feat: Beacon and Goliath

basic_macros.cfg

@@ -8,7 +8,6 @@ gcode:
 
     SET_HEATER_TEMPERATURE HEATER=extruder TARGET={hotendTemp|float*0.6}       # Set extruder chamber warm temp
     SET_HEATER_TEMPERATURE HEATER=heater_bed TARGET={bedTemp}                  # Set bed temp to warm while starting up
-    SET_DOCKABLE_PROBE AUTO_ATTACH_DETACH=1                                    # Disable probe attach/detach
     G28                                                                        # home after setting temps
     M117 Waiting for bed temperature...
     TEMPERATURE_WAIT SENSOR=heater_bed MINIMUM={bedTemp} MAXIMUM={bedTemp+1}   # Wait for bed temp (within 1 degree)
@@ -17,13 +16,10 @@ gcode:
         CHAMBER_WARMER TEMPERATURE={chamberTemp-5}                             # Prewarm chamber
     {% endif %}
     SET_HEATER_TEMPERATURE HEATER=extruder TARGET={hotendTemp|float*0.6}       # Set extruder don't drip temp
-    SET_DOCKABLE_PROBE AUTO_ATTACH_DETACH=1                                    # Disable probe attach/detach
-    ATTACH_PROBE
     CLEAN_NOZZLE
     FAST_QGL                                                                   # QGL after soak
     BED_MESH_CALIBRATE
     DETACH_PROBE                                                               # Ensure probe is detached 
-    SET_DOCKABLE_PROBE AUTO_ATTACH_DETACH=1                                    # Enable probe attach/detach
     G90                                                                        # Absolute positioning
     GO_TO_BUCKET                                                               # Move to park position
     M109 S{hotendTemp}                                                         # Set extruder to printing temperature
@@ -156,17 +152,14 @@ gcode:
 
 [gcode_macro FAST_QGL]
 gcode:
-    {% set z_offset = 3.5 %}
+    {% set z_offset = 2 %}
     # Home first if needed
     {% if printer.toolhead.homed_axes != "xyz" %}
         G28
     {% endif %}
-    SET_DOCKABLE_PROBE AUTO_ATTACH_DETACH=0
+    QUAD_GANTRY_LEVEL horizontal_move_z=7 retry_tolerance=1
-    ATTACH_PROBE
+    QUAD_GANTRY_LEVEL horizontal_move_z={z_offset}
-    QUAD_GANTRY_LEVEL horizontal_move_z={z_offset * 3} retry_tolerance=1
-    QUAD_GANTRY_LEVEL horizontal_move_z={z_offset + 1.5}
     G28 Z
-    SET_DOCKABLE_PROBE AUTO_ATTACH_DETACH=1
 
 [gcode_macro SAFE_RETRACT]
 gcode:

beacon.cfg

@@ -0,0 +1,6 @@
+[beacon]
+serial: /dev/serial/by-id/usb-Beacon_Beacon_RevD_A7B668494E4B333448202020FF0A0937-if00
+x_offset: 0 # update with offset from nozzle on your machine
+y_offset: 24.2 # update with offset from nozzle on your machine
+mesh_main_direction: x
+mesh_runs: 2

klicky.cfg

@@ -0,0 +1,23 @@
+[dockable_probe]
+# Uses the TH3 port as we ran out of endstops
+pin: PA4
+x_offset: 0
+y_offset: 26.0
+z_offset: 4.3
+samples: 3
+samples_result: median
+sample_retract_dist: 1.0
+samples_tolerance: 0.05
+samples_tolerance_retries: 3
+dock_position: 153,188
+approach_position: 153,150
+detach_position: 110,188
+z_hop: 18
+dock_retries: 3
+attach_speed: 50
+detach_speed: 15
+travel_speed: 300
+auto_attach_detach: True
+check_open_attach: True
+speed: 10.0
+lift_speed: 10

moonraker.conf

@@ -79,3 +79,16 @@ managed_services: klipper moonraker
 output_path: ~/printer_data/timelapse/
 frame_path: /tmp/timelapse/printer
 
+[update_manager beacon]
+type: git_repo
+channel: dev
+path: ~/beacon_klipper
+origin: https://github.com/beacon3d/beacon_klipper.git
+env: ~/klippy-env/bin/python
+requirements: requirements.txt
+install_script: install.sh
+is_system_service: False
+managed_services: klipper
+info_tags:
+  desc=Beacon Surface Scanner
+

sensorless.cfg

@@ -12,7 +12,7 @@ gcode:
     G28 X0
     # Move away
     G91
-    G1 X5 F{400*60} # dodge probe
+    G1 X98 F{400*60} # dodge probe
     # Set current during print
     SET_TMC_CURRENT STEPPER=stepper_x CURRENT={RUN_CUR}
     SET_TMC_CURRENT STEPPER=stepper_y CURRENT={RUN_CUR}
@@ -43,6 +43,7 @@ axes: xyz
 
 gcode:
     {% set home_all = 'X' not in params and 'Y' not in params and 'Z' not in params %}
+    {% set probe_offset = 24.2 %}
 
     {% if home_all or 'X' in params %}
         SENSORLESS_HOME_X
@@ -55,7 +56,7 @@ gcode:
     {% if home_all or 'Z' in params %}
 	G90                                                                        # Absolute positioning
         # park above bed center
-        G1 X111 Y187
+        G1 X90 Y{90 - probe_offset}
         G28 Z
         G91
 	G1 Z10

steppers.cfg

@@ -66,13 +66,11 @@ enable_pin: !PC11
 rotation_distance: 32
 gear_ratio: 60:16
 microsteps: 32
-endstop_pin: PC13
+endstop_pin: probe:z_virtual_endstop
-position_endstop: 0.835
 position_max: 155
 position_min: -5
 homing_speed: 8
-second_homing_speed: 3
+homing_retract_dist: 0
-homing_retract_dist: 3
 
 [tmc2209 stepper_z]
 uart_pin: PC10
@@ -161,9 +159,9 @@ max_extrude_cross_section: 100.0
 pressure_advance: 0.015
 smooth_time: 0.02
 control = pid
-pid_kp = 19.409
+pid_kp = 20.473
-pid_ki = 0.764
+pid_ki = 1.066
-pid_kd = 123.734
+pid_kd = 98.272
 
 ##  E0 on MOTOR7
 [tmc2209 extruder]