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probe: Catch toolhead.move() exceptions in cmd_PROBE_CALIBRATE() 

Slightly rework the self._move_position() code and also use it in
PROBE_CALIBRATE.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-03-08 12:32:01 -05:00
parent 5c0a2479be
commit eac22df7cb
1 changed files with 12 additions and 15 deletions
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27
klippy/extras/probe.py
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@ -91,6 +91,7 @@ class PrinterProbe:
'Z', params, default=10., minval=self.z_offset, maxval=70.) 'Z', params, default=10., minval=self.z_offset, maxval=70.)
x_start_position = self.gcode.get_float('X', params, default=pos[0]) x_start_position = self.gcode.get_float('X', params, default=pos[0])
y_start_position = self.gcode.get_float('Y', params, default=pos[1]) y_start_position = self.gcode.get_float('Y', params, default=pos[1])
start_pos = [x_start_position, y_start_position, z_start_position]
self.gcode.respond_info("probe accuracy: at X:%.3f Y:%.3f Z:%.3f\n" self.gcode.respond_info("probe accuracy: at X:%.3f Y:%.3f Z:%.3f\n"
" " " "
"and read %d times with speed of %d mm/s" % ( "and read %d times with speed of %d mm/s" % (
@ -100,8 +101,7 @@ class PrinterProbe:
sum_reads = 0 sum_reads = 0
for i in range(number_of_reads): for i in range(number_of_reads):
# Move Z to start reading position # Move Z to start reading position
self._move_position(x_start_position, y_start_position, self._move(start_pos, speed)
z_start_position, speed)
# Probe # Probe
self._probe(speed) self._probe(speed)
# Get Z value, accumulate value to calculate average # Get Z value, accumulate value to calculate average
@ -110,8 +110,7 @@ class PrinterProbe:
sum_reads += pos[2] sum_reads += pos[2]
probes.append(pos[2]) probes.append(pos[2])
# Move Z to start reading position # Move Z to start reading position
self._move_position(x_start_position, y_start_position, self._move(start_pos, speed)
z_start_position, speed)
# Calculate maximum, minimum and average values # Calculate maximum, minimum and average values
max_value = max(probes) max_value = max(probes)
min_value = min(probes) min_value = min(probes)
@ -135,16 +134,14 @@ class PrinterProbe:
"probe accuracy results: maximum %.6f, minimum %.6f, " "probe accuracy results: maximum %.6f, minimum %.6f, "
"average %.6f, median %.6f, standard deviation %.6f" % ( "average %.6f, median %.6f, standard deviation %.6f" % (
max_value, min_value, avg_value, median, sigma)) max_value, min_value, avg_value, median, sigma))
def _move_position(self, x, y, z, speed): def _move(self, coord, speed):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
pos = toolhead.get_position() curpos = toolhead.get_position()
# set new position for i in range(len(coord)):
pos[0] = x if coord[i] is not None:
pos[1] = y curpos[i] = coord[i]
pos[2] = z
# Move to position
try: try:
toolhead.move(pos, speed) toolhead.move(curpos, speed)
except homing.EndstopError as e: except homing.EndstopError as e:
raise self.gcode.error(str(e)) raise self.gcode.error(str(e))
def probe_calibrate_finalize(self, kin_pos): def probe_calibrate_finalize(self, kin_pos):
@ -160,16 +157,16 @@ class PrinterProbe:
cmd_PROBE_CALIBRATE_help = "Calibrate the probe's z_offset" cmd_PROBE_CALIBRATE_help = "Calibrate the probe's z_offset"
def cmd_PROBE_CALIBRATE(self, params): def cmd_PROBE_CALIBRATE(self, params):
# Perform initial probe # Perform initial probe
self.cmd_PROBE(params) self._probe(self.speed)
# Move away from the bed # Move away from the bed
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
curpos = toolhead.get_position() curpos = toolhead.get_position()
curpos[2] += 5. curpos[2] += 5.
toolhead.move(curpos, self.speed) self._move(curpos, self.speed)
# Move the nozzle over the probe point # Move the nozzle over the probe point
curpos[0] += self.x_offset curpos[0] += self.x_offset
curpos[1] += self.y_offset curpos[1] += self.y_offset
toolhead.move(curpos, self.speed) self._move(curpos, self.speed)
# Start manual probe # Start manual probe
manual_probe.ManualProbeHelper(self.printer, params, manual_probe.ManualProbeHelper(self.printer, params,
self.probe_calibrate_finalize) self.probe_calibrate_finalize)