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manual_stepper: Support STOP_ON_ENDSTOP=probe

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Support moving a manual_stepper until a trigger event, without
resetting the final position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2026-02-01 17:47:55 -05:00
parent 4fb3b24c8d
commit 0dccc7e02d
3 changed files with 18 additions and 14 deletions
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11
docs/G-Codes.md
View file

@ -1007,15 +1007,16 @@ MOVE=<pos> STOP_ON_ENDSTOP=<check_type>`: If STOP_ON_ENDSTOP is
specified then the move will end early if an endstop event occurs. The
`STOP_ON_ENDSTOP` parameter may be set to one of the following values:
* `probe`: The movement will stop when the endstop reports triggered.
* `home`: The movement will stop when the endstop reports triggered
and the final position of the manual_stepper will be set such that
the trigger position matches the position specified in the `MOVE`
parameter.
* `inverted_home`: As above, however, the movement will stop when the
endstop reports it is in a non-triggered state.
* `try_home`, `try_inverted_home`: As above, but no error will be
reported if the movement fully completes without an endstop event
stopping the move early.
* `inverted_probe`, `inverted_home`: As above, however, the movement
will stop when the endstop reports it is in a non-triggered state.
* `try_probe`, `try_inverted_probe`, `try_home`, `try_inverted_home`:
As above, but no error will be reported if the movement fully
completes without an endstop event stopping the move early.
`MANUAL_STEPPER STEPPER=config_name GCODE_AXIS=[A-Z]
[LIMIT_VELOCITY=<velocity>] [LIMIT_ACCEL=<accel>]

8
klippy/extras/homing.py
View file

@ -249,16 +249,18 @@ class PrinterHoming:
gcode = self.printer.lookup_object('gcode')
gcode.register_command('G28', self.cmd_G28)
def manual_home(self, toolhead, endstops, pos, speed,
triggered, check_triggered):
probe_pos, triggered, check_triggered):
hmove = HomingMove(self.printer, endstops, toolhead)
try:
hmove.homing_move(pos, speed, triggered=triggered,
check_triggered=check_triggered)
epos = hmove.homing_move(pos, speed, probe_pos=probe_pos,
triggered=triggered,
check_triggered=check_triggered)
except self.printer.command_error:
if self.printer.is_shutdown():
raise self.printer.command_error(
"Homing failed due to printer shutdown")
raise
return epos
def probing_move(self, mcu_probe, pos, speed):
endstops = [(mcu_probe, "probe")]
hmove = HomingMove(self.printer, endstops)

13
klippy/extras/manual_stepper.py
View file

@ -78,7 +78,8 @@ class ManualStepper:
self.motion_queuing.note_mcu_movequeue_activity(self.next_cmd_time)
if sync:
self.sync_print_time()
def do_homing_move(self, movepos, speed, accel, triggered, check_trigger):
def do_homing_move(self, movepos, speed, accel,
probe_pos, triggered, check_trigger):
if not self.can_home:
raise self.printer.command_error(
"No endstop for this manual stepper")
@ -87,7 +88,8 @@ class ManualStepper:
endstops = self.rail.get_endstops()
phoming = self.printer.lookup_object('homing')
phoming.manual_home(self, endstops, pos, speed,
triggered, check_trigger)
probe_pos, triggered, check_trigger)
self.sync_print_time()
cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
def cmd_MANUAL_STEPPER(self, gcmd):
if gcmd.get('GCODE_AXIS', None) is not None:
@ -115,14 +117,15 @@ class ManualStepper:
homing_move = homing_move[is_try*4:]
is_inverted = homing_move.startswith('inverted_')
homing_move = homing_move[is_inverted*9:]
if homing_move != "home":
if homing_move not in ["probe", "home"]:
raise gcmd.error("Unknown STOP_ON_ENDSTOP request")
is_probe = (homing_move == "probe")
movepos = gcmd.get_float('MOVE')
if ((self.pos_min is not None and movepos < self.pos_min)
or (self.pos_max is not None and movepos > self.pos_max)):
raise gcmd.error("Move out of range")
self.do_homing_move(movepos, speed, accel,
not is_inverted, not is_try)
is_probe, not is_inverted, not is_try)
elif gcmd.get_float('MOVE', None) is not None:
movepos = gcmd.get_float('MOVE')
if ((self.pos_min is not None and movepos < self.pos_min)
@ -220,8 +223,6 @@ class ManualStepper:
drip_completion)
# Clear trapq of any remaining parts of movement
self.motion_queuing.wipe_trapq(self.trapq)
self.rail.set_position([self.commanded_pos, 0., 0.])
self.sync_print_time()
def get_kinematics(self):
return self
def get_steppers(self):