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generic_cartesian: Fixed safe_z_home and manual_probe for new kinematics

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Dmitry Butyugin 2025-05-10 20:25:46 +02:00 committed by Kevin O'Connor
parent 8627c94d6a
commit ca83c13f37
3 changed files with 31 additions and 16 deletions
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35
klippy/extras/manual_probe.py
View File

@ -5,6 +5,14 @@
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, bisect
# Helper to lookup the Z stepper config section
def lookup_z_endstop_config(config):
if config.has_section('stepper_z'):
return config.getsection('stepper_z')
elif config.has_section('carriage z'):
return config.getsection('carriage z')
return None
class ManualProbe:
def __init__(self, config):
self.printer = config.get_printer()
@ -14,9 +22,13 @@ class ManualProbe:
self.gcode.register_command('MANUAL_PROBE', self.cmd_MANUAL_PROBE,
desc=self.cmd_MANUAL_PROBE_help)
# Endstop value for cartesian printers with separate Z axis
zconfig = config.getsection('stepper_z')
self.z_position_endstop = zconfig.getfloat('position_endstop', None,
note_valid=False)
zconfig = lookup_z_endstop_config(config)
if zconfig is not None:
self.z_position_endstop = zconfig.getfloat('position_endstop', None,
note_valid=False)
self.z_endstop_config_name = zconfig.get_name()
else:
self.z_position_endstop = self.z_endstop_config_name = None
# Endstop values for linear delta printers with vertical A,B,C towers
a_tower_config = config.getsection('stepper_a')
self.a_position_endstop = a_tower_config.getfloat('position_endstop',
@ -67,11 +79,13 @@ class ManualProbe:
return
z_pos = self.z_position_endstop - kin_pos[2]
self.gcode.respond_info(
"stepper_z: position_endstop: %.3f\n"
"%s: position_endstop: %.3f\n"
"The SAVE_CONFIG command will update the printer config file\n"
"with the above and restart the printer." % (z_pos,))
"with the above and restart the printer." % (
self.z_endstop_config_name, z_pos,))
configfile = self.printer.lookup_object('configfile')
configfile.set('stepper_z', 'position_endstop', "%.3f" % (z_pos,))
configfile.set(self.z_endstop_config_name, 'position_endstop',
"%.3f" % (z_pos,))
cmd_Z_ENDSTOP_CALIBRATE_help = "Calibrate a Z endstop"
def cmd_Z_ENDSTOP_CALIBRATE(self, gcmd):
ManualProbeHelper(self.printer, gcmd, self.z_endstop_finalize)
@ -83,11 +97,12 @@ class ManualProbe:
else:
new_calibrate = self.z_position_endstop - offset
self.gcode.respond_info(
"stepper_z: position_endstop: %.3f\n"
"%s: position_endstop: %.3f\n"
"The SAVE_CONFIG command will update the printer config file\n"
"with the above and restart the printer." % (new_calibrate))
configfile.set('stepper_z', 'position_endstop',
"%.3f" % (new_calibrate,))
"with the above and restart the printer." % (
self.z_endstop_config_name, new_calibrate))
configfile.set(self.z_endstop_config_name, 'position_endstop',
"%.3f" % (new_calibrate,))
def cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS(self,gcmd):
offset = self.gcode_move.get_status()['homing_origin'].z
configfile = self.printer.lookup_object('configfile')

7
klippy/extras/probe.py
View File

@ -174,11 +174,8 @@ class ProbeCommandHelper:
# Helper to lookup the minimum Z position for the printer
def lookup_minimum_z(config):
if config.has_section('stepper_z'):
zconfig = config.getsection('stepper_z')
return zconfig.getfloat('position_min', 0., note_valid=False)
elif config.has_section('carriage z'):
zconfig = config.getsection('carriage z')
zconfig = manual_probe.lookup_z_endstop_config(config)
if zconfig is not None:
return zconfig.getfloat('position_min', 0., note_valid=False)
pconfig = config.getsection('printer')
return pconfig.getfloat('minimum_z_position', 0., note_valid=False)

5
klippy/extras/safe_z_home.py
View File

@ -3,6 +3,7 @@
# Copyright (C) 2019 Florian Heilmann <Florian.Heilmann@gmx.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
from . import manual_probe
class SafeZHoming:
def __init__(self, config):
@ -11,7 +12,9 @@ class SafeZHoming:
self.home_x_pos, self.home_y_pos = x_pos, y_pos
self.z_hop = config.getfloat("z_hop", default=0.0)
self.z_hop_speed = config.getfloat('z_hop_speed', 15., above=0.)
zconfig = config.getsection('stepper_z')
zconfig = manual_probe.lookup_z_endstop_config(config)
if zconfig is None:
raise gcmd.error('Missing Z endstop config for safe_z_homing')
self.max_z = zconfig.getfloat('position_max', note_valid=False)
self.speed = config.getfloat('speed', 50.0, above=0.)
self.move_to_previous = config.getboolean('move_to_previous', False)