Qtvcp Development Discussions

    def probe(self, name):
        if name == "xminus" or name == "yminus" :
            travel = 0 - self.data_max_travel
            latch = 0 - self.data_latch_return_dist
        elif name == "xplus" or name == "yplus":
            travel = self.data_max_travel
            latch = self.data_latch_return_dist
        else:
            return -1
        axis = name[0].upper()
        laxis = name[0].lower()

        # save current position
        rtn = self.CALL_MDI_WAIT('#<{}>=#<_{}>'.format(laxis,laxis), self.timeout)

        # probe toward target
        s = """G91
        G38.2 {}{} F{}""".format(axis, travel, self.data_search_vel)
        rtn = self.CALL_MDI_WAIT(s, self.timeout)
        if rtn != 1:
            return 'Probe {} failed: {}'.format(name, rtn)
        # retract
        s = "G1 {}{} F{}".format(axis, -latch, self.data_rapid_vel)
        rtn = self.CALL_MDI_WAIT(s, self.timeout)
        if rtn != 1:
            return 'Probe {} failed: {}'.format(name, rtn)
        # wait and probe toward target
        s = """G4 P0.5
        G38.2 {}{} F{}""".format(axis, 1.2*latch, self.data_probe_vel)
        rtn = self.CALL_MDI_WAIT(s, self.timeout)
        if rtn != 1:
            return 'Probe {} failed: {}'.format(name, rtn)

        # retract to original position
        s = "G90 G1 {}#<{}> F{}".format(axis, laxis, self.data_rapid_vel)
        rtn = self.CALL_MDI_WAIT(s, self.timeout)
        if rtn != 1:
            return 'Probe {} failed: {}'.format(name, rtn)
        # all good
        return 1