From 0dccc7e02d67d2ac6398dca5d9e88426c3af8f02 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sun, 1 Feb 2026 17:47:55 -0500 Subject: [PATCH] manual_stepper: Support STOP_ON_ENDSTOP=probe Support moving a manual_stepper until a trigger event, without resetting the final position. Signed-off-by: Kevin O'Connor --- docs/G-Codes.md | 11 ++++++----- klippy/extras/homing.py | 8 +++++--- klippy/extras/manual_stepper.py | 13 +++++++------ 3 files changed, 18 insertions(+), 14 deletions(-) diff --git a/docs/G-Codes.md b/docs/G-Codes.md index a186a4e71..cd8d745b6 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -1007,15 +1007,16 @@ MOVE= STOP_ON_ENDSTOP=`: 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=] [LIMIT_ACCEL=] diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index 723648c11..918f37e15 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -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) diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 7d19b97a2..9151bcc8f 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -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):