probe: Catch toolhead.move() exceptions in cmd_PROBE_CALIBRATE()

Slightly rework the self._move_position() code and also use it in
PROBE_CALIBRATE.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 12 insertions, 15 deletions

diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index 83871d15..f82a3a6e 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -91,6 +91,7 @@ class PrinterProbe:
             'Z', params, default=10., minval=self.z_offset, maxval=70.)
         x_start_position = self.gcode.get_float('X', params, default=pos[0])
         y_start_position = self.gcode.get_float('Y', params, default=pos[1])
+        start_pos = [x_start_position, y_start_position, z_start_position]
         self.gcode.respond_info("probe accuracy: at X:%.3f Y:%.3f Z:%.3f\n"
                                 "                "
                                 "and read %d times with speed of %d mm/s" % (
@@ -100,8 +101,7 @@ class PrinterProbe:
         sum_reads = 0
         for i in range(number_of_reads):
             # Move Z to start reading position
-            self._move_position(x_start_position, y_start_position,
-                                z_start_position, speed)
+            self._move(start_pos, speed)
             # Probe
             self._probe(speed)
             # Get Z value, accumulate value to calculate average
@@ -110,8 +110,7 @@ class PrinterProbe:
             sum_reads += pos[2]
             probes.append(pos[2])
         # Move Z to start reading position
-        self._move_position(x_start_position, y_start_position,
-                            z_start_position, speed)
+        self._move(start_pos, speed)
         # Calculate maximum, minimum and average values
         max_value = max(probes)
         min_value = min(probes)
@@ -135,16 +134,14 @@ class PrinterProbe:
             "probe accuracy results: maximum %.6f, minimum %.6f, "
             "average %.6f, median %.6f, standard deviation %.6f" % (
             max_value, min_value, avg_value, median, sigma))
-    def _move_position(self, x, y, z, speed):
+    def _move(self, coord, speed):
         toolhead = self.printer.lookup_object('toolhead')
-        pos = toolhead.get_position()
-        # set new position
-        pos[0] = x
-        pos[1] = y
-        pos[2] = z
-        # Move to position
+        curpos = toolhead.get_position()
+        for i in range(len(coord)):
+            if coord[i] is not None:
+                curpos[i] = coord[i]
         try:
-            toolhead.move(pos, speed)
+            toolhead.move(curpos, speed)
         except homing.EndstopError as e:
             raise self.gcode.error(str(e))
     def probe_calibrate_finalize(self, kin_pos):
@@ -160,16 +157,16 @@ class PrinterProbe:
     cmd_PROBE_CALIBRATE_help = "Calibrate the probe's z_offset"
     def cmd_PROBE_CALIBRATE(self, params):
         # Perform initial probe
-        self.cmd_PROBE(params)
+        self._probe(self.speed)
         # Move away from the bed
         toolhead = self.printer.lookup_object('toolhead')
         curpos = toolhead.get_position()
         curpos[2] += 5.
-        toolhead.move(curpos, self.speed)
+        self._move(curpos, self.speed)
         # Move the nozzle over the probe point
         curpos[0] += self.x_offset
         curpos[1] += self.y_offset
-        toolhead.move(curpos, self.speed)
+        self._move(curpos, self.speed)
         # Start manual probe
         manual_probe.ManualProbeHelper(self.printer, params,
                                        self.probe_calibrate_finalize)