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force_move: Implement CLEAR for SET_KINEMATIC_POSITION (#6262)

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`CLEAR` clears the homing status (resets the axis limits) without turning off
the motors. This is particularly useful when implementing safe Z homing in
`[homing_override]` on printers with multiple independent Z steppers (where
`FORCE_MOVE` can't be used).

Signed-off-by: Dennis Marttinen <twelho@welho.tech>
This commit is contained in:
Dennis Marttinen
2025-01-10 15:41:09 +00:00
committed by GitHub
parent 9ca71d8608
commit 7083879700
16 changed files with 77 additions and 46 deletions
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7
klippy/extras/force_move.py
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@@ -131,8 +131,13 @@ class ForceMove:
x = gcmd.get_float('X', curpos[0])
y = gcmd.get_float('Y', curpos[1])
z = gcmd.get_float('Z', curpos[2])
logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
clear = gcmd.get('CLEAR', '').upper()
axes = ['X', 'Y', 'Z']
clear_axes = [axes.index(a) for a in axes if a in clear]
logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f clear=%s",
x, y, z, ','.join((axes[i] for i in clear_axes)))
toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
toolhead.get_kinematics().clear_homing_state(clear_axes)
def load_config(config):
return ForceMove(config)