def _probe(self, speed):
toolhead = self.printer.lookup_object('toolhead')
curtime = self.printer.get_reactor().monotonic()
if 'z' not in toolhead.get_status(curtime)['homed_axes']:
raise self.printer.command_error("Must home before probe")
homing_state = homing.Homing(self.printer)
pos = toolhead.get_position()
pos[2] = self.z_position
endstops = [(self.mcu_probe, "probe")]
verify = self.printer.get_start_args().get('debugoutput') is None
try:
homing_state.homing_move(pos,
endstops,
speed,
probe_pos=True,
verify_movement=verify)
except self.printer.command_error as e:
reason = str(e)
if "Timeout during endstop homing" in reason:
reason += HINT_TIMEOUT
raise self.printer.command_error(reason)
pos = toolhead.get_position()
self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" %
(pos[0], pos[1], pos[2]))
return pos[:3]
def _home_axis(self, axis):
homing_state = homing.Homing(self.selector_tool)
homing_state.set_no_verify_retract()
try:
homing_state.home_axes(axis)
except homing.EndstopError as e:
# TODO: Instead of responding with an error
# Give user a chance to recover
self.gcode.respond_error(str(e))
def cmd_PROBE(self, params):
toolhead = self.printer.lookup_object('toolhead')
homing_state = homing.Homing(toolhead)
pos = toolhead.get_position()
pos[2] = self.z_position
try:
homing_state.homing_move(pos, [(self.mcu_probe, "probe")],
self.speed,
probe_pos=True)
except homing.EndstopError as e:
raise self.gcode.error(str(e))
self.gcode.reset_last_position()
def cmd_G28(self, gcmd):
# Move to origin
axes = []
for pos, axis in enumerate('XYZ'):
if gcmd.get(axis, None) is not None:
axes.append(pos)
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.printer)
homing_state.home_axes(axes)
for axis in homing_state.get_axes():
self.base_position[axis] = self.homing_position[axis]
def cmd_TRAM_Z(self, params):
if self.z_rail is None:
self.gcode.respond_info("Unable to locate z-rail, aborting")
return
toolhead = self.printer.lookup_object('toolhead')
z_tmc2130 = self.printer.lookup_object('tmc2130 stepper_z')
event_time = self.reactor.monotonic()
status = toolhead.get_status(event_time)
if status['status'] == "Printing":
self.gcode.respond_info("Cannot Tram during a print, aborting")
return
if self.tmc_z_endstop is None:
# TODO: Already Using TMC to home. Just homing max, home
# to top, move up 10mm?
return
homing_max = self.z_rail.position_max
speed = self.z_rail.homing_speed
self.z_rail.position_max = 230.
cur_pos = toolhead.get_position()
start_pos = list(cur_pos)
move_pos = list(cur_pos)
start_pos[2] = self.z_rail.position_min
move_pos[2] = 220.0
toolhead.set_position(start_pos, homing_axes=[2])
move_d = abs(220.0 - self.z_rail.position_min)
est_steps = sum(
[move_d / s.get_step_dist() for s in self.z_rail.get_steppers()])
dwell_t = est_steps * homing.HOMING_STEP_DELAY
home = homing.Homing(self.printer)
try:
home.homing_move(move_pos, [self.tmc_z_endstop],
speed,
dwell_t=dwell_t)
except homing.EndstopError as e:
reason = str(e)
raise self.gcode.error(reason)
toolhead.wait_moves()
if self.tram_current is not None:
z_tmc2130.set_current_regs(self.tram_current,
z_tmc2130.hold_current)
# Move up 10mm for tramming
next_pos = toolhead.get_position()
next_pos[2] += 10
toolhead.move(next_pos, 10.)
next_pos[2] -= 50
toolhead.move(next_pos, 10.)
toolhead.wait_moves()
toolhead.motor_off()
if self.tram_current is not None:
z_tmc2130.set_current_regs(z_tmc2130.run_current,
z_tmc2130.hold_current)
self.z_rail.position_max = homing_max
def cmd_PROBE(self, params):
toolhead = self.printer.lookup_object('toolhead')
homing_state = homing.Homing(toolhead)
pos = toolhead.get_position()
pos[2] = self.z_position
try:
homing_state.homing_move(
pos, [(self.mcu_probe, "probe")], self.speed, probe_pos=True)
except homing.EndstopError as e:
reason = str(e)
if "Timeout during endstop homing" in reason:
reason += HINT_TIMEOUT
raise self.gcode.error(reason)
self.gcode.reset_last_position()
def cmd_G28(self, params):
# Move to origin
axes = []
for axis in 'XYZ':
if axis in params:
axes.append(self.axis2pos[axis])
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.printer)
if self.is_fileinput:
homing_state.set_no_verify_retract()
homing_state.home_axes(axes)
for axis in homing_state.get_axes():
self.base_position[axis] = self.homing_position[axis]
self.reset_last_position()
def cmd_G28(self, gcmd):
# Move to origin
axes = []
for pos, axis in enumerate('XYZ'):
if gcmd.get(axis, None) is not None:
axes.append(pos)
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.printer)
if self.is_fileinput:
homing_state.set_no_verify_retract()
homing_state.home_axes(axes)
for axis in homing_state.get_axes():
self.base_position[axis] = self.homing_position[axis]
self.reset_last_position()
def cmd_PROBE(self, params):
toolhead = self.printer.lookup_object('toolhead')
homing_state = homing.Homing(toolhead)
pos = toolhead.get_position()
pos[2] = self.z_position
try:
homing_state.probing_move(pos, self.mcu_probe, self.speed)
except homing.EndstopError as e:
reason = str(e)
if "Timeout during endstop homing" in reason:
reason += HINT_TIMEOUT
raise self.gcode.error(reason)
pos = toolhead.get_position()
self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" %
(pos[0], pos[1], pos[2]))
self.gcode.reset_last_position()
def cmd_TRAM_Z(self, gcmd):
if not self.enabled:
gcmd.respond_info("TRAM_Z setup unsuccessful, aborting")
return
reactor = self.printer.get_reactor()
toolhead = self.printer.lookup_object('toolhead')
idle_timeout = self.printer.lookup_object('idle_timeout')
z_tmc2130 = self.printer.lookup_object('tmc2130 stepper_z')
rc, hc, homing_cur = z_tmc2130.get_current()
event_time = reactor.monotonic()
status = idle_timeout.get_status(event_time)
if status['state'] == "Printing":
gcmd.respond_info("Cannot Tram during a print, aborting")
return
if self.tmc_z_endstop is None:
# TODO: Already Using TMC to home. Just homing max, home
# to top, move up 10mm?
return
homing_max = self.z_rail.position_max
speed = self.z_rail.homing_speed
self.z_rail.position_max = 230.
cur_pos = toolhead.get_position()
start_pos = list(cur_pos)
move_pos = list(cur_pos)
start_pos[2] = self.z_rail.position_min
move_pos[2] = 220.0
toolhead.set_position(start_pos, homing_axes=[2])
home = homing.Homing(self.printer)
try:
home.homing_move(move_pos, [self.tmc_z_endstop], speed)
except homing.EndstopError as e:
reason = str(e)
raise gcmd.error(reason)
toolhead.wait_moves()
if self.tram_current is not None:
z_tmc2130.set_current(self.tram_current, hc)
# Move up 10mm for tramming
next_pos = toolhead.get_position()
next_pos[2] += 10
toolhead.move(next_pos, 10.)
next_pos[2] -= 50
toolhead.move(next_pos, 10.)
toolhead.wait_moves()
self.gcode.run_script_from_command("M84")
if self.tram_current is not None:
z_tmc2130.set_current(rc, hc)
self.z_rail.position_max = homing_max
def cmd_G28(self, params):
# Move to origin
axes = []
for axis in 'XYZ':
if axis in params:
axes.append(self.axis2pos[axis])
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.toolhead, axes)
if self.is_fileinput:
homing_state.set_no_verify_retract()
try:
self.toolhead.home(homing_state)
except homing.EndstopError, e:
self.toolhead.motor_off()
self.respond_error(str(e))
return
def cmd_G28(self, params):
# Move to origin
axes = []
for axis in 'XYZ':
if axis in params:
axes.append(self.axis2pos[axis])
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.toolhead)
if self.is_fileinput:
homing_state.set_no_verify_retract()
try:
homing_state.home_axes(axes)
except homing.EndstopError as e:
raise error(str(e))
for axis in homing_state.get_axes():
self.base_position[axis] = self.homing_position[axis]
self.reset_last_position()
def _probe(self, speed):
toolhead = self.printer.lookup_object('toolhead')
homing_state = homing.Homing(self.printer)
pos = toolhead.get_position()
pos[2] = self.z_position
endstops = [(self.mcu_probe, "probe")]
verify = self.printer.get_start_args().get('debugoutput') is None
try:
homing_state.homing_move(pos, endstops, speed,
probe_pos=True, verify_movement=verify)
except homing.EndstopError as e:
reason = str(e)
if "Timeout during endstop homing" in reason:
reason += HINT_TIMEOUT
raise self.gcode.error(reason)
pos = toolhead.get_position()
self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" % (
pos[0], pos[1], pos[2]))
self.gcode.reset_last_position()
def cmd_G28(self, params):
# Move to origin
axes = []
for axis in 'XYZ':
if axis in params:
axes.append(self.axis2pos[axis])
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.toolhead, axes)
if self.is_fileinput:
homing_state.set_no_verify_retract()
try:
self.toolhead.home(homing_state)
except homing.EndstopError as e:
self.toolhead.motor_off()
self.respond_error(str(e))
return
newpos = self.toolhead.get_position()
for axis in homing_state.get_axes():
self.last_position[axis] = newpos[axis]
self.base_position[axis] = -self.homing_add[axis]
def _probe(self, speed):
pheater = self.printer.lookup_object('heater')
try:
heater_bed = pheater.lookup_heater("heater_bed")
except self.printer.config_error as e:
heater_bed = None
if heater_bed is not None and self.disable_bed_heater:
heated_bed_target_temp = heater_bed.target_temp
self.gcode.respond_info("Heated bed target temp before probe" +
" run: %.1f degrees"
% heated_bed_target_temp)
heater_bed.set_temp(0., 0.)
toolhead = self.printer.lookup_object('toolhead')
homing_state = homing.Homing(self.printer)
pos = toolhead.get_position()
pos[2] = self.z_position
endstops = [(self.mcu_probe, "probe")]
verify = self.printer.get_start_args().get('debugoutput') is None
try:
homing_state.homing_move(pos, endstops, speed,
probe_pos=True, verify_movement=verify)
except homing.CommandError as e:
reason = str(e)
if "Timeout during endstop homing" in reason:
reason += HINT_TIMEOUT
raise homing.CommandError(reason)
pos = toolhead.get_position()
self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" % (
pos[0], pos[1], pos[2]))
self.gcode.reset_last_position()
if heater_bed is not None and self.disable_bed_heater:
heater_bed.set_temp(0., heated_bed_target_temp)
self.gcode.respond_info("Heater bed reset to %.1f degrees"
% heated_bed_target_temp)
return pos[:3]
