mirror of https://github.com/Desuuuu/klipper.git
243 lines
10 KiB
Python
243 lines
10 KiB
Python
# 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 pins, homing
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HINT_TIMEOUT = """
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Make sure to home the printer before probing. If the probe
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did not move far enough to trigger, then consider reducing
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the Z axis minimum position so the probe can travel further
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(the Z minimum position can be negative).
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"""
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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.x_offset = config.getfloat('x_offset', 0.)
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self.y_offset = config.getfloat('y_offset', 0.)
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self.z_offset = config.getfloat('z_offset')
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# Infer Z position to move to during a probe
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if config.has_section('stepper_z'):
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zconfig = config.getsection('stepper_z')
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self.z_position = zconfig.getfloat('position_min', 0.)
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else:
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pconfig = config.getsection('printer')
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self.z_position = pconfig.getfloat('minimum_z_position', 0.)
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# Create mcu_probe object and register z_virtual_endstop pin
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self.mcu_probe = ProbeEndstopWrapper(config)
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ppins = self.printer.lookup_object('pins')
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ppins.register_chip('probe', self)
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# Register PROBE/QUERY_PROBE commands
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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 setup_pin(self, pin_type, pin_params):
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if pin_type != 'endstop' or pin_params['pin'] != 'z_virtual_endstop':
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raise pins.error("Probe virtual endstop only useful as endstop pin")
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if pin_params['invert'] or pin_params['pullup']:
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raise pins.error("Can not pullup/invert probe virtual endstop")
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return self.mcu_probe
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def get_offsets(self):
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return self.x_offset, self.y_offset, self.z_offset
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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(self.printer)
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pos = toolhead.get_position()
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pos[2] = self.z_position
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endstops = [(self.mcu_probe, "probe")]
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try:
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homing_state.homing_move(pos, endstops, self.speed,
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probe_pos=True, verify_movement=True)
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except homing.EndstopError as e:
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reason = str(e)
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if "Timeout during endstop homing" in reason:
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reason += HINT_TIMEOUT
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raise self.gcode.error(reason)
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pos = toolhead.get_position()
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self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" % (
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pos[0], pos[1], pos[2]))
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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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# Endstop wrapper that enables probe specific features
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class ProbeEndstopWrapper:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.position_endstop = config.getfloat('z_offset')
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self.activate_gcode = config.get('activate_gcode', None)
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self.deactivate_gcode = config.get('deactivate_gcode', None)
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# Create an "endstop" object to handle the probe pin
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ppins = self.printer.lookup_object('pins')
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pin = config.get('pin')
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pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
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mcu = pin_params['chip']
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mcu.register_config_callback(self._build_config)
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self.mcu_endstop = mcu.setup_pin('endstop', pin_params)
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# Wrappers
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self.get_mcu = self.mcu_endstop.get_mcu
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self.add_stepper = self.mcu_endstop.add_stepper
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self.get_steppers = self.mcu_endstop.get_steppers
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self.home_start = self.mcu_endstop.home_start
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self.home_wait = self.mcu_endstop.home_wait
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self.query_endstop = self.mcu_endstop.query_endstop
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self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
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self.TimeoutError = self.mcu_endstop.TimeoutError
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def _build_config(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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for stepper in kin.get_steppers('Z'):
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stepper.add_to_endstop(self)
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def home_prepare(self):
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if self.activate_gcode is not None:
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gcode = self.printer.lookup_object('gcode')
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gcode.run_script_from_command(self.activate_gcode)
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self.mcu_endstop.home_prepare()
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def home_finalize(self):
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if self.deactivate_gcode is not None:
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gcode = self.printer.lookup_object('gcode')
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gcode.run_script_from_command(self.deactivate_gcode)
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self.mcu_endstop.home_finalize()
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def get_position_endstop(self):
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return self.position_endstop
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# Helper code that can probe a series of points and report the
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# position at each point.
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class ProbePointsHelper:
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def __init__(self, config, finalize_callback, default_points=None):
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self.printer = config.get_printer()
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self.finalize_callback = finalize_callback
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self.probe_points = default_points
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# Read config settings
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if default_points is None or config.get('points', None) is not None:
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points = config.get('points').split('\n')
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try:
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points = [line.split(',', 1) for line in points if line.strip()]
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self.probe_points = [(float(p[0].strip()), float(p[1].strip()))
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for p in points]
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except:
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raise config.error("Unable to parse probe points in %s" % (
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config.get_name()))
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if len(self.probe_points) < 3:
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raise config.error("Need at least 3 probe points for %s" % (
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config.get_name()))
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.speed = self.lift_speed = config.getfloat('speed', 50., above=0.)
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self.probe_offsets = (0., 0., 0.)
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self.samples = config.getint('samples', 1, minval=1)
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self.sample_retract_dist = config.getfloat(
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'sample_retract_dist', 2., above=0.)
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# Internal probing state
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self.results = []
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self.busy = False
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self.gcode = self.toolhead = None
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def get_lift_speed(self):
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return self.lift_speed
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def _lift_z(self, z_pos, add=False, speed=None):
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# Lift toolhead
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curpos = self.toolhead.get_position()
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if add:
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curpos[2] += z_pos
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else:
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curpos[2] = z_pos
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if speed is None:
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speed = self.lift_speed
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try:
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self.toolhead.move(curpos, speed)
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except homing.EndstopError as e:
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self._finalize(False)
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raise self.gcode.error(str(e))
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def _move_next(self):
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# Lift toolhead
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self._lift_z(self.horizontal_move_z)
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# Check if done probing
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if len(self.results) >= len(self.probe_points):
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self.toolhead.get_last_move_time()
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self._finalize(True)
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return
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# Move to next XY probe point
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x, y = self.probe_points[len(self.results)]
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curpos = self.toolhead.get_position()
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curpos[0] = x
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curpos[1] = y
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curpos[2] = self.horizontal_move_z
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try:
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self.toolhead.move(curpos, self.speed)
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except homing.EndstopError as e:
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self._finalize(False)
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raise self.gcode.error(str(e))
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self.gcode.reset_last_position()
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def _automatic_probe_point(self):
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positions = []
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for i in range(self.samples):
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try:
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self.gcode.run_script_from_command("PROBE")
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except self.gcode.error as e:
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self._finalize(False)
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raise
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positions.append(self.toolhead.get_position())
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if i < self.samples - 1:
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# retract
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self._lift_z(self.sample_retract_dist, add=True)
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avg_pos = [sum([pos[i] for pos in positions]) / self.samples
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for i in range(3)]
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self.results.append(avg_pos)
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def start_probe(self, params):
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# Lookup objects
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self.toolhead = self.printer.lookup_object('toolhead')
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self.gcode = self.printer.lookup_object('gcode')
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probe = self.printer.lookup_object('probe', None)
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method = self.gcode.get_str('METHOD', params, 'automatic').lower()
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if probe is not None and method == 'automatic':
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self.lift_speed = min(self.speed, probe.speed)
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self.probe_offsets = probe.get_offsets()
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if self.horizontal_move_z < self.probe_offsets[2]:
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raise self.gcode.error("horizontal_move_z can't be less than"
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" probe's z_offset")
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else:
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probe = None
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self.lift_speed = self.speed
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self.probe_offsets = (0., 0., 0.)
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# Start probe
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self.results = []
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self.busy = True
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self._lift_z(self.horizontal_move_z, speed=self.speed)
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self._move_next()
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if probe is None:
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# Setup for manual probing
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self.gcode.register_command('NEXT', None)
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self.gcode.register_command('NEXT', self.cmd_NEXT,
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desc=self.cmd_NEXT_help)
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else:
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# Perform automatic probing
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while self.busy:
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self._automatic_probe_point()
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self._move_next()
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cmd_NEXT_help = "Move to the next XY position to probe"
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def cmd_NEXT(self, params):
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# Record current position for manual probe
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self.toolhead.get_last_move_time()
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self.results.append(self.toolhead.get_kinematics().calc_position())
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# Move to next position
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self._move_next()
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def _finalize(self, success):
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self.busy = False
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self.gcode.reset_last_position()
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self.gcode.register_command('NEXT', None)
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if success:
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self.finalize_callback(self.probe_offsets, self.results)
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def load_config(config):
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return PrinterProbe(config)
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