diff options
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/bed_screws.py | 8 | ||||
| -rw-r--r-- | klippy/extras/manual_probe.py | 9 | ||||
| -rw-r--r-- | klippy/extras/probe.py | 22 | ||||
| -rw-r--r-- | klippy/extras/safe_z_home.py | 41 |
4 files changed, 25 insertions, 55 deletions
diff --git a/klippy/extras/bed_screws.py b/klippy/extras/bed_screws.py index c10a791f..483fc7ef 100644 --- a/klippy/extras/bed_screws.py +++ b/klippy/extras/bed_screws.py @@ -46,13 +46,7 @@ class BedScrews: self.cmd_BED_SCREWS_ADJUST, desc=self.cmd_BED_SCREWS_ADJUST_help) def move(self, coord, speed): - toolhead = self.printer.lookup_object('toolhead') - curpos = toolhead.get_position() - for i in range(len(coord)): - if coord[i] is not None: - curpos[i] = coord[i] - toolhead.move(curpos, speed) - self.gcode.reset_last_position() + self.printer.lookup_object('toolhead').manual_move(coord, speed) def move_to_screw(self, state, screw): # Move up, over, and then down self.move((None, None, self.horizontal_move_z), self.lift_speed) diff --git a/klippy/extras/manual_probe.py b/klippy/extras/manual_probe.py index 663f3c8e..f42aaba8 100644 --- a/klippy/extras/manual_probe.py +++ b/klippy/extras/manual_probe.py @@ -93,11 +93,10 @@ class ManualProbeHelper: def move_z(self, z_pos): curpos = self.toolhead.get_position() try: - if curpos[2] - z_pos < Z_BOB_MINIMUM: - curpos[2] = z_pos + Z_BOB_MINIMUM - self.toolhead.move(curpos, self.speed) - curpos[2] = z_pos - self.toolhead.move(curpos, self.speed) + z_bob_pos = z_pos + Z_BOB_MINIMUM + if curpos[2] < z_bob_pos: + self.toolhead.manual_move([None, None, z_bob_pos], self.speed) + self.toolhead.manual_move([None, None, z_pos], self.speed) except homing.CommandError as e: self.finalize(False) raise diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 539a6572..d97a5e7f 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -125,13 +125,7 @@ class PrinterProbe: % (pos[0], pos[1], pos[2])) return pos[:3] def _move(self, coord, speed): - toolhead = self.printer.lookup_object('toolhead') - curpos = toolhead.get_position() - for i in range(len(coord)): - if coord[i] is not None: - curpos[i] = coord[i] - toolhead.move(curpos, speed) - self.gcode.reset_last_position() + self.printer.lookup_object('toolhead').manual_move(coord, speed) def _calc_mean(self, positions): count = float(len(positions)) return [sum([pos[i] for pos in positions]) / count @@ -354,24 +348,20 @@ class ProbePointsHelper: if not self.results: # Use full speed to first probe position speed = self.speed - curpos = toolhead.get_position() - curpos[2] = self.horizontal_move_z - toolhead.move(curpos, speed) + toolhead.manual_move([None, None, self.horizontal_move_z], speed) # Check if done probing if len(self.results) >= len(self.probe_points): - self.gcode.reset_last_position() toolhead.get_last_move_time() res = self.finalize_callback(self.probe_offsets, self.results) if res != "retry": return True self.results = [] # Move to next XY probe point - curpos[:2] = self.probe_points[len(self.results)] + nextpos = list(self.probe_points[len(self.results)]) if self.use_offsets: - curpos[0] -= self.probe_offsets[0] - curpos[1] -= self.probe_offsets[1] - toolhead.move(curpos, self.speed) - self.gcode.reset_last_position() + nextpos[0] -= self.probe_offsets[0] + nextpos[1] -= self.probe_offsets[1] + toolhead.manual_move(nextpos, self.speed) return False def start_probe(self, gcmd): manual_probe.verify_no_manual_probe(self.printer) 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) |