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manual_probe: Use new GCodeCommand wrappers 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-04-24 21:58:55 -04:00
parent dce46ea053
commit d4adeda76b
1 changed files with 14 additions and 14 deletions
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28
klippy/extras/manual_probe.py
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@ -25,8 +25,8 @@ class ManualProbe:
if kin_pos is not None: if kin_pos is not None:
self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],)) self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],))
cmd_MANUAL_PROBE_help = "Start manual probe helper script" cmd_MANUAL_PROBE_help = "Start manual probe helper script"
def cmd_MANUAL_PROBE(self, params): def cmd_MANUAL_PROBE(self, gcmd):
ManualProbeHelper(self.printer, params, self.manual_probe_finalize) ManualProbeHelper(self.printer, gcmd, self.manual_probe_finalize)
def z_endstop_finalize(self, kin_pos): def z_endstop_finalize(self, kin_pos):
if kin_pos is None: if kin_pos is None:
return return
@ -38,8 +38,8 @@ class ManualProbe:
configfile = self.printer.lookup_object('configfile') configfile = self.printer.lookup_object('configfile')
configfile.set('stepper_z', 'position_endstop', "%.3f" % (z_pos,)) configfile.set('stepper_z', 'position_endstop', "%.3f" % (z_pos,))
cmd_Z_ENDSTOP_CALIBRATE_help = "Calibrate a Z endstop" cmd_Z_ENDSTOP_CALIBRATE_help = "Calibrate a Z endstop"
def cmd_Z_ENDSTOP_CALIBRATE(self, params): def cmd_Z_ENDSTOP_CALIBRATE(self, gcmd):
ManualProbeHelper(self.printer, params, self.z_endstop_finalize) ManualProbeHelper(self.printer, gcmd, self.z_endstop_finalize)
# Verify that a manual probe isn't already in progress # Verify that a manual probe isn't already in progress
def verify_no_manual_probe(printer): def verify_no_manual_probe(printer):
@ -56,12 +56,12 @@ BISECT_MAX = 0.200
# Helper script to determine a Z height # Helper script to determine a Z height
class ManualProbeHelper: class ManualProbeHelper:
def __init__(self, printer, params, finalize_callback): def __init__(self, printer, gcmd, finalize_callback):
self.printer = printer self.printer = printer
self.finalize_callback = finalize_callback self.finalize_callback = finalize_callback
self.gcode = self.printer.lookup_object('gcode') self.gcode = self.printer.lookup_object('gcode')
self.toolhead = self.printer.lookup_object('toolhead') self.toolhead = self.printer.lookup_object('toolhead')
self.speed = self.gcode.get_float("SPEED", params, 5.) self.speed = gcmd.get_float("SPEED", 5.)
self.past_positions = [] self.past_positions = []
self.last_toolhead_pos = self.last_kinematics_pos = None self.last_toolhead_pos = self.last_kinematics_pos = None
# Register commands # Register commands
@ -120,24 +120,24 @@ class ManualProbeHelper:
if next_pos < len(pp): if next_pos < len(pp):
next_str = "%.3f" % (pp[next_pos],) next_str = "%.3f" % (pp[next_pos],)
# Find recent positions # Find recent positions
self.gcode.respond_info("Z position: %s --> %.3f <-- %s" % ( self.gcode.respond_info("Z position: %s --> %.3f <-- %s"
prev_str, z_pos, next_str)) % (prev_str, z_pos, next_str))
cmd_ACCEPT_help = "Accept the current Z position" cmd_ACCEPT_help = "Accept the current Z position"
def cmd_ACCEPT(self, params): def cmd_ACCEPT(self, gcmd):
pos = self.toolhead.get_position() pos = self.toolhead.get_position()
start_pos = self.start_position start_pos = self.start_position
if pos[:2] != start_pos[:2] or pos[2] >= start_pos[2]: if pos[:2] != start_pos[:2] or pos[2] >= start_pos[2]:
self.gcode.respond_info( gcmd.respond_info(
"Manual probe failed! Use TESTZ commands to position the\n" "Manual probe failed! Use TESTZ commands to position the\n"
"nozzle prior to running ACCEPT.") "nozzle prior to running ACCEPT.")
self.finalize(False) self.finalize(False)
return return
self.finalize(True) self.finalize(True)
cmd_ABORT_help = "Abort manual Z probing tool" cmd_ABORT_help = "Abort manual Z probing tool"
def cmd_ABORT(self, params): def cmd_ABORT(self, gcmd):
self.finalize(False) self.finalize(False)
cmd_TESTZ_help = "Move to new Z height" cmd_TESTZ_help = "Move to new Z height"
def cmd_TESTZ(self, params): def cmd_TESTZ(self, gcmd):
# Store current position for later reference # Store current position for later reference
kin_pos = self.get_kinematics_pos() kin_pos = self.get_kinematics_pos()
z_pos = kin_pos[2] z_pos = kin_pos[2]
@ -146,7 +146,7 @@ class ManualProbeHelper:
if insert_pos >= len(pp) or pp[insert_pos] != z_pos: if insert_pos >= len(pp) or pp[insert_pos] != z_pos:
pp.insert(insert_pos, z_pos) pp.insert(insert_pos, z_pos)
# Determine next position to move to # Determine next position to move to
req = self.gcode.get_str("Z", params) req = gcmd.get("Z")
if req in ('+', '++'): if req in ('+', '++'):
check_z = 9999999999999.9 check_z = 9999999999999.9
if insert_pos < len(self.past_positions) - 1: if insert_pos < len(self.past_positions) - 1:
@ -162,7 +162,7 @@ class ManualProbeHelper:
check_z = (check_z + z_pos) / 2. check_z = (check_z + z_pos) / 2.
next_z_pos = max(check_z, z_pos - BISECT_MAX) next_z_pos = max(check_z, z_pos - BISECT_MAX)
else: else:
next_z_pos = z_pos + self.gcode.get_float("Z", params) next_z_pos = z_pos + gcmd.get_float("Z")
# Move to given position and report it # Move to given position and report it
self.move_z(next_z_pos) self.move_z(next_z_pos)
self.report_z_status(next_z_pos != z_pos, z_pos) self.report_z_status(next_z_pos != z_pos, z_pos)