firmware retraction z_hop (#83)

* Fixed 'zero' typos and copyright

* firmware_retraction: Standard nozzle lifting on G10

Enables nozzle lifting (zhop) when retracting using G10 command. Introduces standard zhop. Clears retraction reliably to prevent nozzle crashes and other unwanted behavior.

Signed-off-by: Florian-Patrice Nagel <[email protected]>

* lint/format

* remove dumb printer usage

---------

Signed-off-by: Florian-Patrice Nagel <[email protected]>
Co-authored-by: AllPro3d <[email protected]>
Co-authored-by: Brandon <[email protected]>

README.md

@@ -42,13 +42,15 @@ Features merged into the master branch:
 
 - [virtual_sdcard: scanning of subdirectories](https://github.com/DangerKlippers/danger-klipper/pull/68) ([klipper#6327](https://github.com/Klipper3d/klipper/pull/6327))
 
+- [retraction: z_hop while retracting](https://github.com/DangerKlippers/danger-klipper/pull/83) ([klipper#6311](https://github.com/Klipper3d/klipper/pull/6311))
+
 - [core: git-untracked folder, plugins for user-plugins](https://github.com/DangerKlippers/danger-klipper/pull/82)
 
 - [danger_options: allow plugins to override conflicting extras](https://github.com/DangerKlippers/danger-klipper/pull/82)
 
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge branch:
 
-- [dmbutyugin's advanced-features branch](https://github.com/DangerKlippers/danger-klipper/pull/69) [dmbutyugin/advanced-features](https://github.com/dmbutyugin/klipper/commits/advanced-features)
+  - [dmbutyugin's advanced-features branch](https://github.com/DangerKlippers/danger-klipper/pull/69) [dmbutyugin/advanced-features](https://github.com/dmbutyugin/klipper/commits/advanced-features)
 
   - [stepper: high precision stepping protocol](https://github.com/DangerKlippers/danger-klipper/pull/69)
 

docs/Config_Reference.md

@@ -1581,17 +1581,35 @@ allowing per-filament settings and runtime tuning.
 
 ```
 [firmware_retraction]
-#retract_length: 0
-#   The length of filament (in mm) to retract when G10 is activated,
-#   and to unretract when G11 is activated (but see
-#   unretract_extra_length below). The default is 0 mm.
-#retract_speed: 20
-#   The speed of retraction, in mm/s. The default is 20 mm/s.
-#unretract_extra_length: 0
-#   The length (in mm) of *additional* filament to add when
-#   unretracting.
-#unretract_speed: 10
-#   The speed of unretraction, in mm/s. The default is 10 mm/s.
+#retract_length: 0.0
+#   The length of filament (in mm) to retract when a G10 command is
+#   executed. When a G11 command is executed, the unretract_length
+#   is the sum of the retract_length and the unretract_extra_length
+#   (see below). The minimum value and default are 0 mm, which
+#   disables firmware retraction.
+#retract_speed: 20.0
+#   The speed of filament retraction moves (in mm/s).
+#   This value is typically set relatively high (>40 mm/s),
+#   except for soft and/oozy filaments like TPU and PETG
+#   (20 to 30 mm/s). The minimum value is 1 mm/s, the default value
+#   is 20 mm/s.
+#unretract_extra_length: 0.0
+#   The *additional* length (in mm) to add or the length to subtract
+#   from the filament move when unretracting compared to the retract
+#   move length. This allows priming the nozzle (positive extra length)
+#   or delaying extrusion after unretracting (negative length). The
+#   latter may help reduce blobbing. The minimum value is -1 mm
+#   (2.41 mm3 volume for 1.75 mm filament), the default value is 0 mm.
+#unretract_speed: 10.0
+#   The speed of filament unretraction moves (in mm/s).
+#   This parameter is not particularly critical, although often lower
+#   than retract_speed. The minimum value is 1 mm/s, the default value
+#   is 10 mm/s.
+#z_hop_height: 0.0
+#   The vertical height by which the nozzle is lifted from the print to
+#   prevent collisions with the print during travel moves when retracted.
+#   The minimum value is 0 mm, the default value is 0 mm, which disables
+#   zhop moves.
 ```
 
 ### [gcode_arcs]

docs/G-Codes.md

@@ -509,35 +509,70 @@ will be disabled, if set to 1 it is enabled.
 
 The following standard G-Code commands are available when the
 [firmware_retraction config section](Config_Reference.md#firmware_retraction)
-is enabled. These commands allow you to utilize the firmware
-retraction feature available in many slicers, to reduce stringing
-during non-extrusion moves from one part of the print to another.
-Appropriately configuring pressure advance reduces the length of
-retraction required.
-- `G10`: Retracts the extruder using the currently configured
-  parameters.
-- `G11`: Unretracts the extruder using the currently configured
-  parameters.
+is enabled. These commands allow utilizing the firmware
+retraction feature available in many slicers. Retraction is a strategy to
+reduce stringing during travel moves (non-extrusion) from one part of the
+print to another. Note that pressure advance should be properly configured
+before retraction parameters are tuned to ensure optimal results.
+- `G10`: Retracts the filament using the currently configured
+  parameters. If z_hop_height is set to a value greater zero,
+  besides retracting the filament, the nozzle is lifted by set value.
+- `G11`: Unretracts the filament using the currently configured
+  parameters. If z_hop_height is set to a value greater zero,
+  besides unretracting the filament, the nozzle is lowered back on the print
+  with a vertical movement.
 
 The following additional commands are also available.
 
 #### SET_RETRACTION
 `SET_RETRACTION [RETRACT_LENGTH=<mm>] [RETRACT_SPEED=<mm/s>]
-[UNRETRACT_EXTRA_LENGTH=<mm>] [UNRETRACT_SPEED=<mm/s>]`: Adjust the
-parameters used by firmware retraction. RETRACT_LENGTH determines the
-length of filament to retract and unretract. The speed of retraction
-is adjusted via RETRACT_SPEED, and is typically set relatively
-high. The speed of unretraction is adjusted via UNRETRACT_SPEED, and
-is not particularly critical, although often lower than RETRACT_SPEED.
-In some cases it is useful to add a small amount of additional length
-on unretraction, and this is set via UNRETRACT_EXTRA_LENGTH.
-SET_RETRACTION is commonly set as part of slicer per-filament
-configuration, as different filaments require different parameter
-settings.
+[UNRETRACT_EXTRA_LENGTH=<mm>] [UNRETRACT_SPEED=<mm/s>] [Z_HOP_HEIGHT=<mm>]`:
+Adjust the parameters used by firmware retraction. RETRACT_LENGTH determines the
+length of filament to retract (the minimum as well as standard value is 0 mm).
+RETRACT_SPEED determines the speed of the filament retraction move (the minimum
+value is 1 mm/s, the standard value is 20 mm/s). This value is typically set
+relatively high (>40 mm/s), except for soft and/or oozy filaments like TPU and
+PETG (20 to 30 mm/s).
+UNRETRACT_SPEED sets the speed of the filament unretract move (the minimum value
+is 1 mm/s, the standard value is 10 mm/s). This parameter is not particularly
+critical, although often lower than RETRACT_SPEED.
+UNRETRACT_EXTRA_LENGTH allows to add a small amount of length to the filament
+unretract move to prime the nozzle or to subtract a small amount of length from
+the filament unretract move to reduce blobbing at seams (the minimum value is
+-1 mm (2.41 mm3 volume for 1.75 mm filament), the standard value is 0 mm).
+Z_HOP_HEIGHT determines the vertical height by which the nozzle is lifted from
+the print to prevent collisions with the print during travel moves (the
+minimum value is 0 mm, the standard value is 0 mm, which disables Z-Hop moves).
+SET_RETRACTION is commonly set as part of slicer per-filament configuration, as
+different filaments require different parameter settings. The command can be
+issued at runtime.
 
 #### GET_RETRACTION
-`GET_RETRACTION`: Queries the current parameters used by firmware
-retraction and displays them on the terminal.
+`GET_RETRACTION`: Queries the current parameters used by the firmware retraction
+module as well as the retract state. RETRACT_LENGTH, RETRACT_SPEED,
+UNRETRACT_EXTRA_LENGTH, UNRETRACT_SPEED, Z_HOP_HEIGHT and RETRACTED (True, if
+retracted) are displayed on the terminal.
+
+#### CLEAR_RETRACTION
+`CLEAR_RETRACTION`: Clears the current retract state without extruder or
+motion system movement. All flags related to the retract state are reset to
+False and all changes to retraction parameters made via previous SET_RETRACTION
+commands are reset to config values.
+NOTE: The Module contains a lot of redundancy for safety to prevent undesired
+behavior. When printing from virtual SD Card, the printer state is monitored and
+retraction state is cleared if a print is started, canceled or finished or if a
+virtual SD card file is reset. When printing via GCode streaming (e.g. using
+OctoPrint), the retract state is cleared when the steppers are disabled (M84,
+typically part of end gcode and standard behavior of OctoPrint if a print is
+canceled) or the printer is homed (G28, typically part of start gcode). Hence,
+upon ending or canceling a print as well as starting a new print via GCode
+streaming or virtual SD card, the printer should always be in unretracted state.
+Nevertheless, it is recommended to add `CLEAR_RETRACTION` to your start and end
+gcode to make sure the retract state is reset before and after each print. If a
+print is finished or canceled while retracted and the retract state is not
+cleared, either via `CLEAR_RETRACTION` without filament or motion system
+movement or G11, the nozzle will stay above the requested z coordinate by the
+set z_hop_height.
 
 ### [force_move]
 

docs/Status_Reference.md

@@ -173,10 +173,20 @@ objects:
 
 The following information is available in the
 [firmware_retraction](Config_Reference.md#firmware_retraction) object:
-- `retract_length`, `retract_speed`, `unretract_extra_length`,
-  `unretract_speed`: The current settings for the firmware_retraction
-  module. These settings may differ from the config file if a
-  `SET_RETRACTION` command alters them.
+- `retract_length`: Current setting for length of filament retract moves.
+- `retract_speed`: Current setting for speed of filament retract moves.
+- `unretract_extra_length`: Current setting for additional length of filament
+  unretract moves (positive values will result in filament extrusion, while
+  negative values up to 1 mm (2.41 mm3 for 1.75 mm filament) will result in
+  lagging extrusion of filament).
+- `unretract_speed`: Current setting for speed of unretract moves of filament.
+- `unretract_length`: Unretract move length (sum of retract and extra unretract
+   length).
+- `z_hop_height`: Current setting for the height of nozzle lifting move (Z-Hop).
+- Above settings for the firmware_retraction module may differ from the
+  config file if a `SET_RETRACTION` command altered them. Additional information
+  available is as follows.
+- `retract_state`: Returns 'True' if filament is retracted.
 
 ## gcode_button