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| author | Dennis Marttinen <38858901+twelho@users.noreply.github.com> | 2025-01-10 15:41:09 +0000 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2025-01-10 10:41:09 -0500 |
| commit | 7083879700800710c624c0bf08220215ba5f4a83 (patch) | |
| tree | 03595e28aca8238f9f8e727ba6e1d43aed52b2e6 /klippy/kinematics/polar.py | |
| parent | 9ca71d8608f4a6013c3453ffa9e75c3739078712 (diff) | |
| download | kutter-7083879700800710c624c0bf08220215ba5f4a83.tar.gz kutter-7083879700800710c624c0bf08220215ba5f4a83.tar.xz kutter-7083879700800710c624c0bf08220215ba5f4a83.zip | |
force_move: Implement CLEAR for SET_KINEMATIC_POSITION (#6262)
`CLEAR` clears the homing status (resets the axis limits) without turning off
the motors. This is particularly useful when implementing safe Z homing in
`[homing_override]` on printers with multiple independent Z steppers (where
`FORCE_MOVE` can't be used).
Signed-off-by: Dennis Marttinen <twelho@welho.tech>
Diffstat (limited to 'klippy/kinematics/polar.py')
| -rw-r--r-- | klippy/kinematics/polar.py | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index deed26d0..fdd428a6 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -51,9 +51,12 @@ class PolarKinematics: self.limit_z = self.rails[1].get_range() if 0 in homing_axes and 1 in homing_axes: self.limit_xy2 = self.rails[0].get_range()[1]**2 - def note_z_not_homed(self): - # Helper for Safe Z Home - self.limit_z = (1.0, -1.0) + def clear_homing_state(self, axes): + if 0 in axes or 1 in axes: + # X and Y cannot be cleared separately + self.limit_xy2 = -1. + if 2 in axes: + self.limit_z = (1.0, -1.0) def _home_axis(self, homing_state, axis, rail): # Determine movement position_min, position_max = rail.get_range() @@ -86,8 +89,7 @@ class PolarKinematics: if home_z: self._home_axis(homing_state, 2, self.rails[1]) def _motor_off(self, print_time): - self.limit_z = (1.0, -1.0) - self.limit_xy2 = -1. + self.clear_homing_state((0, 1, 2)) def check_move(self, move): end_pos = move.end_pos xy2 = end_pos[0]**2 + end_pos[1]**2 |