mirror of https://github.com/Desuuuu/klipper.git
89 lines
3.9 KiB
Python
89 lines
3.9 KiB
Python
# Perform Z Homing at specific XY coordinates.
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#
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# Copyright (C) 2019 Florian Heilmann <Florian.Heilmann@gmx.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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class SafeZHoming:
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def __init__(self, config):
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self.printer = config.get_printer()
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x_pos, y_pos = config.getfloatlist("home_xy_position", count=2)
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self.home_x_pos, self.home_y_pos = x_pos, y_pos
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self.z_hop = config.getfloat("z_hop", default=0.0)
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self.z_hop_speed = config.getfloat('z_hop_speed', 15., above=0.)
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zconfig = config.getsection('stepper_z')
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self.max_z = zconfig.getfloat('position_max', note_valid=False)
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self.speed = config.getfloat('speed', 50.0, above=0.)
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self.move_to_previous = config.getboolean('move_to_previous', False)
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self.printer.load_object(config, 'homing')
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self.gcode = self.printer.lookup_object('gcode')
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self.prev_G28 = self.gcode.register_command("G28", None)
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self.gcode.register_command("G28", self.cmd_G28)
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if config.has_section("homing_override"):
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raise config.error("homing_override and safe_z_homing cannot"
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+" be used simultaneously")
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def cmd_G28(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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# Perform Z Hop if necessary
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if self.z_hop != 0.0:
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# Check if Z axis is homed and its last known position
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curtime = self.printer.get_reactor().monotonic()
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kin_status = toolhead.get_kinematics().get_status(curtime)
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pos = toolhead.get_position()
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if 'z' not in kin_status['homed_axes']:
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# Always perform the z_hop if the Z axis is not homed
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pos[2] = 0
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toolhead.set_position(pos, homing_axes=[2])
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toolhead.manual_move([None, None, self.z_hop],
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self.z_hop_speed)
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if hasattr(toolhead.get_kinematics(), "note_z_not_homed"):
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toolhead.get_kinematics().note_z_not_homed()
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elif pos[2] < self.z_hop:
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# If the Z axis is homed, and below z_hop, lift it to z_hop
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toolhead.manual_move([None, None, self.z_hop],
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self.z_hop_speed)
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# Determine which axes we need to home
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need_x, need_y, need_z = [gcmd.get(axis, None) is not None
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for axis in "XYZ"]
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if not need_x and not need_y and not need_z:
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need_x = need_y = need_z = True
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# Home XY axes if necessary
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new_params = {}
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if need_x:
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new_params['X'] = '0'
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if need_y:
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new_params['Y'] = '0'
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if new_params:
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g28_gcmd = self.gcode.create_gcode_command("G28", "G28", new_params)
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self.prev_G28(g28_gcmd)
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# Home Z axis if necessary
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if need_z:
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# Throw an error if X or Y are not homed
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curtime = self.printer.get_reactor().monotonic()
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kin_status = toolhead.get_kinematics().get_status(curtime)
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if ('x' not in kin_status['homed_axes'] or
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'y' not in kin_status['homed_axes']):
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raise gcmd.error("Must home X and Y axes first")
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# Move to safe XY homing position
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prevpos = toolhead.get_position()
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toolhead.manual_move([self.home_x_pos, self.home_y_pos], self.speed)
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# Home Z
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g28_gcmd = self.gcode.create_gcode_command("G28", "G28", {'Z': '0'})
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self.prev_G28(g28_gcmd)
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# Perform Z Hop again for pressure-based probes
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if self.z_hop:
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toolhead.manual_move([None, None, self.z_hop], self.z_hop_speed)
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# Move XY back to previous positions
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if self.move_to_previous:
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toolhead.manual_move(prevpos[:2], self.speed)
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def load_config(config):
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return SafeZHoming(config)
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