manual_probe: Add Z_OFFSET_APPLY_ENDSTOP for delta

Current Z_OFFSET_APPLY_ENDSTOP command only works for printers
with cartesian architecture which have separate Z axis defined.
But this functionality (persisting Z babystep value to endstops)
is exactly as convinient for delta printers, therefore this
PR implements it.

Signed-off-by: Jan Herich <jan.herich@gmail.com>

1 files changed, 45 insertions, 0 deletions

diff --git a/klippy/extras/manual_probe.py b/klippy/extras/manual_probe.py
index c6e9dc64..496455fa 100644
--- a/klippy/extras/manual_probe.py
+++ b/klippy/extras/manual_probe.py
@@ -13,9 +13,25 @@ class ManualProbe:
         self.gcode_move = self.printer.load_object(config, "gcode_move")
         self.gcode.register_command('MANUAL_PROBE', self.cmd_MANUAL_PROBE,
                                     desc=self.cmd_MANUAL_PROBE_help)
+        # Endstop value for cartesian printers with separate Z axis
         zconfig = config.getsection('stepper_z')
         self.z_position_endstop = zconfig.getfloat('position_endstop', None,
                                                    note_valid=False)
+        # Endstop values for linear delta printers with vertical A,B,C towers
+        a_tower_config = config.getsection('stepper_a')
+        self.a_position_endstop = a_tower_config.getfloat('position_endstop',
+                                                          None,
+                                                          note_valid=False)
+        b_tower_config = config.getsection('stepper_b')
+        self.b_position_endstop = b_tower_config.getfloat('position_endstop',
+                                                          None,
+                                                          note_valid=False)
+        c_tower_config = config.getsection('stepper_c')
+        self.c_position_endstop = c_tower_config.getfloat('position_endstop',
+                                                          None,
+                                                          note_valid=False)
+        # Conditionally register appropriate commands depending on printer
+        # Cartestian printers with separate Z Axis
         if self.z_position_endstop is not None:
             self.gcode.register_command(
                 'Z_ENDSTOP_CALIBRATE', self.cmd_Z_ENDSTOP_CALIBRATE,
@@ -24,6 +40,12 @@ class ManualProbe:
                 'Z_OFFSET_APPLY_ENDSTOP',
                 self.cmd_Z_OFFSET_APPLY_ENDSTOP,
                 desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help)
+        # Linear delta printers with A,B,C towers
+        if 'delta' == config.getsection('printer').get('kinematics'):
+            self.gcode.register_command(
+                'Z_OFFSET_APPLY_ENDSTOP',
+                self.cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS,
+                desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help)
         self.reset_status()
     def manual_probe_finalize(self, kin_pos):
         if kin_pos is not None:
@@ -66,6 +88,29 @@ class ManualProbe:
                 "with the above and restart the printer." % (new_calibrate))
             configfile.set('stepper_z', 'position_endstop',
                 "%.3f" % (new_calibrate,))
+    def cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS(self,gcmd):
+        offset = self.gcode_move.get_status()['homing_origin'].z
+        configfile = self.printer.lookup_object('configfile')
+        if offset == 0:
+            self.gcode.respond_info("Nothing to do: Z Offset is 0")
+        else:
+            new_a_calibrate = self.a_position_endstop - offset
+            new_b_calibrate = self.b_position_endstop - offset
+            new_c_calibrate = self.c_position_endstop - offset
+            self.gcode.respond_info(
+                "stepper_a: position_endstop: %.3f\n"
+                "stepper_b: position_endstop: %.3f\n"
+                "stepper_c: position_endstop: %.3f\n"
+                "The SAVE_CONFIG command will update the printer config file\n"
+                "with the above and restart the printer." % (new_a_calibrate,
+                                                             new_b_calibrate,
+                                                             new_c_calibrate))
+            configfile.set('stepper_a', 'position_endstop',
+                "%.3f" % (new_a_calibrate,))
+            configfile.set('stepper_b', 'position_endstop',
+                "%.3f" % (new_b_calibrate,))
+            configfile.set('stepper_c', 'position_endstop',
+                "%.3f" % (new_c_calibrate,))
     cmd_Z_OFFSET_APPLY_ENDSTOP_help = "Adjust the z endstop_position"
 
 # Verify that a manual probe isn't already in progress