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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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9
klippy/kinematics/cartesian.py
View File

@@ -73,9 +73,10 @@ class CartKinematics:
else:
rail = self.rails[axis]
self.limits[axis] = rail.get_range()
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
def clear_homing_state(self, axes):
for i, _ in enumerate(self.limits):
if i in axes:
self.limits[i] = (1.0, -1.0)
def home_axis(self, homing_state, axis, rail):
# Determine movement
position_min, position_max = rail.get_range()
@@ -97,7 +98,7 @@ class CartKinematics:
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
self.clear_homing_state((0, 1, 2))
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):

9
klippy/kinematics/corexy.py
View File

@@ -43,9 +43,10 @@ class CoreXYKinematics:
rail.set_position(newpos)
if i in homing_axes:
self.limits[i] = rail.get_range()
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
def clear_homing_state(self, axes):
for i, _ in enumerate(self.limits):
if i in axes:
self.limits[i] = (1.0, -1.0)
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
@@ -63,7 +64,7 @@ class CoreXYKinematics:
# Perform homing
homing_state.home_rails([rail], forcepos, homepos)
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
self.clear_homing_state((0, 1, 2))
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):

9
klippy/kinematics/corexz.py
View File

@@ -43,9 +43,10 @@ class CoreXZKinematics:
rail.set_position(newpos)
if i in homing_axes:
self.limits[i] = rail.get_range()
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
def clear_homing_state(self, axes):
for i, _ in enumerate(self.limits):
if i in axes:
self.limits[i] = (1.0, -1.0)
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
@@ -63,7 +64,7 @@ class CoreXZKinematics:
# Perform homing
homing_state.home_rails([rail], forcepos, homepos)
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
self.clear_homing_state((0, 1, 2))
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):

8
klippy/kinematics/delta.py
View File

@@ -105,6 +105,11 @@ class DeltaKinematics:
self.limit_xy2 = -1.
if tuple(homing_axes) == (0, 1, 2):
self.need_home = False
def clear_homing_state(self, axes):
# Clearing homing state for each axis individually is not implemented
if 0 in axes or 1 in axes or 2 in axes:
self.limit_xy2 = -1
self.need_home = True
def home(self, homing_state):
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
@@ -112,8 +117,7 @@ class DeltaKinematics:
forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
homing_state.home_rails(self.rails, forcepos, self.home_position)
def _motor_off(self, print_time):
self.limit_xy2 = -1.
self.need_home = True
self.clear_homing_state((0, 1, 2))
def check_move(self, move):
end_pos = move.end_pos
end_xy2 = end_pos[0]**2 + end_pos[1]**2

4
klippy/kinematics/deltesian.py
View File

@@ -117,6 +117,10 @@ class DeltesianKinematics:
rail.set_position(newpos)
for n in homing_axes:
self.homed_axis[n] = True
def clear_homing_state(self, axes):
for i, _ in enumerate(self.limits):
if i in axes:
self.homed_axis[i] = False
def home(self, homing_state):
homing_axes = homing_state.get_axes()
home_xz = 0 in homing_axes or 2 in homing_axes

9
klippy/kinematics/hybrid_corexy.py
View File

@@ -75,9 +75,10 @@ class HybridCoreXYKinematics:
else:
rail = self.rails[axis]
self.limits[axis] = rail.get_range()
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
def clear_homing_state(self, axes):
for i, _ in enumerate(self.limits):
if i in axes:
self.limits[i] = (1.0, -1.0)
def home_axis(self, homing_state, axis, rail):
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
@@ -97,7 +98,7 @@ class HybridCoreXYKinematics:
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
self.clear_homing_state((0, 1, 2))
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):

9
klippy/kinematics/hybrid_corexz.py
View File

@@ -75,9 +75,10 @@ class HybridCoreXZKinematics:
else:
rail = self.rails[axis]
self.limits[axis] = rail.get_range()
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
def clear_homing_state(self, axes):
for i, _ in enumerate(self.limits):
if i in axes:
self.limits[i] = (1.0, -1.0)
def home_axis(self, homing_state, axis, rail):
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
@@ -97,7 +98,7 @@ class HybridCoreXZKinematics:
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
self.clear_homing_state((0, 1, 2))
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):

2
klippy/kinematics/none.py
View File

@@ -13,6 +13,8 @@ class NoneKinematics:
return [0, 0, 0]
def set_position(self, newpos, homing_axes):
pass
def clear_homing_state(self, axes):
pass
def home(self, homing_state):
pass
def check_move(self, move):

12
klippy/kinematics/polar.py
View File

@@ -51,9 +51,12 @@ class PolarKinematics:
self.limit_z = self.rails[1].get_range()
if 0 in homing_axes and 1 in homing_axes:
self.limit_xy2 = self.rails[0].get_range()[1]**2
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limit_z = (1.0, -1.0)
def clear_homing_state(self, axes):
if 0 in axes or 1 in axes:
# X and Y cannot be cleared separately
self.limit_xy2 = -1.
if 2 in axes:
self.limit_z = (1.0, -1.0)
def _home_axis(self, homing_state, axis, rail):
# Determine movement
position_min, position_max = rail.get_range()
@@ -86,8 +89,7 @@ class PolarKinematics:
if home_z:
self._home_axis(homing_state, 2, self.rails[1])
def _motor_off(self, print_time):
self.limit_z = (1.0, -1.0)
self.limit_xy2 = -1.
self.clear_homing_state((0, 1, 2))
def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2

8
klippy/kinematics/rotary_delta.py
View File

@@ -88,6 +88,11 @@ class RotaryDeltaKinematics:
self.limit_xy2 = -1.
if tuple(homing_axes) == (0, 1, 2):
self.need_home = False
def clear_homing_state(self, axes):
# Clearing homing state for each axis individually is not implemented
if 0 in axes or 1 in axes or 2 in axes:
self.limit_xy2 = -1
self.need_home = True
def home(self, homing_state):
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
@@ -97,8 +102,7 @@ class RotaryDeltaKinematics:
forcepos[2] = -1.
homing_state.home_rails(self.rails, forcepos, self.home_position)
def _motor_off(self, print_time):
self.limit_xy2 = -1.
self.need_home = True
self.clear_homing_state((0, 1, 2))
def check_move(self, move):
end_pos = move.end_pos
end_xy2 = end_pos[0]**2 + end_pos[1]**2

3
klippy/kinematics/winch.py
View File

@@ -36,6 +36,9 @@ class WinchKinematics:
def set_position(self, newpos, homing_axes):
for s in self.steppers:
s.set_position(newpos)
def clear_homing_state(self, axes):
# XXX - homing not implemented
pass
def home(self, homing_state):
# XXX - homing not implemented
homing_state.set_axes([0, 1, 2])