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force_move: Support a SET_HOMED parameter to SET_KINEMATIC_POSITION

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Commit 70838797 added support for clearing the homing state in
SET_KINEMATIC_POSITION commands.  However, it can be difficult to use
that support as the default for SET_KINEMATIC_POSITION is to set all
axes as homed.

Add a new SET_HOMED parameter to allow one to explicitly request which
axes to consider in a homed state.

Also introduce a CLEAR_HOMED parameter and prefer that to the existing
CLEAR parameter.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-04-06 11:14:13 -04:00
parent 655861cf12
commit f3e89e25c5
2 changed files with 57 additions and 17 deletions
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55
docs/G-Codes.md
View File

@ -579,18 +579,51 @@ state; issue a G28 afterwards to reset the kinematics. This command is
intended for low-level diagnostics and debugging.
#### SET_KINEMATIC_POSITION
`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]
[CLEAR=<[X][Y][Z]>]`: Force the low-level kinematic code to believe the
toolhead is at the given cartesian position. This is a diagnostic and
debugging command; use SET_GCODE_OFFSET and/or G92 for regular axis
transformations. If an axis is not specified then it will default to the
position that the head was last commanded to. Setting an incorrect or
invalid position may lead to internal software errors. Use the CLEAR
parameter to forget the homing state for the given axes. Note that CLEAR
will not override the previous functionality; if an axis is not specified
to CLEAR it will have its kinematic position set as per above. This
command may invalidate future boundary checks; issue a G28 afterwards to
reset the kinematics.
[SET_HOMED=<[X][Y][Z]>] [CLEAR_HOMED=<[X][Y][Z]>]`: Force the
low-level kinematic code to believe the toolhead is at the given
cartesian position and set/clear homed status. This is a diagnostic
and debugging command; use SET_GCODE_OFFSET and/or G92 for regular
axis transformations. Setting an incorrect or invalid position may
lead to internal software errors.
The `X`, `Y`, and `Z` parameters are used to alter the low-level
kinematic position tracking. If any of these parameters are not set
then the position is not changed - for example `SET_KINEMATIC_POSITION
Z=10` would set all axes as homed, set the internal Z position to 10,
and leave the X and Y positions unchanged. Changing the internal
position tracking is not dependent on the internal homing state - one
may alter the position for both homed and not homed axes, and
similarly one may set or clear the homing state of an axis without
altering its internal position.
The `SET_HOMED` parameter defaults to `XYZ` which instructs the
kinematics to consider all axes as homed. A bare
`SET_KINEMATIC_POSITION` command will result in all axes being
considered homed (and not change its current position). If it is not
desired to change the state of homed axes then assign `SET_HOMED` to
an empty string - for example:
`SET_KINEMATIC_POSITION SET_HOMED= X=10`. It is also possible to
request an individual axis be considered homed (eg, `SET_HOMED=X`),
but note that non-cartesian style kinematics (such as delta
kinematics) may not support setting an individual axis as homed.
The `CLEAR_HOMED` parameter instructs the kinematics to consider the
given axes as not homed. For example, `CLEAR_HOMED=XYZ` would request
all axes to be considered not homed (and thus require homing prior to
movement on those axes). The default is `SET_HOMED=XYZ` even if
`CLEAR_HOMED` is present, so the command `SET_KINEMATIC_POSITION
CLEAR_HOMED=Z` will set X and Y as homed and clear the homing state
for Z. Use `SET_KINEMATIC_POSITION SET_HOMED= CLEAR_HOMED=Z` if the
goal is to clear only the Z homing state. If an axis is specified in
neither `SET_HOMED` nor `CLEAR_HOMED` then its homing state is not
changed and if it is specified in both then `CLEAR_HOMED` has
precedence. It is possible to request clearing of an individual axis,
but on non-cartesian style kinematics (such as delta kinematics) doing
so may result in clearing the homing state of additional axes. Note
the `CLEAR` parameter is currently an alias for the `CLEAR_HOMED`
parameter, but this alias will be removed in the future.
### [gcode]

19
klippy/extras/force_move.py
View File

@ -131,12 +131,19 @@ class ForceMove:
x = gcmd.get_float('X', curpos[0])
y = gcmd.get_float('Y', curpos[1])
z = gcmd.get_float('Z', curpos[2])
clear = gcmd.get('CLEAR', '').lower()
clear_axes = "".join([a for a in "xyz" if a in clear])
logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f clear=%s",
x, y, z, clear_axes)
toolhead.set_position([x, y, z, curpos[3]], homing_axes="xyz")
toolhead.get_kinematics().clear_homing_state(clear_axes)
set_homed = gcmd.get('SET_HOMED', 'xyz').lower()
set_homed_axes = "".join([a for a in "xyz" if a in set_homed])
if gcmd.get('CLEAR_HOMED', None) is None:
# "CLEAR" is an alias for "CLEAR_HOMED"; should deprecate
clear_homed = gcmd.get('CLEAR', '').lower()
else:
clear_homed = gcmd.get('CLEAR_HOMED', '')
clear_homed_axes = "".join([a for a in "xyz" if a in clear_homed])
logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f"
" set_homed=%s clear_homed=%s",
x, y, z, set_homed_axes, clear_homed_axes)
toolhead.set_position([x, y, z, curpos[3]], homing_axes=set_homed_axes)
toolhead.get_kinematics().clear_homing_state(clear_homed_axes)
def load_config(config):
return ForceMove(config)