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| author | Kevin O'Connor <kevin@koconnor.net> | 2025-04-06 11:14:13 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2025-04-08 23:23:05 -0400 |
| commit | f3e89e25c5ff3ec9c5499c186af4c28b6a9ab1f4 (patch) | |
| tree | d7fa417581853fd634d3efe83eeea16d44a23b83 /klippy/extras | |
| parent | 655861cf121849b2fa74b7a07984c4c112b28c99 (diff) | |
| download | kutter-f3e89e25c5ff3ec9c5499c186af4c28b6a9ab1f4.tar.gz kutter-f3e89e25c5ff3ec9c5499c186af4c28b6a9ab1f4.tar.xz kutter-f3e89e25c5ff3ec9c5499c186af4c28b6a9ab1f4.zip | |
force_move: Support a SET_HOMED parameter to SET_KINEMATIC_POSITION
Commit 70838797 added support for clearing the homing state in
SET_KINEMATIC_POSITION commands. However, it can be difficult to use
that support as the default for SET_KINEMATIC_POSITION is to set all
axes as homed.
Add a new SET_HOMED parameter to allow one to explicitly request which
axes to consider in a homed state.
Also introduce a CLEAR_HOMED parameter and prefer that to the existing
CLEAR parameter.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/force_move.py | 19 |
1 files changed, 13 insertions, 6 deletions
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py index 24783c2c..ad27f95c 100644 --- a/klippy/extras/force_move.py +++ b/klippy/extras/force_move.py @@ -131,12 +131,19 @@ class ForceMove: x = gcmd.get_float('X', curpos[0]) y = gcmd.get_float('Y', curpos[1]) z = gcmd.get_float('Z', curpos[2]) - clear = gcmd.get('CLEAR', '').lower() - clear_axes = "".join([a for a in "xyz" if a in clear]) - logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f clear=%s", - x, y, z, clear_axes) - toolhead.set_position([x, y, z, curpos[3]], homing_axes="xyz") - toolhead.get_kinematics().clear_homing_state(clear_axes) + set_homed = gcmd.get('SET_HOMED', 'xyz').lower() + set_homed_axes = "".join([a for a in "xyz" if a in set_homed]) + if gcmd.get('CLEAR_HOMED', None) is None: + # "CLEAR" is an alias for "CLEAR_HOMED"; should deprecate + clear_homed = gcmd.get('CLEAR', '').lower() + else: + clear_homed = gcmd.get('CLEAR_HOMED', '') + clear_homed_axes = "".join([a for a in "xyz" if a in clear_homed]) + logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f" + " set_homed=%s clear_homed=%s", + x, y, z, set_homed_axes, clear_homed_axes) + toolhead.set_position([x, y, z, curpos[3]], homing_axes=set_homed_axes) + toolhead.get_kinematics().clear_homing_state(clear_homed_axes) def load_config(config): return ForceMove(config) |