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probe: Limit Z lift speed to be the same as the probing speed 

When using an automatic probe, limit the Z lift speed to be no greater
than the Z probing speed.  This can reduce Z jerks during probing.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-04-20 13:58:27 -04:00
parent eff1c8604d
commit 68864333f3
1 changed files with 7 additions and 3 deletions
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10
klippy/extras/probe.py
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@ -137,7 +137,7 @@ class ProbePointsHelper:
self.printer = printer
self.probe_points = probe_points
self.horizontal_move_z = horizontal_move_z
self.speed = speed
self.speed = self.lift_speed = speed
self.manual_probe = manual_probe
self.callback = callback
self.toolhead = self.printer.lookup_object('toolhead')
@ -149,6 +149,9 @@ class ProbePointsHelper:
# Begin probing
self.move_next()
if not manual_probe:
probe = self.printer.lookup_object('probe', None)
if probe is not None:
self.lift_speed = min(self.lift_speed, probe.speed)
while self.busy:
self.gcode.run_script("PROBE")
self.cmd_NEXT({})
@ -165,10 +168,11 @@ class ProbePointsHelper:
# Record current position
self.toolhead.wait_moves()
self.results.append(self.callback.get_position())
# Move to next position
# Lift toolhead
curpos = self.toolhead.get_position()
curpos[2] = self.horizontal_move_z
self.toolhead.move(curpos, self.speed)
self.toolhead.move(curpos, self.lift_speed)
# Move to next position
if len(self.results) == len(self.probe_points):
self.toolhead.get_last_move_time()
self.finalize(True)