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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if HAS_BED_PROBE
-
- #include "../gcode.h"
- #include "../../module/motion.h"
- #include "../../module/probe.h"
- #include "../../feature/bedlevel/bedlevel.h"
-
- /**
- * G30: Do a single Z probe at the current XY
- *
- * Parameters:
- *
- * X Probe X position (default current X)
- * Y Probe Y position (default current Y)
- * E Engage the probe for each probe (default 1)
- */
- void GcodeSuite::G30() {
-
- const xy_pos_t pos = { parser.linearval('X', current_position.x + probe.offset_xy.x),
- parser.linearval('Y', current_position.y + probe.offset_xy.y) };
-
- if (!probe.can_reach(pos)) return;
-
- // Disable leveling so the planner won't mess with us
- TERN_(HAS_LEVELING, set_bed_leveling_enabled(false));
-
- remember_feedrate_scaling_off();
-
- const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
- const float measured_z = probe.probe_at_point(pos, raise_after, 1);
- if (!isnan(measured_z))
- SERIAL_ECHOLNPAIR("Bed X: ", FIXFLOAT(pos.x), " Y: ", FIXFLOAT(pos.y), " Z: ", FIXFLOAT(measured_z));
-
- restore_feedrate_and_scaling();
-
- #ifdef Z_AFTER_PROBING
- if (raise_after == PROBE_PT_STOW) probe.move_z_after_probing();
- #endif
-
- report_current_position();
- }
-
- #endif // HAS_BED_PROBE
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