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toolhead: Add a manual_move() helper function

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Add a helper function for submitting relative movements.  This
function will also automatically ensure gcode.reset_last_position() is
called.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-08-16 22:43:03 -04:00
parent b9ac6d6306
commit 2caaaea9a4
6 changed files with 34 additions and 55 deletions
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41
klippy/extras/safe_z_home.py
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@ -30,23 +30,23 @@ class SafeZHoming:
def cmd_G28(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
# Perform Z Hop if necessary
if self.z_hop != 0.0:
pos = toolhead.get_position()
# Check if Z axis is homed or has a known position
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
if 'z' in kin_status['homed_axes']:
# Check if the zhop would exceed the printer limits
pos = toolhead.get_position()
if pos[2] + self.z_hop > self.max_z:
gcmd.respond_info(
"No zhop performed, target Z out of bounds: " +
str(pos[2] + self.z_hop))
elif pos[2] < self.z_hop:
self._perform_z_hop(pos)
self._perform_z_hop()
else:
self._perform_z_hop(pos)
self._perform_z_hop()
if hasattr(toolhead.get_kinematics(), "note_z_not_homed"):
toolhead.get_kinematics().note_z_not_homed()
@ -66,46 +66,33 @@ class SafeZHoming:
g28_gcmd = self.gcode.create_gcode_command("G28", "G28", new_params)
self.prev_G28(g28_gcmd)
# Update the currently homed axes
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
# Home Z axis if necessary
if need_z:
pos = toolhead.get_position()
prev_x = pos[0]
prev_y = pos[1]
pos[0] = self.home_x_pos
pos[1] = self.home_y_pos
# Throw an error if X or Y are not homed
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
if ('x' not in kin_status['homed_axes'] or
'y' not in kin_status['homed_axes']):
raise gcmd.error("Must home X and Y axes first")
# Move to safe XY homing position
toolhead.move(pos, self.speed)
self.gcode.reset_last_position()
prevpos = toolhead.get_position()
toolhead.manual_move([self.home_x_pos, self.home_y_pos], self.speed)
# Home Z
g28_gcmd = self.gcode.create_gcode_command("G28", "G28", {'Z': '0'})
self.prev_G28(g28_gcmd)
# Perform Z Hop again for pressure-based probes
pos = toolhead.get_position()
if self.z_hop:
pos[2] = self.z_hop
toolhead.move(pos, self.z_hop_speed)
toolhead.manual_move([None, None, self.z_hop], self.z_hop_speed)
# Move XY back to previous positions
if self.move_to_previous:
pos[0] = prev_x
pos[1] = prev_y
toolhead.move(pos, self.speed)
self.gcode.reset_last_position()
toolhead.manual_move(prevpos[:2], self.speed)
def _perform_z_hop(self, pos):
def _perform_z_hop(self):
toolhead = self.printer.lookup_object('toolhead')
# Perform the Z-Hop
pos = toolhead.get_position()
toolhead.set_position(pos, homing_axes=[2])
pos[2] = pos[2] + self.z_hop
toolhead.move(pos, self.z_hop_speed)
self.gcode.reset_last_position()
toolhead.manual_move([None, None, pos[2]+self.z_hop], self.z_hop_speed)
def load_config(config):
return SafeZHoming(config)