mirror of https://github.com/Desuuuu/klipper.git
416 lines
19 KiB
Python
416 lines
19 KiB
Python
# Z-Probe support
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#
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# Copyright (C) 2017-2020 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 logging
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import pins, homing, manual_probe
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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, mcu_probe):
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self.printer = config.get_printer()
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self.name = config.get_name()
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self.mcu_probe = mcu_probe
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self.speed = config.getfloat('speed', 5.0, above=0.)
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self.lift_speed = config.getfloat('lift_speed', self.speed, above=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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self.probe_calibrate_z = 0.
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self.multi_probe_pending = False
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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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# Multi-sample support (for improved accuracy)
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self.sample_count = config.getint('samples', 1, minval=1)
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self.sample_retract_dist = config.getfloat('sample_retract_dist', 2.,
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above=0.)
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atypes = {'median': 'median', 'average': 'average'}
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self.samples_result = config.getchoice('samples_result', atypes,
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'average')
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self.samples_tolerance = config.getfloat('samples_tolerance', 0.100,
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minval=0.)
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self.samples_retries = config.getint('samples_tolerance_retries', 0,
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minval=0)
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# Register z_virtual_endstop pin
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self.printer.lookup_object('pins').register_chip('probe', self)
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# Register homing event handlers
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self.printer.register_event_handler("homing:homing_move_begin",
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self._handle_homing_move_begin)
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self.printer.register_event_handler("homing:homing_move_end",
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self._handle_homing_move_end)
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self.printer.register_event_handler("homing:home_rails_begin",
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self._handle_home_rails_begin)
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self.printer.register_event_handler("homing:home_rails_end",
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self._handle_home_rails_end)
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self.printer.register_event_handler("gcode:command_error",
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self._handle_command_error)
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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('PROBE', self.cmd_PROBE,
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desc=self.cmd_PROBE_help)
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self.gcode.register_command('QUERY_PROBE', self.cmd_QUERY_PROBE,
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desc=self.cmd_QUERY_PROBE_help)
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self.gcode.register_command('PROBE_CALIBRATE', self.cmd_PROBE_CALIBRATE,
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desc=self.cmd_PROBE_CALIBRATE_help)
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self.gcode.register_command('PROBE_ACCURACY', self.cmd_PROBE_ACCURACY,
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desc=self.cmd_PROBE_ACCURACY_help)
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def _handle_homing_move_begin(self, endstops):
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if self.mcu_probe in endstops:
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self.mcu_probe.probe_prepare()
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def _handle_homing_move_end(self, endstops):
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if self.mcu_probe in endstops:
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self.mcu_probe.probe_finish()
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def _handle_home_rails_begin(self, rails):
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endstops = [es for rail in rails for es, name in rail.get_endstops()]
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if self.mcu_probe in endstops:
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self.multi_probe_begin()
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def _handle_home_rails_end(self, rails):
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endstops = [es for rail in rails for es, name in rail.get_endstops()]
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if self.mcu_probe in endstops:
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self.multi_probe_end()
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def _handle_command_error(self):
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try:
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self.multi_probe_end()
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except:
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logging.exception("Multi-probe end")
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def multi_probe_begin(self):
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self.mcu_probe.multi_probe_begin()
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self.multi_probe_pending = True
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def multi_probe_end(self):
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if self.multi_probe_pending:
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self.multi_probe_pending = False
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self.mcu_probe.multi_probe_end()
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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_lift_speed(self, gcmd=None):
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if gcmd is not None:
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return gcmd.get_float("LIFT_SPEED", self.lift_speed, above=0.)
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return self.lift_speed
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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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def _probe(self, speed):
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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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verify = self.printer.get_start_args().get('debugoutput') is None
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try:
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homing_state.homing_move(pos, endstops, speed,
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probe_pos=True, verify_movement=verify)
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except homing.CommandError 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 homing.CommandError(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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return pos[:3]
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def _move(self, coord, speed):
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toolhead = self.printer.lookup_object('toolhead')
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curpos = toolhead.get_position()
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for i in range(len(coord)):
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if coord[i] is not None:
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curpos[i] = coord[i]
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toolhead.move(curpos, speed)
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self.gcode.reset_last_position()
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def _calc_mean(self, positions):
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count = float(len(positions))
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return [sum([pos[i] for pos in positions]) / count
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for i in range(3)]
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def _calc_median(self, positions):
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z_sorted = sorted(positions, key=(lambda p: p[2]))
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middle = len(positions) // 2
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if (len(positions) & 1) == 1:
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# odd number of samples
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return z_sorted[middle]
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# even number of samples
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return self._calc_mean(z_sorted[middle-1:middle+1])
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def run_probe(self, gcmd):
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speed = gcmd.get_float("PROBE_SPEED", self.speed, above=0.)
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lift_speed = self.get_lift_speed(gcmd)
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sample_count = gcmd.get_int("SAMPLES", self.sample_count, minval=1)
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sample_retract_dist = gcmd.get_float("SAMPLE_RETRACT_DIST",
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self.sample_retract_dist, above=0.)
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samples_tolerance = gcmd.get_float("SAMPLES_TOLERANCE",
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self.samples_tolerance, minval=0.)
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samples_retries = gcmd.get_int("SAMPLES_TOLERANCE_RETRIES",
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self.samples_retries, minval=0)
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samples_result = gcmd.get("SAMPLES_RESULT", self.samples_result)
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must_notify_multi_probe = not self.multi_probe_pending
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if must_notify_multi_probe:
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self.multi_probe_begin()
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retries = 0
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positions = []
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while len(positions) < sample_count:
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# Probe position
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pos = self._probe(speed)
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positions.append(pos)
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# Check samples tolerance
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z_positions = [p[2] for p in positions]
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if max(z_positions) - min(z_positions) > samples_tolerance:
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if retries >= samples_retries:
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raise homing.CommandError(
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"Probe samples exceed samples_tolerance")
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gcmd.respond_info("Probe samples exceed tolerance. Retrying...")
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retries += 1
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positions = []
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# Retract
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if len(positions) < sample_count:
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liftpos = [None, None, pos[2] + sample_retract_dist]
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self._move(liftpos, lift_speed)
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if must_notify_multi_probe:
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self.multi_probe_end()
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# Calculate and return result
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if samples_result == 'median':
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return self._calc_median(positions)
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return self._calc_mean(positions)
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cmd_PROBE_help = "Probe Z-height at current XY position"
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def cmd_PROBE(self, gcmd):
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pos = self.run_probe(gcmd)
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gcmd.respond_info("Result is z=%.6f" % (pos[2],))
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cmd_QUERY_PROBE_help = "Return the status of the z-probe"
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def cmd_QUERY_PROBE(self, gcmd):
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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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res = self.mcu_probe.query_endstop(print_time)
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gcmd.respond_info("probe: %s" % (["open", "TRIGGERED"][not not res],))
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cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position"
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def cmd_PROBE_ACCURACY(self, gcmd):
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speed = gcmd.get_float("PROBE_SPEED", self.speed, above=0.)
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lift_speed = self.get_lift_speed(gcmd)
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sample_count = gcmd.get_int("SAMPLES", 10, minval=1)
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sample_retract_dist = gcmd.get_float("SAMPLE_RETRACT_DIST",
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self.sample_retract_dist, above=0.)
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toolhead = self.printer.lookup_object('toolhead')
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pos = toolhead.get_position()
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gcmd.respond_info("PROBE_ACCURACY at X:%.3f Y:%.3f Z:%.3f"
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" (samples=%d retract=%.3f"
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" speed=%.1f lift_speed=%.1f)\n"
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% (pos[0], pos[1], pos[2],
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sample_count, sample_retract_dist,
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speed, lift_speed))
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# Probe bed sample_count times
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self.multi_probe_begin()
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positions = []
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while len(positions) < sample_count:
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# Probe position
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pos = self._probe(speed)
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positions.append(pos)
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# Retract
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liftpos = [None, None, pos[2] + sample_retract_dist]
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self._move(liftpos, lift_speed)
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self.multi_probe_end()
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# Calculate maximum, minimum and average values
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max_value = max([p[2] for p in positions])
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min_value = min([p[2] for p in positions])
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range_value = max_value - min_value
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avg_value = self._calc_mean(positions)[2]
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median = self._calc_median(positions)[2]
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# calculate the standard deviation
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deviation_sum = 0
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for i in range(len(positions)):
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deviation_sum += pow(positions[i][2] - avg_value, 2.)
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sigma = (deviation_sum / len(positions)) ** 0.5
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# Show information
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gcmd.respond_info(
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"probe accuracy results: maximum %.6f, minimum %.6f, range %.6f, "
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"average %.6f, median %.6f, standard deviation %.6f" % (
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max_value, min_value, range_value, avg_value, median, sigma))
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def probe_calibrate_finalize(self, kin_pos):
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if kin_pos is None:
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return
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z_offset = self.probe_calibrate_z - kin_pos[2]
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self.gcode.respond_info(
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"%s: z_offset: %.3f\n"
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"The SAVE_CONFIG command will update the printer config file\n"
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"with the above and restart the printer." % (self.name, z_offset))
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configfile = self.printer.lookup_object('configfile')
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configfile.set(self.name, 'z_offset', "%.3f" % (z_offset,))
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cmd_PROBE_CALIBRATE_help = "Calibrate the probe's z_offset"
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def cmd_PROBE_CALIBRATE(self, gcmd):
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manual_probe.verify_no_manual_probe(self.printer)
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# Perform initial probe
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lift_speed = self.get_lift_speed(gcmd)
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curpos = self.run_probe(gcmd)
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# Move away from the bed
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self.probe_calibrate_z = curpos[2]
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curpos[2] += 5.
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self._move(curpos, lift_speed)
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# Move the nozzle over the probe point
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curpos[0] += self.x_offset
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curpos[1] += self.y_offset
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self._move(curpos, self.speed)
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# Start manual probe
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manual_probe.ManualProbeHelper(self.printer, gcmd,
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self.probe_calibrate_finalize)
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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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gcode_macro = self.printer.try_load_module(config, 'gcode_macro')
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self.activate_gcode = gcode_macro.load_template(
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config, 'activate_gcode', '')
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self.deactivate_gcode = gcode_macro.load_template(
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config, 'deactivate_gcode', '')
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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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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():
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if stepper.is_active_axis('z'):
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self.add_stepper(stepper)
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def multi_probe_begin(self):
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pass
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def multi_probe_end(self):
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pass
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def probe_prepare(self):
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toolhead = self.printer.lookup_object('toolhead')
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start_pos = toolhead.get_position()
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self.activate_gcode.run_gcode_from_command()
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if toolhead.get_position()[:3] != start_pos[:3]:
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raise homing.CommandError(
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"Toolhead moved during probe activate_gcode script")
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def probe_finish(self):
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toolhead = self.printer.lookup_object('toolhead')
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start_pos = toolhead.get_position()
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self.deactivate_gcode.run_gcode_from_command()
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if toolhead.get_position()[:3] != start_pos[:3]:
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raise homing.CommandError(
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"Toolhead moved during probe deactivate_gcode script")
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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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self.name = config.get_name()
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self.gcode = self.printer.lookup_object('gcode')
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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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self.name))
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.speed = config.getfloat('speed', 50., above=0.)
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self.use_offsets = False
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# Internal probing state
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self.lift_speed = self.speed
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self.probe_offsets = (0., 0., 0.)
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self.results = []
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def minimum_points(self,n):
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if len(self.probe_points) < n:
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raise self.printer.config_error(
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"Need at least %d probe points for %s" % (n, self.name))
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def use_xy_offsets(self, use_offsets):
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self.use_offsets = use_offsets
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def get_lift_speed(self):
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return self.lift_speed
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def _move_next(self):
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toolhead = self.printer.lookup_object('toolhead')
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# Lift toolhead
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speed = self.lift_speed
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if not self.results:
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# Use full speed to first probe position
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speed = self.speed
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curpos = toolhead.get_position()
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curpos[2] = self.horizontal_move_z
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toolhead.move(curpos, speed)
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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.gcode.reset_last_position()
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toolhead.get_last_move_time()
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res = self.finalize_callback(self.probe_offsets, self.results)
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if res != "retry":
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return True
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self.results = []
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# Move to next XY probe point
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curpos[:2] = self.probe_points[len(self.results)]
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if self.use_offsets:
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curpos[0] -= self.probe_offsets[0]
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curpos[1] -= self.probe_offsets[1]
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toolhead.move(curpos, self.speed)
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self.gcode.reset_last_position()
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return False
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def start_probe(self, gcmd):
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manual_probe.verify_no_manual_probe(self.printer)
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# Lookup objects
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probe = self.printer.lookup_object('probe', None)
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method = gcmd.get('METHOD', 'automatic').lower()
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self.results = []
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if probe is None or method != 'automatic':
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# Manual probe
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self.lift_speed = self.speed
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self.probe_offsets = (0., 0., 0.)
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self._manual_probe_start()
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return
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# Perform automatic probing
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self.lift_speed = probe.get_lift_speed(gcmd)
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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 gcmd.error("horizontal_move_z can't be less than"
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" probe's z_offset")
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probe.multi_probe_begin()
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while 1:
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done = self._move_next()
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if done:
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break
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pos = probe.run_probe(gcmd)
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self.results.append(pos)
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probe.multi_probe_end()
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def _manual_probe_start(self):
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done = self._move_next()
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if not done:
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gcmd = self.gcode.create_gcode_command("", "", {})
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manual_probe.ManualProbeHelper(self.printer, gcmd,
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self._manual_probe_finalize)
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def _manual_probe_finalize(self, kin_pos):
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if kin_pos is None:
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|
return
|
|
self.results.append(kin_pos)
|
|
self._manual_probe_start()
|
|
|
|
def load_config(config):
|
|
return PrinterProbe(config, ProbeEndstopWrapper(config))
|