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probe: Initial support for Z-Probe hardware

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-06 01:00:33 -05:00
parent 6c252d30f5
commit ce9db609ad
7 changed files with 91 additions and 6 deletions
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klippy/extras/probe.py Normal file
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# Z-Probe support
#
# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import homing
class PrinterProbe:
def __init__(self, config):
self.printer = config.get_printer()
self.speed = config.getfloat('speed', 5.0)
self.z_position = config.getfloat('z_position', 0.)
ppins = self.printer.lookup_object('pins')
pin_params = ppins.lookup_pin('endstop', config.get('pin'))
mcu = pin_params['chip']
mcu.add_config_object(self)
self.mcu_probe = mcu.setup_pin(pin_params)
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command(
'PROBE', self.cmd_PROBE, desc=self.cmd_PROBE_help)
self.gcode.register_command(
'QUERY_PROBE', self.cmd_QUERY_PROBE, desc=self.cmd_QUERY_PROBE_help)
def build_config(self):
toolhead = self.printer.lookup_object('toolhead')
z_steppers = toolhead.get_kinematics().get_steppers("Z")
for s in z_steppers:
for mcu_endstop, name in s.get_endstops():
for mcu_stepper in mcu_endstop.get_steppers():
self.mcu_probe.add_stepper(mcu_stepper)
cmd_PROBE_help = "Probe Z-height at current XY position"
def cmd_PROBE(self, params):
toolhead = self.printer.lookup_object('toolhead')
homing_state = homing.Homing(toolhead)
pos = toolhead.get_position()
pos[2] = self.z_position
try:
homing_state.homing_move(
pos, [(self.mcu_probe, "probe")], self.speed, probe_pos=True)
except homing.EndstopError as e:
raise self.gcode.error(str(e))
self.gcode.reset_last_position()
cmd_QUERY_PROBE_help = "Return the status of the z-probe"
def cmd_QUERY_PROBE(self, params):
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
self.mcu_probe.query_endstop(print_time)
res = self.mcu_probe.query_endstop_wait()
self.gcode.respond_info(
"probe: %s" % (["open", "TRIGGERED"][not not res],))
def load_config(config):
if config.get_name() != 'probe':
raise config.error("Invalid probe config name")
return PrinterProbe(config)