Servo klicky

Mods/hbo/ServoKlicky/Firmware/Euklid.cfg

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+## The following is EXAMPLE configuration; it is intended to guide you in the
+## configuration of the Euclid probe for YOUR printer.
+##
+## When incorporating this config into your own, make sure you address all
+## comment markers starting with "@TODO".  Failure to do so could result in
+## damage to your probe, your printer, or your pride.
+##
+##
+## This example is for a fixed dock, fixed gantry/carriage and moving bed motion
+## system like RailCore, Ender5, V-Core3, etc. Delta printes will be similar.
+##
+## Moving gantry printers like Voron need a few tweaks to ensure proper
+## clearances and leveling procedures; some hints are provided inline below.
+##
+## Array variables implementation and macro setups credited to Brian Lalor,
+## yolo-dubstep#8033 on Discord. See https://github.com/blalor/vcore3-ratos-config
+## for updates and details.
+##
+
+
+# Below is an example bed diagram to correlate with macros and movements below.
+#  __________________________________________________________________________
+#  |                                                                        |
+#  |  * Dock                   * Dock Side                                  |
+#  |  X25, Y118                 X60  Y118                                   |
+#  |                                                                        |
+#  |  * Dock Prefilight       * Dock Exit Position                          |
+#  |  X25, Y90                  X60,Y90                                     |
+#  |                                                                        |
+#  |                                                                        |
+#  |                                                                        |
+#  |                                                                        |
+#  |                                                                        |
+#  |                                                                        |
+#  |                                                                        |
+#  |________________________________________________________________________|
+#
+
+[force_move]
+enable_force_move: True
+#   Set to true to enable FORCE_MOVE and SET_KINEMATIC_POSITION
+#   extended G-Code commands. The default is false.
+
+[respond]
+default_type: echo
+#   Sets the default prefix of the "M118" and "RESPOND" output to one
+#   of the following:
+#       echo: "echo: " (This is the default)
+#       command: "// "
+#       error: "!! "
+default_prefix: echo:
+#   Directly sets the default prefix. If present, this value will
+#   override the "default_type".
+
+
+[gcode_macro EuclidProbe]
+description: config vars for Euclid probe deploy/stow
+
+## @TODO Replace the coordinates to suit your printer
+variable_position_preflight: [ 25, 90 ]     # position for probe to have clear path to dock
+variable_position_side:      [ 60, 118 ]    # position for probe near dock to swipe on/off
+variable_position_dock:      [ 25, 118 ]    # dock position
+variable_position_exit:      [ 60, 90 ]     # exit position
+
+## clearance between the toolhead and bed when traveling to pick up the probe
+variable_bed_clearance: 25
+
+
+## move speeds in mm/min
+variable_move_speeds: 3000
+
+## internal state variables; not for configuration!
+variable_batch_mode_enabled: False
+variable_probe_state: None
+
+gcode:
+    RESPOND TYPE=command MSG="{ printer['gcode_macro EuclidProbe'] }"
+
+
+
+[gcode_macro _ASSERT_PROBE_STATE]
+description: ensures probe is in a known state; QUERY_PROBE must have been called before this macro!
+gcode:
+    ## QUERY_PROBE manually-verified results, when microswitch not depressed
+    ## "TRIGGERED" -> 1 :: probe stowed
+    ## "open"      -> 0 :: probe deployed
+    {% set last_query_state = "stowed" if printer.probe.last_query == 1 else "deployed" %}
+
+    {% if params.MUST_BE != last_query_state %}
+        { action_raise_error("expected probe state to be {} but is {} ({})".format(params.MUST_BE, last_query_state, printer.probe.last_query)) }
+    {% else %}
+        ## all good; update state
+        SET_GCODE_VARIABLE MACRO=EuclidProbe VARIABLE=probe_state VALUE="'{ last_query_state }'"
+    {% endif %}
+
+
+[gcode_macro ASSERT_PROBE_DEPLOYED]
+description: error if probe not deployed
+gcode:
+    # wait for moves to finish, then pause 0.25s for detection
+    M400
+    G4 P250
+
+    QUERY_PROBE
+    _ASSERT_PROBE_STATE MUST_BE=deployed
+
+
+[gcode_macro ASSERT_PROBE_STOWED]
+description: error if probe not stowed
+gcode:
+    # wait for moves to finish, then pause 0.25s for detection
+    M400
+    G4 P250
+
+    QUERY_PROBE
+    _ASSERT_PROBE_STATE MUST_BE=stowed
+
+
+[gcode_macro EUCLID_PROBE_BEGIN_BATCH]
+description: begin euclid probe batch mode
+gcode:
+    SET_GCODE_VARIABLE MACRO=EuclidProbe VARIABLE=batch_mode_enabled VALUE=True
+    RESPOND TYPE=command MSG="Probe batch mode enabled"
+
+
+[gcode_macro EUCLID_PROBE_END_BATCH]
+description: end euclid probe batch mode and stow probe
+gcode:
+    SET_GCODE_VARIABLE MACRO=EuclidProbe VARIABLE=batch_mode_enabled VALUE=False
+    RESPOND TYPE=command MSG="Probe batch mode disabled"
+    STOW_PROBE
+
+
+# deploy probe macro
+# @TODO Check the servo dock values to ensure the dock releases the probe at the right height
+
+[gcode_macro DEPLOY_PROBE]
+description: deploy Euclid probe
+gcode:
+    {% set euclid_probe = printer["gcode_macro EuclidProbe"] %}
+
+    {% if euclid_probe.batch_mode_enabled and euclid_probe.probe_state == "deployed" %}
+        RESPOND TYPE=command MSG="Probe batch mode enabled: already deployed"
+    {% else %}
+        RESPOND TYPE=command MSG="Deploying probe"
+
+        # ensure the probe is currently stowed; can't deploy what isn't stowed.
+        ASSERT_PROBE_STOWED
+
+
+        G90
+
+        # set approach elevation to clear probe over bed on fixed gantry machine
+        G0 Z{ euclid_probe.bed_clearance } F500
+
+        ##########################
+        # open Servo Dock
+        # @TODO check ANGLE
+        ##########################
+        SET_SERVO SERVO=probe_servo ANGLE=10
+        # wait 1/2 second for dock
+        M400
+        M400
+
+
+        # move the toolhead to safe position to start probe pickup
+        G0 X{ euclid_probe.position_preflight[0] } Y{ euclid_probe.position_preflight[1] } F{ euclid_probe.move_speeds }
+
+
+        # @TODO fixed bed dock and moving gantry printers need to add a move
+        # @TODO command here to lower the gantry to dock height
+        # G0 Z {euclid_probe.dock_height} F500
+
+
+        #  move sideways over the dock to pick up probe
+        G0 X{ euclid_probe.position_dock[0] } Y{ euclid_probe.position_dock[1] } F1500
+
+        # wait 1/4 second
+        M400
+        G4 P250
+
+        # confirm deploy was successful
+        ASSERT_PROBE_DEPLOYED
+
+        #  move to the side of the dock
+        G0 X{ euclid_probe.position_side[0] } Y{ euclid_probe.position_side[1] } F{ euclid_probe.move_speeds }
+
+        ##########################
+        # close Servo Dock
+        # @TODO check ANGLE
+        ##########################
+        SET_SERVO SERVO=probe_servo ANGLE=115
+
+        # move out of the dock in a straight line
+        G0 X{ euclid_probe.position_exit[0] } Y{ euclid_probe.position_exit[1] } F{ euclid_probe.move_speeds }
+    {% endif %}
+
+# stow probe macro
+# @TODO Check the servo dock values to ensure the dock releases the probe at the right height
+[gcode_macro STOW_PROBE]
+description: stow Euclid probe
+gcode:
+    {% set euclid_probe = printer["gcode_macro EuclidProbe"] %}
+
+    {% if euclid_probe.batch_mode_enabled %}
+        RESPOND TYPE=command MSG="Probe batch mode enabled: not stowing"
+    {% else %}
+        RESPOND TYPE=command MSG="Stowing probe"
+
+        # ensure the probe is currently deployed; can't stow what isn't deployed.
+        ASSERT_PROBE_DEPLOYED
+
+        # set approach elevation for fixed gantry system to clear probe over bed
+        G0 Z{ euclid_probe.bed_clearance } F3000
+
+
+        ##########################
+        # open Servo Dock
+        # @TODO check ANGLE
+        ##########################
+        SET_SERVO SERVO=probe_servo ANGLE=10
+        # wait 1/2 second for dock
+        M400
+        M400
+
+
+        G90
+
+        # move out of the dock in a straight line
+        G0 X{ euclid_probe.position_exit[0] } Y{ euclid_probe.position_exit[1] } F{ euclid_probe.move_speeds }
+
+
+        #  move to the side of the dock
+        G0 X{ euclid_probe.position_side[0] } Y{ euclid_probe.position_side[1] } F{ euclid_probe.move_speeds }
+
+
+        # slowly move into dock
+        G0 X{ euclid_probe.position_dock[0] } Y{ euclid_probe.position_dock[1] } F3000
+
+        # wait for moves to finish, pause to force 90deg travel swipe
+        M400
+        G4 P250
+
+        # quick swipe off
+        # move the toolhead to safe position to start probe pickup
+        G0 X{ euclid_probe.position_preflight[0] } Y{ euclid_probe.position_preflight[1] } F{ euclid_probe.move_speeds }
+
+        ##########################
+        # close Servo Dock
+        # @TODO check ANGLE
+        ##########################
+        SET_SERVO SERVO=probe_servo ANGLE=115
+
+
+        # confirm stowing was successful
+        ASSERT_PROBE_STOWED
+    {% endif %}
+
+
+
+# Z-Tilt Adjust and BED_Mesh Overrides
+
+[gcode_macro Z_TILT_ADJUST]
+description: modified Z_TILT_ADJUST, wrapped with DEPLOY_PROBE/STOW_PROBE
+rename_existing: Z_TILT_ADJUST_ORIG
+gcode:
+     DEPLOY_PROBE
+     Z_TILT_ADJUST_ORIG
+     STOW_PROBE
+
+[gcode_macro BED_MESH_CALIBRATE]
+description: modified BED_MESH_CALIBRATE, wrapped with DEPLOY_PROBE/STOW_PROBE
+rename_existing: BED_MESH_CALIBRATE_ORIG
+gcode:
+     DEPLOY_PROBE
+     BED_MESH_CALIBRATE_ORIG
+     STOW_PROBE