From c36fe76d692754d0244059a729e147c688c96062 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 30 Jan 2020 15:36:51 -0500 Subject: [PATCH] probe: Add support for configuring lift_speed Signed-off-by: Kevin O'Connor --- config/example-extras.cfg | 4 ++++ docs/G-Codes.md | 2 +- klippy/extras/probe.py | 29 ++++++++++++++++++++--------- 3 files changed, 25 insertions(+), 10 deletions(-) diff --git a/config/example-extras.cfg b/config/example-extras.cfg index 136ff1fa..156b4c8f 100644 --- a/config/example-extras.cfg +++ b/config/example-extras.cfg @@ -569,6 +569,10 @@ #sample_retract_dist: 2.0 # The distance (in mm) to lift the toolhead between each sample (if # sampling more than once). The default is 2mm. +#lift_speed: 5.0 +# Speed (in mm/s) of the Z axis when lifting the probe between +# samples. The default is to use the same value as the 'speed' +# parameter. #samples_result: average # The calculation method when sampling more than once - either # "median" or "average". The default is average. diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 0eff01c2..611c3877 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -264,7 +264,7 @@ section is enabled: The following commands are available when a "probe" config section is enabled: -- `PROBE [PROBE_SPEED=] [SAMPLES=] +- `PROBE [PROBE_SPEED=] [LIFT_SPEED=] [SAMPLES=] [SAMPLE_RETRACT_DIST=] [SAMPLES_TOLERANCE=] [SAMPLES_TOLERANCE_RETRIES=] [SAMPLES_RESULT=median|average]`: Move the nozzle downwards until diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index f5c69ec7..e494eda1 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -17,7 +17,8 @@ class PrinterProbe: self.printer = config.get_printer() self.name = config.get_name() self.mcu_probe = mcu_probe - self.speed = config.getfloat('speed', 5.0) + self.speed = config.getfloat('speed', 5.0, above=0.) + self.lift_speed = config.getfloat('lift_speed', self.speed, above=0.) self.x_offset = config.getfloat('x_offset', 0.) self.y_offset = config.getfloat('y_offset', 0.) self.z_offset = config.getfloat('z_offset') @@ -58,6 +59,11 @@ class PrinterProbe: if pin_params['invert'] or pin_params['pullup']: raise pins.error("Can not pullup/invert probe virtual endstop") return self.mcu_probe + def get_lift_speed(self, params=None): + if params is not None: + return self.gcode.get_float("LIFT_SPEED", params, + self.lift_speed, above=0.) + return self.lift_speed def get_offsets(self): return self.x_offset, self.y_offset, self.z_offset def _probe(self, speed): @@ -103,6 +109,7 @@ class PrinterProbe: def run_probe(self, params={}): speed = self.gcode.get_float( "PROBE_SPEED", params, self.speed, above=0.) + lift_speed = self.get_lift_speed(params) sample_count = self.gcode.get_int( "SAMPLES", params, self.sample_count, minval=1) sample_retract_dist = self.gcode.get_float( @@ -132,7 +139,7 @@ class PrinterProbe: # Retract if len(positions) < sample_count: liftpos = [None, None, pos[2] + sample_retract_dist] - self._move(liftpos, speed) + self._move(liftpos, lift_speed) # Calculate and return result if samples_result == 'median': return self._calc_median(positions) @@ -150,17 +157,20 @@ class PrinterProbe: "probe: %s" % (["open", "TRIGGERED"][not not res],)) cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position" def cmd_PROBE_ACCURACY(self, params): - speed = self.gcode.get_float( - "PROBE_SPEED", params, self.speed, above=0.) + speed = self.gcode.get_float("PROBE_SPEED", params, + self.speed, above=0.) + lift_speed = self.get_lift_speed(params) sample_count = self.gcode.get_int("SAMPLES", params, 10, minval=1) sample_retract_dist = self.gcode.get_float( "SAMPLE_RETRACT_DIST", params, self.sample_retract_dist, above=0.) toolhead = self.printer.lookup_object('toolhead') pos = toolhead.get_position() self.gcode.respond_info("PROBE_ACCURACY at X:%.3f Y:%.3f Z:%.3f" - " (samples=%d retract=%.3f speed=%.1f\n" + " (samples=%d retract=%.3f" + " speed=%.1f lift_speed=%.1f)\n" % (pos[0], pos[1], pos[2], - sample_count, sample_retract_dist, speed)) + sample_count, sample_retract_dist, + speed, lift_speed)) # Probe bed sample_count times positions = [] while len(positions) < sample_count: @@ -169,7 +179,7 @@ class PrinterProbe: positions.append(pos) # Retract liftpos = [None, None, pos[2] + sample_retract_dist] - self._move(liftpos, speed) + self._move(liftpos, lift_speed) # Calculate maximum, minimum and average values max_value = max([p[2] for p in positions]) min_value = min([p[2] for p in positions]) @@ -200,11 +210,12 @@ class PrinterProbe: def cmd_PROBE_CALIBRATE(self, params): manual_probe.verify_no_manual_probe(self.printer) # Perform initial probe + lift_speed = self.get_lift_speed(params) curpos = self.run_probe(params) # Move away from the bed self.probe_calibrate_z = curpos[2] curpos[2] += 5. - self._move(curpos, self.speed) + self._move(curpos, lift_speed) # Move the nozzle over the probe point curpos[0] += self.x_offset curpos[1] += self.y_offset @@ -336,7 +347,7 @@ class ProbePointsHelper: self._manual_probe_start() return # Perform automatic probing - self.lift_speed = min(self.speed, probe.speed) + self.lift_speed = probe.get_lift_speed(params) self.probe_offsets = probe.get_offsets() if self.horizontal_move_z < self.probe_offsets[2]: raise self.gcode.error("horizontal_move_z can't be less than"