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# Perform Z Homing at specific XY coordinates.
#
# Copyright (C) 2019 Florian Heilmann <Florian.Heilmann@gmx.net>
#
# 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", 15.0, 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=0.0)
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"
)
def cmd_G28(self, gcmd):
toolhead = self.printer.lookup_object("toolhead")
# Perform Z Hop if necessary
if self.z_hop != 0.0:
# Check if Z axis is homed and its last known position
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
pos = toolhead.get_position()
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.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)
# Determine which axes we need to home
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"
if need_y:
new_params["Y"] = "0"
if new_params:
g28_gcmd = self.gcode.create_gcode_command("G28", "G28", new_params)
self.prev_G28(g28_gcmd)
# Home Z axis if necessary
if need_z:
# 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
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
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)
# 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)
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