mirror of https://github.com/Desuuuu/klipper.git
55 lines
2.3 KiB
Python
55 lines
2.3 KiB
Python
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# Z-Probe support
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#
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# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import homing
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class PrinterProbe:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.speed = config.getfloat('speed', 5.0)
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self.z_position = config.getfloat('z_position', 0.)
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ppins = self.printer.lookup_object('pins')
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pin_params = ppins.lookup_pin('endstop', config.get('pin'))
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mcu = pin_params['chip']
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mcu.add_config_object(self)
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self.mcu_probe = mcu.setup_pin(pin_params)
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'PROBE', self.cmd_PROBE, desc=self.cmd_PROBE_help)
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self.gcode.register_command(
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'QUERY_PROBE', self.cmd_QUERY_PROBE, desc=self.cmd_QUERY_PROBE_help)
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def build_config(self):
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toolhead = self.printer.lookup_object('toolhead')
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z_steppers = toolhead.get_kinematics().get_steppers("Z")
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for s in z_steppers:
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for mcu_endstop, name in s.get_endstops():
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for mcu_stepper in mcu_endstop.get_steppers():
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self.mcu_probe.add_stepper(mcu_stepper)
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cmd_PROBE_help = "Probe Z-height at current XY position"
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def cmd_PROBE(self, params):
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toolhead = self.printer.lookup_object('toolhead')
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homing_state = homing.Homing(toolhead)
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pos = toolhead.get_position()
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pos[2] = self.z_position
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try:
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homing_state.homing_move(
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pos, [(self.mcu_probe, "probe")], self.speed, probe_pos=True)
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except homing.EndstopError as e:
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raise self.gcode.error(str(e))
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self.gcode.reset_last_position()
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cmd_QUERY_PROBE_help = "Return the status of the z-probe"
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def cmd_QUERY_PROBE(self, params):
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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self.mcu_probe.query_endstop(print_time)
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res = self.mcu_probe.query_endstop_wait()
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self.gcode.respond_info(
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"probe: %s" % (["open", "TRIGGERED"][not not res],))
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def load_config(config):
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if config.get_name() != 'probe':
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raise config.error("Invalid probe config name")
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return PrinterProbe(config)
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