diff options
Diffstat (limited to 'klippy/extras/safe_z_home.py')
| -rw-r--r-- | klippy/extras/safe_z_home.py | 49 |
1 files changed, 25 insertions, 24 deletions
diff --git a/klippy/extras/safe_z_home.py b/klippy/extras/safe_z_home.py index 64b1ab00..3ee75760 100644 --- a/klippy/extras/safe_z_home.py +++ b/klippy/extras/safe_z_home.py @@ -5,30 +5,32 @@ # This file may be distributed under the terms of the GNU GPLv3 license. from . import manual_probe + class SafeZHoming: def __init__(self, config): self.printer = config.get_printer() x_pos, y_pos = config.getfloatlist("home_xy_position", count=2) self.home_x_pos, self.home_y_pos = x_pos, y_pos self.z_hop = config.getfloat("z_hop", default=0.0) - self.z_hop_speed = config.getfloat('z_hop_speed', 15., above=0.) + self.z_hop_speed = config.getfloat("z_hop_speed", 15.0, above=0.0) zconfig = manual_probe.lookup_z_endstop_config(config) if zconfig is None: - raise config.error('Missing Z endstop config for safe_z_homing') - self.max_z = zconfig.getfloat('position_max', note_valid=False) - self.speed = config.getfloat('speed', 50.0, above=0.) - self.move_to_previous = config.getboolean('move_to_previous', False) - self.printer.load_object(config, 'homing') - self.gcode = self.printer.lookup_object('gcode') + raise config.error("Missing Z endstop config for safe_z_homing") + self.max_z = zconfig.getfloat("position_max", note_valid=False) + self.speed = config.getfloat("speed", 50.0, above=0.0) + self.move_to_previous = config.getboolean("move_to_previous", False) + self.printer.load_object(config, "homing") + self.gcode = self.printer.lookup_object("gcode") self.prev_G28 = 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") + raise config.error( + "homing_override and safe_z_homing cannot" + " be used simultaneously" + ) def cmd_G28(self, gcmd): - toolhead = self.printer.lookup_object('toolhead') + toolhead = self.printer.lookup_object("toolhead") # Perform Z Hop if necessary if self.z_hop != 0.0: @@ -37,30 +39,27 @@ class SafeZHoming: kin_status = toolhead.get_kinematics().get_status(curtime) pos = toolhead.get_position() - if 'z' not in kin_status['homed_axes']: + if "z" not in kin_status["homed_axes"]: # Always perform the z_hop if the Z axis is not homed pos[2] = 0 toolhead.set_position(pos, homing_axes="z") - toolhead.manual_move([None, None, self.z_hop], - self.z_hop_speed) + toolhead.manual_move([None, None, self.z_hop], self.z_hop_speed) toolhead.get_kinematics().clear_homing_state("z") elif pos[2] < self.z_hop: # If the Z axis is homed, and below z_hop, lift it to z_hop - toolhead.manual_move([None, None, self.z_hop], - self.z_hop_speed) + toolhead.manual_move([None, None, self.z_hop], self.z_hop_speed) # Determine which axes we need to home - need_x, need_y, need_z = [gcmd.get(axis, None) is not None - for axis in "XYZ"] + need_x, need_y, need_z = [gcmd.get(axis, None) is not None for axis in "XYZ"] if not need_x and not need_y and not need_z: need_x = need_y = need_z = True # Home XY axes if necessary new_params = {} if need_x: - new_params['X'] = '0' + new_params["X"] = "0" if need_y: - new_params['Y'] = '0' + new_params["Y"] = "0" if new_params: g28_gcmd = self.gcode.create_gcode_command("G28", "G28", new_params) self.prev_G28(g28_gcmd) @@ -70,24 +69,26 @@ class SafeZHoming: # 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']): + 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 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'}) + g28_gcmd = self.gcode.create_gcode_command("G28", "G28", {"Z": "0"}) self.prev_G28(g28_gcmd) # Perform Z Hop again for pressure-based probes if self.z_hop: pos = toolhead.get_position() if pos[2] < self.z_hop: - toolhead.manual_move([None, None, self.z_hop], - 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: toolhead.manual_move(prevpos[:2], self.speed) + def load_config(config): return SafeZHoming(config) |