diff options
Diffstat (limited to 'klippy/extras/safe_z_home.py')
| -rw-r--r-- | klippy/extras/safe_z_home.py | 41 |
1 files changed, 14 insertions, 27 deletions
diff --git a/klippy/extras/safe_z_home.py b/klippy/extras/safe_z_home.py index 9f6dd7bd..21d6f12e 100644 --- a/klippy/extras/safe_z_home.py +++ b/klippy/extras/safe_z_home.py @@ -30,23 +30,23 @@ class SafeZHoming: def cmd_G28(self, gcmd): toolhead = self.printer.lookup_object('toolhead') - curtime = self.printer.get_reactor().monotonic() - kin_status = toolhead.get_kinematics().get_status(curtime) # Perform Z Hop if necessary if self.z_hop != 0.0: - pos = toolhead.get_position() # Check if Z axis is homed or has a known position + curtime = self.printer.get_reactor().monotonic() + kin_status = toolhead.get_kinematics().get_status(curtime) if 'z' in kin_status['homed_axes']: # Check if the zhop would exceed the printer limits + pos = toolhead.get_position() if pos[2] + self.z_hop > self.max_z: gcmd.respond_info( "No zhop performed, target Z out of bounds: " + str(pos[2] + self.z_hop)) elif pos[2] < self.z_hop: - self._perform_z_hop(pos) + self._perform_z_hop() else: - self._perform_z_hop(pos) + self._perform_z_hop() if hasattr(toolhead.get_kinematics(), "note_z_not_homed"): toolhead.get_kinematics().note_z_not_homed() @@ -66,46 +66,33 @@ class SafeZHoming: g28_gcmd = self.gcode.create_gcode_command("G28", "G28", new_params) self.prev_G28(g28_gcmd) - # Update the currently homed axes - curtime = self.printer.get_reactor().monotonic() - kin_status = toolhead.get_kinematics().get_status(curtime) - # Home Z axis if necessary if need_z: - pos = toolhead.get_position() - prev_x = pos[0] - prev_y = pos[1] - pos[0] = self.home_x_pos - pos[1] = self.home_y_pos # Throw an error if X or Y are not homed + curtime = self.printer.get_reactor().monotonic() + kin_status = toolhead.get_kinematics().get_status(curtime) if ('x' not in kin_status['homed_axes'] or 'y' not in kin_status['homed_axes']): raise gcmd.error("Must home X and Y axes first") # Move to safe XY homing position - toolhead.move(pos, self.speed) - self.gcode.reset_last_position() + prevpos = toolhead.get_position() + toolhead.manual_move([self.home_x_pos, self.home_y_pos], self.speed) # Home Z g28_gcmd = self.gcode.create_gcode_command("G28", "G28", {'Z': '0'}) self.prev_G28(g28_gcmd) # Perform Z Hop again for pressure-based probes - pos = toolhead.get_position() if self.z_hop: - pos[2] = self.z_hop - toolhead.move(pos, self.z_hop_speed) + toolhead.manual_move([None, None, self.z_hop], self.z_hop_speed) # Move XY back to previous positions if self.move_to_previous: - pos[0] = prev_x - pos[1] = prev_y - toolhead.move(pos, self.speed) - self.gcode.reset_last_position() + toolhead.manual_move(prevpos[:2], self.speed) - def _perform_z_hop(self, pos): + def _perform_z_hop(self): toolhead = self.printer.lookup_object('toolhead') # Perform the Z-Hop + pos = toolhead.get_position() toolhead.set_position(pos, homing_axes=[2]) - pos[2] = pos[2] + self.z_hop - toolhead.move(pos, self.z_hop_speed) - self.gcode.reset_last_position() + toolhead.manual_move([None, None, pos[2]+self.z_hop], self.z_hop_speed) def load_config(config): return SafeZHoming(config) |