probe: add ability to save babystepping (#4404)

Created two new extended gcodes: Z_OFFSET_APPLY_ENDSTOP, and Z_OFFSET_APPLY_PROBE.
These use the z gcode offset to revise the probe offset, or z endstop position
allowing users to make a frequently used babystepping value permanent without
manual config editing.

Signed-off-by: Ben Eastep <shifting@shifting.ca>

docs/G-Codes.md

@@ -206,6 +206,10 @@ The following standard commands are supported:
   for calibrating a Z position_endstop config setting. See the
   MANUAL_PROBE command for details on the parameters and the
   additional commands available while the tool is active.
+  `Z_ENDSTOP_UPDATE_POSITION`: Take the current Z Gcode offset (aka,
+  babystepping), and subtract it from the stepper_z endstop_position.
+  This acts to take a frequently used babystepping value, and "make
+  it permanent".  Requires a `SAVE_CONFIG` to take effect.
 - `TUNING_TOWER COMMAND=<command> PARAMETER=<name> START=<value>
   FACTOR=<value> [BAND=<value>]`: A tool for tuning a parameter on
   each Z height during a print. The tool will run the given COMMAND
@@ -351,11 +355,13 @@ the [probe calibrate guide](Probe_Calibrate.md)):
   section.
 - `PROBE_CALIBRATE [SPEED=<speed>] [<probe_parameter>=<value>]`: Run a
   helper script useful for calibrating the probe's z_offset. See the
-  PROBE command for details on the optional probe parameters. See the
+  PROBE command for details on the optional probe parameters. See
-  MANUAL_PROBE command for details on the SPEED parameter and the
+  the MANUAL_PROBE command for details on the SPEED parameter and the additional commands available while the tool is active. Please note, the PROBE_CALIBRATE command uses the speed variable
-  additional commands available while the tool is active. Please note,
+  to move in XY direction as well as Z.
-  the PROBE_CALIBRATE command uses the speed variable to move in XY direction
+`PROBE_UPDATE_OFFSET`: Take the current Z Gcode offset (aka,
-  as well as Z.
+  babystepping), and subtract if from the probe's z_offset.
+  This acts to take a frequently used babystepping value, and "make
+  it permanent".  Requires a `SAVE_CONFIG` to take effect.
 
 ## BLTouch
 

klippy/extras/manual_probe.py

@@ -10,6 +10,7 @@ class ManualProbe:
         self.printer = config.get_printer()
         # Register commands
         self.gcode = self.printer.lookup_object('gcode')
+        self.gcode_move = self.printer.load_object(config, "gcode_move")
         self.gcode.register_command('MANUAL_PROBE', self.cmd_MANUAL_PROBE,
                                     desc=self.cmd_MANUAL_PROBE_help)
         zconfig = config.getsection('stepper_z')
@@ -19,6 +20,10 @@ class ManualProbe:
             self.gcode.register_command(
                 'Z_ENDSTOP_CALIBRATE', self.cmd_Z_ENDSTOP_CALIBRATE,
                 desc=self.cmd_Z_ENDSTOP_CALIBRATE_help)
+            self.gcode.register_command(
+                'Z_OFFSET_APPLY_ENDSTOP',
+                self.cmd_Z_OFFSET_APPLY_ENDSTOP,
+                desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help)
     def manual_probe_finalize(self, kin_pos):
         if kin_pos is not None:
             self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],))
@@ -38,6 +43,20 @@ class ManualProbe:
     cmd_Z_ENDSTOP_CALIBRATE_help = "Calibrate a Z endstop"
     def cmd_Z_ENDSTOP_CALIBRATE(self, gcmd):
         ManualProbeHelper(self.printer, gcmd, self.z_endstop_finalize)
+    def cmd_Z_OFFSET_APPLY_ENDSTOP(self,gcmd):
+        offset = self.gcode_move.get_status()['homing_origin'].z
+        configfile = self.printer.lookup_object('configfile')
+        if offset == 0:
+            self.gcode.respond_info("Nothing to do: Z Offset is 0")
+        else:
+            new_calibrate = self.z_position_endstop - offset
+            self.gcode.respond_info(
+                "stepper_z: position_endstop: %.3f\n"
+                "The SAVE_CONFIG command will update the printer config file\n"
+                "with the above and restart the printer." % (new_calibrate))
+            configfile.set('stepper_z', 'position_endstop',
+                "%.3f" % (new_calibrate,))
+    cmd_Z_OFFSET_APPLY_ENDSTOP_help = "Adjust the z endstop_position"
 
 # Verify that a manual probe isn't already in progress
 def verify_no_manual_probe(printer):

klippy/extras/probe.py

@@ -27,6 +27,7 @@ class PrinterProbe:
         self.multi_probe_pending = False
         self.last_state = False
         self.last_z_result = 0.
+        self.gcode_move = self.printer.load_object(config, "gcode_move")
         # Infer Z position to move to during a probe
         if config.has_section('stepper_z'):
             zconfig = config.getsection('stepper_z')
@@ -70,6 +71,9 @@ class PrinterProbe:
                                     desc=self.cmd_PROBE_CALIBRATE_help)
         self.gcode.register_command('PROBE_ACCURACY', self.cmd_PROBE_ACCURACY,
                                     desc=self.cmd_PROBE_ACCURACY_help)
+        self.gcode.register_command('Z_OFFSET_APPLY_PROBE',
+                                    self.cmd_Z_OFFSET_APPLY_PROBE,
+                                    desc=self.cmd_Z_OFFSET_APPLY_PROBE_help)
     def _handle_homing_move_begin(self, hmove):
         if self.mcu_probe in hmove.get_mcu_endstops():
             self.mcu_probe.probe_prepare(hmove)
@@ -262,6 +266,21 @@ class PrinterProbe:
         # Start manual probe
         manual_probe.ManualProbeHelper(self.printer, gcmd,
                                        self.probe_calibrate_finalize)
+    def cmd_Z_OFFSET_APPLY_PROBE(self,gcmd):
+        z_offset = self.probe_calibrate_z
+        offset = self.gcode_move.get_status()['homing_origin'].z
+        configfile = self.printer.lookup_object('configfile')
+        if offset == 0:
+            self.gcode.respond_info("Nothing to do: Z Offset is 0")
+        else:
+            new_calibrate = self.probe_calibrate_z - offset
+            self.gcode.respond_info(
+                "%s: z_offset: %.3f\n"
+                "The SAVE_CONFIG command will update the printer config file\n"
+                "with the above and restart the printer."
+                % (self.name, new_calibrate))
+            configfile.set(self.name, 'z_offset', "%.3f" % (new_calibrate,))
+    cmd_Z_OFFSET_APPLY_PROBE_help = "Adjust the probe's z_offset"
 
 # Endstop wrapper that enables probe specific features
 class ProbeEndstopWrapper: