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probe: Use original XY position on multiple probe samples 

On some kinematics it's possible for the XY position to change
slightly during a probing move.  Return back to the original XY
position on a probe lift so each probe attempt starts at the same
nominal position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-04-05 10:18:02 -04:00
parent 0990a3da6f
commit 0a4a64058d
1 changed files with 2 additions and 2 deletions
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4
klippy/extras/probe.py
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@ -154,6 +154,7 @@ class PrinterProbe:
must_notify_multi_probe = not self.multi_probe_pending must_notify_multi_probe = not self.multi_probe_pending
if must_notify_multi_probe: if must_notify_multi_probe:
self.multi_probe_begin() self.multi_probe_begin()
probexy = self.printer.lookup_object('toolhead').get_position()[:2]
retries = 0 retries = 0
positions = [] positions = []
while len(positions) < sample_count: while len(positions) < sample_count:
@ -170,8 +171,7 @@ class PrinterProbe:
positions = [] positions = []
# Retract # Retract
if len(positions) < sample_count: if len(positions) < sample_count:
liftpos = [None, None, pos[2] + sample_retract_dist] self._move(probexy + [pos[2] + sample_retract_dist], lift_speed)
self._move(liftpos, lift_speed)
if must_notify_multi_probe: if must_notify_multi_probe:
self.multi_probe_end() self.multi_probe_end()
# Calculate and return result # Calculate and return result