112 lines
4.5 KiB
Python
112 lines
4.5 KiB
Python
# Perform Z Homing at specific XY coordinates.
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#
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# Copyright (C) 2019 Florian Heilmann <Florian.Heilmann@gmx.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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class SafeZHoming:
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def __init__(self, config):
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self.printer = config.get_printer()
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try:
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x_pos, y_pos = config.get("home_xy_position",
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default=",").split(',')
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self.home_x_pos, self.home_y_pos = float(x_pos), float(y_pos)
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except:
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raise config.error("Unable to parse home_xy_position in %s" % (
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config.get_name()))
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self.z_hop = config.getfloat("z_hop", default=0.0)
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self.z_hop_speed = config.getfloat('z_hop_speed', 15., above=0.)
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self.max_z = config.getsection('stepper_z').getfloat('position_max')
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self.speed = config.getfloat('speed', 50.0, above=0.)
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self.move_to_previous = config.getboolean('move_to_previous', False)
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self.gcode = self.printer.lookup_object('gcode')
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self.prev_G28 = self.gcode.register_command("G28", None)
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self.gcode.register_command("G28", self.cmd_G28)
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if config.has_section("homing_override"):
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raise config.error("homing_override and safe_z_homing cannot"
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+" be used simultaneously")
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def cmd_G28(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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curtime = self.printer.get_reactor().monotonic()
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kin_status = toolhead.get_kinematics().get_status(curtime)
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# Perform Z Hop if necessary
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if self.z_hop != 0.0:
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pos = toolhead.get_position()
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# Check if Z axis is homed or has a known position
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if 'z' in kin_status['homed_axes']:
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# Check if the zhop would exceed the printer limits
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if pos[2] + self.z_hop > self.max_z:
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gcmd.respond_info(
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"No zhop performed, target Z out of bounds: " +
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str(pos[2] + self.z_hop))
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elif pos[2] < self.z_hop:
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self._perform_z_hop(pos)
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else:
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self._perform_z_hop(pos)
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if hasattr(toolhead.get_kinematics(), "note_z_not_homed"):
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toolhead.get_kinematics().note_z_not_homed()
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# Determine which axes we need to home
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need_x, need_y, need_z = [gcmd.get(axis, None) is not None
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for axis in "XYZ"]
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if not need_x and not need_y and not need_z:
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need_x = need_y = need_z = True
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# Home XY axes if necessary
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new_params = {}
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if need_x:
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new_params['X'] = '0'
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if need_y:
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new_params['Y'] = '0'
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if new_params:
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g28_gcmd = self.gcode.create_gcode_command("G28", "G28", new_params)
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self.prev_G28(g28_gcmd)
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# Update the currently homed axes
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curtime = self.printer.get_reactor().monotonic()
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kin_status = toolhead.get_kinematics().get_status(curtime)
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# Home Z axis if necessary
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if need_z:
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pos = toolhead.get_position()
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prev_x = pos[0]
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prev_y = pos[1]
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pos[0] = self.home_x_pos
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pos[1] = self.home_y_pos
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# Throw an error if X or Y are not homed
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if ('x' not in kin_status['homed_axes'] or
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'y' not in kin_status['homed_axes']):
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raise gcmd.error("Must home X and Y axes first")
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# Move to safe XY homing position
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toolhead.move(pos, self.speed)
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self.gcode.reset_last_position()
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# Home Z
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g28_gcmd = self.gcode.create_gcode_command("G28", "G28", {'Z': '0'})
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self.prev_G28(g28_gcmd)
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# Perform Z Hop again for pressure-based probes
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pos = toolhead.get_position()
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if self.z_hop:
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pos[2] = self.z_hop
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toolhead.move(pos, self.z_hop_speed)
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# Move XY back to previous positions
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if self.move_to_previous:
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pos[0] = prev_x
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pos[1] = prev_y
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toolhead.move(pos, self.speed)
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self.gcode.reset_last_position()
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def _perform_z_hop(self, pos):
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toolhead = self.printer.lookup_object('toolhead')
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# Perform the Z-Hop
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toolhead.set_position(pos, homing_axes=[2])
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pos[2] = pos[2] + self.z_hop
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toolhead.move(pos, self.z_hop_speed)
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self.gcode.reset_last_position()
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def load_config(config):
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return SafeZHoming(config)
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