Offset XY movement during Z-Probe Wizard prep

Marlin/src/gcode/bedlevel/G35.cpp

@@ -108,7 +108,6 @@ void GcodeSuite::G35() {
     // length of the deployed pin (BLTOUCH stroke < 7mm)
 
     // Unsure if this is even required. The probe seems to lift correctly after probe done.
-    do_blocking_move_to_z(SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance()));
     const float z_probed_height = probe.probe_at_point(tramming_points[i], PROBE_PT_RAISE, 0, true);
 
     if (isnan(z_probed_height)) {

Marlin/src/gcode/calibrate/G76_M871.cpp

@@ -108,7 +108,6 @@
     };
 
     auto g76_probe = [](const TempSensorID sid, celsius_t &targ, const xy_pos_t &nozpos) {
-      do_z_clearance(5.0); // Raise nozzle before probing
       ptc.set_enabled(false);
       const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_STOW, 0, false);  // verbose=0, probe_relative=false
       ptc.set_enabled(true);

Marlin/src/lcd/menu/menu_tramming_wizard.cpp

@@ -53,9 +53,7 @@ static int8_t reference_index; // = 0
 #endif
 
 static bool probe_single_point() {
-  do_blocking_move_to_z(TERN(BLTOUCH, Z_CLEARANCE_DEPLOY_PROBE, Z_CLEARANCE_BETWEEN_PROBES));
-  // Stow after each point with BLTouch "HIGH SPEED" mode for push-pin safety
-  const float z_probed_height = probe.probe_at_point(tramming_points[tram_index], TERN0(BLTOUCH, bltouch.high_speed_mode) ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
+  const float z_probed_height = probe.probe_at_point(tramming_points[tram_index], PROBE_PT_RAISE, 0, true);
   z_measured[tram_index] = z_probed_height;
   if (reference_index < 0) reference_index = tram_index;
   move_to_tramming_wait_pos();

Marlin/src/module/probe.cpp

@@ -147,7 +147,7 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
     WRITE(MAGLEV_TRIGGER_PIN, LOW);
   }
 
-  inline void maglev_idle() { do_blocking_move_to_z(10); }
+  inline void maglev_idle() { do_z_clearance(10); }
 
 #elif ENABLED(TOUCH_MI_PROBE)
 
@@ -749,7 +749,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", first_probe_z);
 
     // Raise to give the probe clearance
-    do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s);
+    do_z_clearance(current_position.z + Z_CLEARANCE_MULTI_PROBE);
 
   #elif Z_PROBE_FEEDRATE_FAST != Z_PROBE_FEEDRATE_SLOW
 
@@ -759,7 +759,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
     if (current_position.z > z) {
       // Probe down fast. If the probe never triggered, raise for probe clearance
       if (!probe_down_to_z(z, z_probe_fast_mm_s))
-        do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, z_probe_fast_mm_s);
+        do_z_clearance(current_position.z + Z_CLEARANCE_BETWEEN_PROBES);
     }
   #endif
 
@@ -810,7 +810,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
           #if EXTRA_PROBING > 0
             < TOTAL_PROBING - 1
           #endif
-        ) do_blocking_move_to_z(z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s);
+        ) do_z_clearance(z + Z_CLEARANCE_MULTI_PROBE);
       #endif
     }
 
@@ -878,13 +878,16 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
   }
 
   #if ENABLED(BLTOUCH)
-    if (bltouch.high_speed_mode && bltouch.triggered())
-      bltouch._reset();
+    // Reset a BLTouch in HS mode if already triggered
+    if (bltouch.high_speed_mode && bltouch.triggered()) bltouch._reset();
   #endif
 
+  // Use a safe Z height for the XY move
+  const float safe_z = _MAX(current_position.z, SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance()));
+
   // On delta keep Z below clip height or do_blocking_move_to will abort
   xyz_pos_t npos = NUM_AXIS_ARRAY(
-    rx, ry, TERN(DELTA, _MIN(delta_clip_start_height, current_position.z), current_position.z),
+    rx, ry, TERN(DELTA, _MIN(delta_clip_start_height, safe_z), safe_z),
     current_position.i, current_position.j, current_position.k,
     current_position.u, current_position.v, current_position.w
   );
@@ -907,17 +910,22 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
     TERN_(HAS_PTC, ptc.apply_compensation(measured_z));
     TERN_(X_AXIS_TWIST_COMPENSATION, measured_z += xatc.compensation(npos + offset_xy));
   }
+
+  // Deploy succeeded and a successful measurement was done.
+  // Raise and/or stow the probe depending on 'raise_after' and settings.
   if (!isnan(measured_z)) {
-    const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
-    if (big_raise || raise_after == PROBE_PT_RAISE)
-      do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), z_probe_fast_mm_s);
-    else if (raise_after == PROBE_PT_STOW || raise_after == PROBE_PT_LAST_STOW)
+    const ProbePtRaise raise_type = (TERN0(BLTOUCH, !bltouch.high_speed_mode) && raise_after == PROBE_PT_RAISE) ? PROBE_PT_STOW : raise_after;
+    const bool big_raise = raise_type == PROBE_PT_BIG_RAISE;
+    if (big_raise || raise_type == PROBE_PT_RAISE)
+      do_z_clearance(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES));
+    else if (raise_type == PROBE_PT_STOW || raise_type == PROBE_PT_LAST_STOW)
       if (stow()) measured_z = NAN;   // Error on stow?
 
     if (verbose_level > 2)
       SERIAL_ECHOLNPGM("Bed X: ", LOGICAL_X_POSITION(rx), " Y: ", LOGICAL_Y_POSITION(ry), " Z: ", measured_z);
   }
 
+  // If any error occurred stow the probe and set an alert
   if (isnan(measured_z)) {
     stow();
     LCD_MESSAGE(MSG_LCD_PROBING_FAILED);