAULT_MAX_ACCELERATION      {3000,3000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.

#define DEFAULT_ACCELERATION          1000    // X, Y, Z and E acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION  1000   // E acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION   1000    // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves

// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
// For the other hotends it is their distance from the extruder 0 hotend.
// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
// #define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis

// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
#define DEFAULT_XYJERK                10.0    // (mm/sec)
#define DEFAULT_ZJERK                 0.4     // (mm/sec)
#define DEFAULT_EJERK                 5.0    // (mm/sec)


//=============================================================================
//============================= Additional Features ===========================
//=============================================================================

// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
  #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
  #define Z_PROBE_OFFSET_RANGE_MIN -15
  #define Z_PROBE_OFFSET_RANGE_MAX -5
#endif


// EEPROM
// The microcontroller can store settings in the EEPROM, e.g. max velocity...
// M500 - stores parameters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
//define this to enable EEPROM support
#define EEPROM_SETTINGS
//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
// please keep turned on if you can.
#define EEPROM_CHITCHAT

// Preheat Constants
#define PLA_PREHEAT_HOTEND_TEMP 195
#define PLA_PREHEAT_HPB_TEMP 65
#define PLA_PREHEAT_FAN_SPEED 0   // Insert Value between 0 and 255

#define ABS_PREHEAT_HOTEND_TEMP 240
#define ABS_PREHEAT_HPB_TEMP 110
#define ABS_PREHEAT_FAN_SPEED 0   // Insert Value between 0 and 255

//==============================LCD and SD support=============================

// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)

// Character based displays can have different extended charsets.
#define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
//#define DISPLAY_CHARSET_HD44780_WESTERN // "ÄäÖöÜüß²³°" if you see a '~' instead of a 'arrow_right' at the right of submenuitems - this is the right one.

//#define ULTRA_LCD  //general LCD support, also 16x2
//#define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
//#define ULTIPANEL  //the UltiPanel as on Thingiverse
//#define LCD_FEEDBACK_FREQUENCY_HZ 1000    // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click

// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
// http://reprap.org/wiki/PanelOne
//#define PANEL_ONE

// The MaKr3d Makr-Panel with graphic controller and SD support
// http://reprap.org/wiki/MaKr3d_MaKrPanel
//#define MAKRPANEL

// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
// http://panucatt.com
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define VIKI2
//#define miniVIKI

// The RepRapDiscount Smart Controller (white PCB)
// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
//#define REPRAP_DISCOUNT_SMART_CONTROLLER

// The GADGETS3D G3D LCD/SD Controller (blue PCB)
// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
//#define G3D_PANEL

// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)
// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
//
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER

// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
//#define REPRAPWORLD_KEYPAD
//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click

// The Elefu RA Board Control Panel
// http://www.elefu.com/index.php?route=product/product&product_id=53
// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
//#define RA_CONTROL_PANEL

//automatic expansion
#if defined (MAKRPANEL)
 #define DOGLCD
 #define SDSUPPORT
 #define ULTIPANEL
 #define NEWPANEL
 #define DEFAULT_LCD_CONTRAST 17
#endif

#if defined(miniVIKI) || defined(VIKI2)
 #define ULTRA_LCD  //general LCD support, also 16x2
 #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
 #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.

  #ifdef miniVIKI
   #define DEFAULT_LCD_CONTRAST 95
  #else
   #define DEFAULT_LCD_CONTRAST 40
  #endif

 #define ENCODER_PULSES_PER_STEP 4
 #define ENCODER_STEPS_PER_MENU_ITEM 1
#endif

#if defined (PANEL_ONE)
 #define SDSUPPORT
 #define ULTIMAKERCONTROLLER
#endif

#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
 #define DOGLCD
 #define U8GLIB_ST7920
 #define REPRAP_DISCOUNT_SMART_CONTROLLER
#endif

#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
 #define ULTIPANEL
 #define NEWPANEL
#endif

#if defined(REPRAPWORLD_KEYPAD)
  #define NEWPANEL
  #define ULTIPANEL
#endif
#if defined(RA_CONTROL_PANEL)
 #define ULTIPANEL
 #define NEWPANEL
 #define LCD_I2C_TYPE_PCA8574
 #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
#endif

//I2C PANELS

//#define LCD_I2C_SAINSMART_YWROBOT
#ifdef LCD_I2C_SAINSMART_YWROBOT
  // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
  // Make sure it is placed in the Arduino libraries directory.
  #define LCD_I2C_TYPE_PCF8575
  #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
  #define NEWPANEL
  #define ULTIPANEL
#endif

// PANELOLU2 LCD with status LEDs, separate encoder and click inputs
//#define LCD_I2C_PANELOLU2
#ifdef LCD_I2C_PANELOLU2
  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
  // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
  // Note: The PANELOLU2 encoder click input can either be directly connected to a pin
  //       (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
  #define LCD_I2C_TYPE_MCP23017
  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
  #define NEWPANEL
  #define ULTIPANEL

  #ifndef ENCODER_PULSES_PER_STEP
    #define ENCODER_PULSES_PER_STEP 4
  #endif

  #ifndef ENCODER_STEPS_PER_MENU_ITEM
    #define ENCODER_STEPS_PER_MENU_ITEM 1
  #endif


  #ifdef LCD_USE_I2C_BUZZER
    #define LCD_FEEDBACK_FREQUENCY_HZ 1000
    #define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100
  #endif

#endif

// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
//#define LCD_I2C_VIKI
#ifdef LCD_I2C_VIKI
  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
  // Note: The pause/stop/resume LCD button pin should be connected to the Arduino
  //       BTN_ENC pin (or set BTN_ENC to -1 if not used)
  #define LCD_I2C_TYPE_MCP23017
  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
  #define NEWPANEL
  #define ULTIPANEL
#endif

// Shift register panels
// ---------------------
// 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection 

//#define SAV_3DLCD
#ifdef SAV_3DLCD
   #define SR_LCD_2W_NL    // Non latching 2 wire shiftregister
   #define NEWPANEL
   #define ULTIPANEL
#endif


#ifdef ULTIPANEL
//  #define NEWPANEL  //enable this if you have a click-encoder panel
  #define SDSUPPORT
  #define ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 20
    #define LCD_HEIGHT 4
  #endif
#else //no panel but just LCD
  #ifdef ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 16
    #define LCD_HEIGHT 2
  #endif
  #endif
#endif

// default LCD contrast for dogm-like LCD displays
#ifdef DOGLCD
# ifndef DEFAULT_LCD_CONTRAST
#  define DEFAULT_LCD_CONTRAST 32
# endif
#endif

// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
//#define FAST_PWM_FAN

// Temperature status LEDs that display the hotend and bet temperature.
// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
// Otherwise the RED led is on. There is 1C hysteresis.
//#define TEMP_STAT_LEDS

// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
// which is not ass annoying as with the hardware PWM. On the other hand, if this frequency
// is too low, you should also increment SOFT_PWM_SCALE.
//#define FAN_SOFT_PWM

// Incrementing this by 1 will double the software PWM frequency,
// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
// However, control resolution will be halved for each increment;
// at zero value, there are 128 effective control positions.
#define SOFT_PWM_SCALE 0

// M240  Triggers a camera by emulating a Canon RC-1 Remote
// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
// #define PHOTOGRAPH_PIN     23

// SF send wrong arc g-codes when using Arc Point as fillet procedure
//#define SF_ARC_FIX

// Support for the BariCUDA Paste Extruder.
//#define BARICUDA

//define BlinkM/CyzRgb Support
//#define BLINKM

/*********************************************************************\
* R/C SERVO support
* Sponsored by TrinityLabs, Reworked by codexmas
**********************************************************************/

// Number of servos
//
// If you select a configuration below, this will receive a default value and does not need to be set manually
// set it manually if you have more servos than extruders and wish to manually control some
// leaving it undefined or defining as 0 will disable the servo subsystem
// If unsure, leave commented / disabled
//
#define NUM_SERVOS 1 // Servo index starts with 0 for M280 command

// Servo Endstops
//
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
//
#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 160,70} // X,Y,Z Axis Extend and Retract angles

/**********************************************************************\
 * Support for a filament diameter sensor
 * Also allows adjustment of diameter at print time (vs  at slicing)
 * Single extruder only at this point (extruder 0)
 * 
 * Motherboards
 * 34 - RAMPS1.4 - uses Analog input 5 on the AUX2 connector 
 * 81 - Printrboard - Uses Analog input 2 on the Exp1 connector (version B,C,D,E)
 * 301 - Rambo  - uses Analog input 3
 * Note may require analog pins to be defined for different motherboards
 **********************************************************************/
// Uncomment below to enable
//#define FILAMENT_SENSOR

#define FILAMENT_SENSOR_EXTRUDER_NUM    0  //The number of the extruder that has the filament sensor (0,1,2)
#define MEASUREMENT_DELAY_CM            14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel

#define DEFAULT_NOMINAL_FILAMENT_DIA  3.0  //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software.  Used for sensor reading validation
#define MEASURED_UPPER_LIMIT          3.30  //upper limit factor used for sensor reading validation in mm
#define MEASURED_LOWER_LIMIT          1.90  //lower limit factor for sensor reading validation in mm
#define MAX_MEASUREMENT_DELAY           20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)

//defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA  DEFAULT_NOMINAL_FILAMENT_DIA  //set measured to nominal initially 

//When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status.  Status will appear for 5 sec.
//#define FILAMENT_LCD_DISPLAY






#include "Configuration_adv.h"
#include "thermistortables.h"

#endif //__CONFIGURATION_H

[thinkyhead]

???

Recv: echo: M851 Z-7.30

???

7.3 + 2.7 = 10.0

[thinkyhead]

Mulling this over… When G29 begins, my guess is that it just assumes you did G28 and that the Z axis hasn't been moved. So maybe doing a G1 before G29 isn't truly "supported." But it should be… Your log indicates that the firmware seems to be aware of the Z coordinate. If that's the case, when starting a print, the firmware should be moving to the starting coordinate for the print. It should move Z from its known position to 0 for the first layer.

So, all in all very weird.

[harerama]

@thinkyhead: too early for me to spot easy math...

I removed the G1 between G28 and G29, so this is not the problem.
The sequence for the log above is:
G28
G29
G1 X100 Y100 F6000
G1 Z0 (the nozzle is 2.7 mm above the bed)
several G1 to touch the bed (so down 2.7 mm)

[SkyFlyer2]

I'm also have this problem. This issue occur after adding command "do_blocking_move..." into retract probe function.

That all, what i know.

[thinkyhead]

So again, very odd. It ends up at Z_RAISE_AFTER_PROBING - Z_PROBE_OFFSET_FROM_EXTRUDER = ~2.7mm above the bed in the case where you don't move the bed down.

[scotty1024]

I can add that this may not be a recently added bug. I have a Printrbot Full Metal Simple running their branch of firmware and out of the blue one day in Feb it started printing in air after the G29. No firmware change, it's running the factory code it came with. I switched from CURA to Simplify3D for its slicing but couldn't really see anywhere I got the startup wrong and going back to CURA didn't get me back to working. I'm thinking EEPROM calibration setting? That's all I've "changed" and do so frequently to keep calibration tight.

On Mar 25, 2015, at 2:54 AM, Scott Lahteine notifications@github.com wrote:

So again, very odd. It ends up at Z_RAISE_AFTER_PROBING - Z_PROBE_OFFSET_FROM_EXTRUDER = ~2.7mm above the bed in the case where you don't move the bed down.

—
Reply to this email directly or view it on GitHub.

[harerama]

I am also using EEPROM.

Everything was working good until I upgraded Marlin to dev version because I had trouble getting EEPROM to work in my previous version.
This may be a hint though, and I will try when I have time to deactivate EEPROM and run G29.

[Sniffle]

I didn't think it would be but it was a simple thing and just in case it
made sure it wasn't an issue.
On Apr 2, 2015 11:11 PM, "AnHardt" notifications@github.com wrote:

The < = typo is not relevant here. It only effects when FWRETRACT is
defined.

—
Reply to this email directly or view it on GitHub
#1682 (comment)
.

[thinkyhead]

@alvinavr I'm thinking actually this might be more correct? What do you think?

z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING;

[thinkyhead]

Here are some of my recent homing notes, trying to get worked out how G28 should behave in all cases… Trying to eliminate the need for SAFE_HOMING as a separate option

• A probe may co-exist with a Z min endstop or it may take the role of a Z min endstop
• HOMING with any real Z endstop:
  • Home normally, never deploy the probe
• HOMING with a Z min probe only, no other Z endstop:
  • Option: Raise the Z axis before doing any homing, to avoid bed clips
  • Home X and Y, either together or one at a time
  • If needed, move XY to a point where the probe will be within the bed
  • Option: Raise (if not already) the Z axis to make room to activate the probe
  • Deploy the Z probe
  • Home the Z axis, which lowers Z til the switch is triggered, slow-bumps
  • Option: Raise the Z axis to make room to deactivate the probe
  • Deactivate the probe
  • Option: Move the nozzle down to the bed

[alvinavr]

@thinkyhead Yes, you are correct. This is better.

z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING;

It tested OK on my Huxley.

[alvinavr]

@thinkyhead I just tested #1819.
Test results are:

G29 P2 ;fail
G29 P3 ;pass
G29 P4 ;fail
G29 P2 V4 ;pass
G29 P3 V4 ;pass

The failure mode is that the last probe point(s) are probed with the Z probe up, not down. The code at line 2325 has triggered act = ProbeStow.

With the zigzag logic the direction of X travel on the last line of probe points depends upon an even or odd P. With V4 or T, zigzag is disabled and the direction is always the same. The last line of probes can be done in reverse order, starting at auto_bed_leveling_grid_points - 1 and finishing at 0.

The following would correct for this, line 2325 in Marlin_main.cpp

else if (yCount == auto_bed_leveling_grid_points - 1 && xCount == xStop - xInc)

[thinkyhead]

@alvinavr I have made that correction in Development, so that should work correctly now.

[thinkyhead]

Keeping this alive because this is the first date when things started getting weird. So I traced back to commit 89fe774 and decided to start before that, with a version before March 16.

git checkout 89fe774~1 -b before_delta_merge

I am comparing to that, and will have a couple of semi-reverted versions to test soon...

[a4jp-com]

Is this problem almost fixed?

#2334 (comment)

This thread is kind of the same, isn't it?

[AnHardt]

@a4jp-com
No. @boelle is not only in a different branch, he is on another repository.
Maybe we can learn something from there.

Sadly we have a lot of tickets open, related to G29 problems. We are still working on them.

[a4jp-com]

The last print they got in that thread looked pretty good and the z height was coming out the right way, as far as I can see. Which repository is the correct or main repository? I see MarlinFirmware/Marlin written at the top of both pages so I thought you were working on the same thing.

[AnHardt]

As more or less all Marlin-Firmwares are a fork from ErikZalm/Marlin (https://github.com/ErikZalm/Marlin) and Eriks repository is pointing to here, MarlinFirmware/Marlin (https://github.com/MarlinFirmware/Marlin) it seems to be the "official" one. :-) (as far as there is a "official" one)

[Roxy-3D]

No. @boelle in not only in a different branch, he is on an other repository. Maybe we can learn something from there.

The BeckDac fork that Boelle is using did come directly from an early Erik Zalm branch that had 'Accurate Bed Leveling'. BeckDac tweaked a bunch of stuff so it would be 'Load and Go' on MakerFarm printers. A few bugs with the different types of thermistors were cleaned up. He also added most of the firmware pieces I published over at 3D-Print-Board like M48.

I'm running that fork and do most of my coding against it because it is stable and does not do crazy things. Incidentally... It (My version... Not the BeckDac one) has the Iterative qr_solve() Least Squares Fit hooked in and ready to go. If the problems with Auto Bed Leveling are qr_solve() related, using the Iterative Least Squares Fit gets that out of the equation. The Iterative Least Squares Fit code does not ever write to a pointer so it can't cause memory corruption like what is suspected in the real qr_solve().

[AnHardt]

About qr_solve:
As far i can see the actual used qr_solve calculates the correct results - at least they are consistent with the 3-point equations (for the planes i tested). It uses malloc() but we have no hint that it actually corrupts the memory.
While @scotty1024 s new qr_solve does not use malloc() but gives different results than the 3-point equations. Here the array with the measured heights is _reused_ by intention. That's not pretty, but not the same as a corruption (as far as i understand this). Saves about 3646 byte in progmem (mostly malloc()-library-code).

@Roxy-3DPrintBoard
I'm really curious about your version. A bit slow? Who cares?

[Roxy-3D]

@AnHardt If the github@kitelab.de address is correct, I just emailed it to you. It is very simple (code wise). But the code had to be carefully ordered because all the additions and subtraction do push the 4 byte floats to the limit of their resolution. This code would have been much easier to write with 8 byte doubles.

And it does save about 10KB of firmware space. I don't even need the extra space. I'm at about 85KB in my AVR so I still have lots of head room. But it was a fun piece of code to write.

Uncomment the debug code at the end if you want to watch it do its work and converge on a solution.

If that address is not correct, the email will bounce and you can tell me where to send it.

[AnHardt]

@Roxy-3DPrintBoard
Thank you. Arrived.

[Roxy-3D]

@Roxy-3DPrintBoard Thank you. Arrived.

Did you have a chance to play with it?

[AnHardt]

@Roxy-3DPrintBoard
Still writing on an external (not Marlin) program to compare the results of the different qr_solves with the results from the 3-point-equation.
First time i messed it up while i tried to resolve the name conflicts (i guess).
Now i try to bind in only one and run it 3 times. (conditional includes)

[Roxy-3D]

Ah... If it is useful... I did most of the work in Visual Studio C++. I took the points from different G29's and compared them to what qr_solve() was producing. It isn't comparing the 3-Point, but it is validating that the iterative solution converges at the same solution that qr_solve() does...

[boelle]

This issue was moved to MarlinFirmware/MarlinDev#26

[github-actions]

This issue has been automatically locked since there has not been any recent activity after it was closed. Please open a new issue for related bugs.

[github-actions]

This issue has been automatically locked since there has not been any recent activity after it was closed. Please open a new issue for related bugs.

[github-actions]

This issue has been automatically locked since there has not been any recent activity after it was closed. Please open a new issue for related bugs.

[github-actions]

This issue has been automatically locked since there has not been any recent activity after it was closed. Please open a new issue for related bugs.