diff options
Diffstat (limited to 'klippy/extras/safe_z_home.py')
| -rw-r--r-- | klippy/extras/safe_z_home.py | 50 |
1 files changed, 35 insertions, 15 deletions
diff --git a/klippy/extras/safe_z_home.py b/klippy/extras/safe_z_home.py index dc3fbf5d..6f52b3ca 100644 --- a/klippy/extras/safe_z_home.py +++ b/klippy/extras/safe_z_home.py @@ -9,7 +9,7 @@ class SafeZHoming: self.printer = config.get_printer() try: x_pos, y_pos = config.get("home_xy_position", - default=",").split(',') + default=",").split(',') self.home_x_pos, self.home_y_pos = float(x_pos), float(y_pos) except: raise config.error("Unable to parse home_xy_position in %s" % ( @@ -19,36 +19,35 @@ class SafeZHoming: self.z_hop_speed = config.getfloat('z_hop_speed', 15., above=0.) self.max_z = config.getsection('stepper_z').getfloat('position_max') self.speed = config.getfloat('speed', 50.0, above=0.) + self.move_to_previous = config.getboolean('move_to_previous', True) self.gcode = self.printer.lookup_object('gcode') self.gcode.register_command("G28", None) self.gcode.register_command("G28", self.cmd_G28) if config.has_section("homing_override"): raise config.error("homing_override and safe_z_homing cannot" - +" be used simultaneously") + +" be used simultaneously") def cmd_G28(self, params): - toolhead = self.printer.lookup_object('toolhead') kinematics = toolhead.get_kinematics() # Perform Z Hop if necessary if self.z_hop != 0.0: - # Check if the zhop would exceed the printer limits pos = toolhead.get_position() kin_status = kinematics.get_status() - if ('Z' in kin_status['homed_axes'] and - pos[2] + self.z_hop > self.max_z): - self.gcode.respond_info( - "No zhop performed, target Z out of bounds: " + - str(pos[2] + self.z_hop) - ) + # Check if Z axis is homed or has a known position + if 'Z' in kin_status['homed_axes']: + # Check if the zhop would exceed the printer limits + if pos[2] + self.z_hop > self.max_z: + self.gcode.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) else: - # Perform the Z-Hop - 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() + self._perform_z_hop(pos) # Determine which axes we need to home if not any([axis in params.keys() for axis in ['X', 'Y', 'Z']]): @@ -69,6 +68,8 @@ class SafeZHoming: if need_z: # Move to safe XY homing position pos = toolhead.get_position() + prev_x = pos[0] + prev_y = pos[1] if self.home_x_pos: pos[0] = self.home_x_pos if self.home_y_pos: @@ -77,6 +78,25 @@ class SafeZHoming: self.gcode.reset_last_position() # Home Z self.gcode.cmd_G28({'Z': '0'}) + # 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) + # 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() + + def _perform_z_hop(self, pos): + toolhead = self.printer.lookup_object('toolhead') + # Perform the Z-Hop + 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() def load_config(config): return SafeZHoming(config) |