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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:
self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],))
cmd_MANUAL_PROBE_help = "Start manual probe helper script"
def cmd_MANUAL_PROBE(self, params):
ManualProbeHelper(self.printer, params, self.manual_probe_finalize)
def cmd_MANUAL_PROBE(self, gcmd):
ManualProbeHelper(self.printer, gcmd, self.manual_probe_finalize)
def z_endstop_finalize(self, kin_pos):
if kin_pos is None:
return
@ -38,8 +38,8 @@ class ManualProbe:
configfile = self.printer.lookup_object('configfile')
configfile.set('stepper_z', 'position_endstop', "%.3f" % (z_pos,))
cmd_Z_ENDSTOP_CALIBRATE_help = "Calibrate a Z endstop"
def cmd_Z_ENDSTOP_CALIBRATE(self, params):
ManualProbeHelper(self.printer, params, self.z_endstop_finalize)
def cmd_Z_ENDSTOP_CALIBRATE(self, gcmd):
ManualProbeHelper(self.printer, gcmd, self.z_endstop_finalize)
# Verify that a manual probe isn't already in progress
def verify_no_manual_probe(printer):
@ -56,12 +56,12 @@ BISECT_MAX = 0.200
# Helper script to determine a Z height
class ManualProbeHelper:
def __init__(self, printer, params, finalize_callback):
def __init__(self, printer, gcmd, finalize_callback):
self.printer = printer
self.finalize_callback = finalize_callback
self.gcode = self.printer.lookup_object('gcode')
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.last_toolhead_pos = self.last_kinematics_pos = None
# Register commands
@ -120,24 +120,24 @@ class ManualProbeHelper:
if next_pos < len(pp):
next_str = "%.3f" % (pp[next_pos],)
# Find recent positions
self.gcode.respond_info("Z position: %s --> %.3f <-- %s" % (
prev_str, z_pos, next_str))
self.gcode.respond_info("Z position: %s --> %.3f <-- %s"
% (prev_str, z_pos, next_str))
cmd_ACCEPT_help = "Accept the current Z position"
def cmd_ACCEPT(self, params):
def cmd_ACCEPT(self, gcmd):
pos = self.toolhead.get_position()
start_pos = self.start_position
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"
"nozzle prior to running ACCEPT.")
self.finalize(False)
return
self.finalize(True)
cmd_ABORT_help = "Abort manual Z probing tool"
def cmd_ABORT(self, params):
def cmd_ABORT(self, gcmd):
self.finalize(False)
cmd_TESTZ_help = "Move to new Z height"
def cmd_TESTZ(self, params):
def cmd_TESTZ(self, gcmd):
# Store current position for later reference
kin_pos = self.get_kinematics_pos()
z_pos = kin_pos[2]
@ -146,7 +146,7 @@ class ManualProbeHelper:
if insert_pos >= len(pp) or pp[insert_pos] != z_pos:
pp.insert(insert_pos, z_pos)
# Determine next position to move to
req = self.gcode.get_str("Z", params)
req = gcmd.get("Z")
if req in ('+', '++'):
check_z = 9999999999999.9
if insert_pos < len(self.past_positions) - 1:
@ -162,7 +162,7 @@ class ManualProbeHelper:
check_z = (check_z + z_pos) / 2.
next_z_pos = max(check_z, z_pos - BISECT_MAX)
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
self.move_z(next_z_pos)
self.report_z_status(next_z_pos != z_pos, z_pos)