227 lines
7.5 KiB
C++
227 lines
7.5 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* module/probe.h - Move, deploy, enable, etc.
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*/
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#include "../inc/MarlinConfig.h"
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#include "motion.h"
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#if HAS_BED_PROBE
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enum ProbePtRaise : uint8_t {
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PROBE_PT_NONE, // No raise or stow after run_z_probe
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PROBE_PT_STOW, // Do a complete stow after run_z_probe
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PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
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PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
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};
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#endif
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class Probe {
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public:
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#if HAS_BED_PROBE
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static xyz_pos_t offset;
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static bool set_deployed(const bool deploy);
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#if IS_KINEMATIC
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#if HAS_PROBE_XY_OFFSET
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// Return true if the both nozzle and the probe can reach the given point.
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// Note: This won't work on SCARA since the probe offset rotates with the arm.
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static inline bool can_reach(const float &rx, const float &ry) {
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return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y) // The nozzle can go where it needs to go?
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&& position_is_reachable(rx, ry, ABS(PROBING_MARGIN)); // Can the nozzle also go near there?
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}
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#else
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FORCE_INLINE static bool can_reach(const float &rx, const float &ry) {
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return position_is_reachable(rx, ry, PROBING_MARGIN);
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}
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#endif
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#else
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/**
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* Return whether the given position is within the bed, and whether the nozzle
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* can reach the position required to put the probe at the given position.
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*
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* Example: For a probe offset of -10,+10, then for the probe to reach 0,0 the
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* nozzle must be be able to reach +10,-10.
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*/
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static inline bool can_reach(const float &rx, const float &ry) {
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return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y)
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&& WITHIN(rx, min_x() - fslop, max_x() + fslop)
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&& WITHIN(ry, min_y() - fslop, max_y() + fslop);
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}
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#endif
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static inline void move_z_after_probing() {
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#ifdef Z_AFTER_PROBING
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do_z_clearance(Z_AFTER_PROBING, true, true, true); // Move down still permitted
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#endif
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}
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static inline void move_z_after_homing() {
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#ifdef Z_AFTER_HOMING
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do_z_clearance(Z_AFTER_HOMING, true, true, true);
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#elif defined(Z_AFTER_PROBING)
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move_z_after_probing();
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#endif
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}
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static float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true, const bool sanity_check=true);
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static inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true, const bool sanity_check=true) {
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return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative, sanity_check);
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}
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#else
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FORCE_INLINE static void move_z_after_homing() {}
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static constexpr xyz_pos_t offset = xyz_pos_t({ 0, 0, 0 }); // See #16767
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static bool set_deployed(const bool) { return false; }
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FORCE_INLINE static bool can_reach(const float &rx, const float &ry) { return position_is_reachable(rx, ry); }
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#endif
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FORCE_INLINE static bool can_reach(const xy_pos_t &pos) { return can_reach(pos.x, pos.y); }
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FORCE_INLINE static bool good_bounds(const xy_pos_t &lf, const xy_pos_t &rb) {
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return (
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#if IS_KINEMATIC
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can_reach(lf.x, 0) && can_reach(rb.x, 0) && can_reach(0, lf.y) && can_reach(0, rb.y)
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#else
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can_reach(lf) && can_reach(rb)
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#endif
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);
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}
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// Use offset_xy for read only access
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// More optimal the XY offset is known to always be zero.
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#if HAS_PROBE_XY_OFFSET
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static const xyz_pos_t &offset_xy;
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#else
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static constexpr xy_pos_t offset_xy = xy_pos_t({ 0, 0 }); // See #16767
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#endif
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static inline bool deploy() { return set_deployed(true); }
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static inline bool stow() { return set_deployed(false); }
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#if HAS_BED_PROBE || HAS_LEVELING
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#if IS_KINEMATIC
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static constexpr float printable_radius = (
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#if ENABLED(DELTA)
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DELTA_PRINTABLE_RADIUS
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#elif IS_SCARA
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SCARA_PRINTABLE_RADIUS
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#endif
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);
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static inline float probe_radius() {
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return printable_radius - _MAX(PROBING_MARGIN, HYPOT(offset_xy.x, offset_xy.y));
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}
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#endif
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static inline float min_x() {
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return (
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#if IS_KINEMATIC
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(X_CENTER) - probe_radius()
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#else
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_MAX((X_MIN_BED) + (PROBING_MARGIN_LEFT), (X_MIN_POS) + offset_xy.x)
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#endif
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);
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}
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static inline float max_x() {
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return (
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#if IS_KINEMATIC
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(X_CENTER) + probe_radius()
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#else
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_MIN((X_MAX_BED) - (PROBING_MARGIN_RIGHT), (X_MAX_POS) + offset_xy.x)
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#endif
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);
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}
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static inline float min_y() {
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return (
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#if IS_KINEMATIC
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(Y_CENTER) - probe_radius()
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#else
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_MAX((Y_MIN_BED) + (PROBING_MARGIN_FRONT), (Y_MIN_POS) + offset_xy.y)
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#endif
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);
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}
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static inline float max_y() {
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return (
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#if IS_KINEMATIC
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(Y_CENTER) + probe_radius()
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#else
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_MIN((Y_MAX_BED) - (PROBING_MARGIN_BACK), (Y_MAX_POS) + offset_xy.y)
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#endif
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);
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}
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#if NEEDS_THREE_PROBE_POINTS
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// Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
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template <typename T>
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static inline void get_three_points(T points[3]) {
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#if HAS_FIXED_3POINT
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points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
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points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
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points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
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#else
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#if IS_KINEMATIC
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constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
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COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
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points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
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points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
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points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
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#else
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points[0].set(min_x(), min_y());
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points[1].set(max_x(), min_y());
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points[2].set((min_x() + max_x()) / 2, max_y());
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#endif
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#endif
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}
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#endif
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#endif // HAS_BED_PROBE
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#if HAS_Z_SERVO_PROBE
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static void servo_probe_init();
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#endif
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#if QUIET_PROBING
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static void set_probing_paused(const bool p);
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#endif
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private:
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static bool probe_down_to_z(const float z, const feedRate_t fr_mm_s);
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static void do_z_raise(const float z_raise);
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static float run_z_probe(const bool sanity_check=true);
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};
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extern Probe probe;
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