h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

toolhead: Add a manual_move() helper function

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

22
klippy/extras/probe.py
View File

@@ -125,13 +125,7 @@ class PrinterProbe:
% (pos[0], pos[1], pos[2]))
return pos[:3]
def _move(self, coord, speed):
toolhead = self.printer.lookup_object('toolhead')
curpos = toolhead.get_position()
for i in range(len(coord)):
if coord[i] is not None:
curpos[i] = coord[i]
toolhead.move(curpos, speed)
self.gcode.reset_last_position()
self.printer.lookup_object('toolhead').manual_move(coord, speed)
def _calc_mean(self, positions):
count = float(len(positions))
return [sum([pos[i] for pos in positions]) / count
@@ -354,24 +348,20 @@ class ProbePointsHelper:
if not self.results:
# Use full speed to first probe position
speed = self.speed
curpos = toolhead.get_position()
curpos[2] = self.horizontal_move_z
toolhead.move(curpos, speed)
toolhead.manual_move([None, None, self.horizontal_move_z], speed)
# Check if done probing
if len(self.results) >= len(self.probe_points):
self.gcode.reset_last_position()
toolhead.get_last_move_time()
res = self.finalize_callback(self.probe_offsets, self.results)
if res != "retry":
return True
self.results = []
# Move to next XY probe point
curpos[:2] = self.probe_points[len(self.results)]
nextpos = list(self.probe_points[len(self.results)])
if self.use_offsets:
curpos[0] -= self.probe_offsets[0]
curpos[1] -= self.probe_offsets[1]
toolhead.move(curpos, self.speed)
self.gcode.reset_last_position()
nextpos[0] -= self.probe_offsets[0]
nextpos[1] -= self.probe_offsets[1]
toolhead.manual_move(nextpos, self.speed)
return False
def start_probe(self, gcmd):
manual_probe.verify_no_manual_probe(self.printer)