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force_move: Implement CLEAR for SET_KINEMATIC_POSITION (#6262)

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`CLEAR` clears the homing status (resets the axis limits) without turning off
the motors. This is particularly useful when implementing safe Z homing in
`[homing_override]` on printers with multiple independent Z steppers (where
`FORCE_MOVE` can't be used).

Signed-off-by: Dennis Marttinen <twelho@welho.tech>
This commit is contained in:
Dennis Marttinen
2025-01-10 15:41:09 +00:00
committed by GitHub
parent 9ca71d8608
commit 7083879700
16 changed files with 77 additions and 46 deletions
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21
docs/G-Codes.md
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@@ -585,15 +585,18 @@ state; issue a G28 afterwards to reset the kinematics. This command is
intended for low-level diagnostics and debugging.
#### SET_KINEMATIC_POSITION
`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
the low-level kinematic code to believe the toolhead is at the given
cartesian position. This is a diagnostic and debugging command; use
SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
axis is not specified then it will default to the position that the
head was last commanded to. Setting an incorrect or invalid position
may lead to internal software errors. This command may invalidate
future boundary checks; issue a G28 afterwards to reset the
kinematics.
`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]
[CLEAR=<[X][Y][Z]>]`: Force the low-level kinematic code to believe the
toolhead is at the given cartesian position. This is a diagnostic and
debugging command; use SET_GCODE_OFFSET and/or G92 for regular axis
transformations. If an axis is not specified then it will default to the
position that the head was last commanded to. Setting an incorrect or
invalid position may lead to internal software errors. Use the CLEAR
parameter to forget the homing state for the given axes. Note that CLEAR
will not override the previous functionality; if an axis is not specified
to CLEAR it will have its kinematic position set as per above. This
command may invalidate future boundary checks; issue a G28 afterwards to
reset the kinematics.
### [gcode]