probe.cfg

####################################################################
#  Probe
#####################################################################

[probe]
## Klicky Probe
## This probe is not used for Z height, only bed leveling
pin: PWE_DCT
x_offset: 9.5
y_offset: 0
z_offset: 14.5
speed: 4
lift_speed: 15
samples: 3
samples_result: median
sample_retract_dist: 2
samples_tolerance: 0.01
samples_tolerance_retries: 10
drop_first_result: true


#####################################################################
#  Menu
#####################################################################


#####################################################################
#  Macros
#####################################################################
# This macro was provided by discord user Garrettwp to whom i give my thanks for sharing it with me.
# I have tweaked it a lot.
#
# this macro is  based on the great Annex magprobe dockable probe macros "#Originally developed by Mental, modified for better use on K-series printers by RyanG and Trails"
# that macro can be found here https://github.com/Annex-Engineering/Annex-Engineering_Other_Printer_Mods/blob/master/All_Printers/Microswitch_Probe/Klipper_Macros/dockable_probe_macros.cfg
#
# by standing on the shoulders of giants, lets see if we can see further
# Klicky-probe.cfg version 16-11-2021 01
[gcode_macro _User_Variables]
variable_verbose:               True  # Enable verbose output
variable_debug:                False  # Enable Debug output
variable_travel_speed:          100   # how fast all other travel moves will be performed when running these macros
variable_move_accel:           1000   # how fast should the toolhead accelerate when moving
variable_dock_speed:             50   # how fast should the toolhead move when docking the probe for the final movement
variable_release_speed:          55   # how fast should the toolhead move to release the hold of the magnets after docking
variable_z_drop_speed:           20   # how fast the z will lower when moving to the z location to clear the probe
variable_safe_z:                 20   # Minimum Z for attach/dock and homing functions
# if true it will move the bed away from the nozzle when Z is not homed
variable_enable_z_hop:         True   # set this to false for beds that fall significantly under gravity (almost to Z max)

variable_max_bed_y:             120   # maximum Bed size avoids doing a probe_accuracy outside the bed
variable_max_bed_x:             120   # maximum Bed size avoids doing a probe_accuracy outside the bed

# if a separate Z endstop switch is in
# use, specify the coordinates of the switch here (Voron).
# Set to 0 to have the probe move to center of bed
variable_z_endstop_x:            0
variable_z_endstop_y:            0

#Check the printer specific documentation on klipper Dock/Undock configuration, these are dummy values
#dock location
variable_docklocation_x:        120  # X Dock position
variable_docklocation_y:        0    # Y Dock position
variable_docklocation_z:        10   # Z dock position,  (-128 for a gantry mount)

#The following variables are used if the dock is deployed and retracted via a servo motor
variable_enable_dock_servo:  False    # Set to true if your klicky dock is servo-controlled
variable_servo_name:        'NAME'    # The name of the dock servo defined in printer.cfg under [servo]
variable_servo_deploy:          10    # This EXAMPLE is the value used to deploy the servo fully
variable_servo_retract:         11    # This EXAMPLE is the value used to retract the servo fully (initial_angle in [servo] config)
variable_servo_delay:         1000    # This is a delay to wait the servo to reach the requested position, be carefull with high values

#Dock move, final toolhead movement to release the probe on the dock
#it's a relative move
Variable_dockmove_x:             0
Variable_dockmove_y:            40
Variable_dockmove_z:             0

#Attach move. final toolhead movement to attach the probe on the mount
#it's a relative move
Variable_attachmove_x:          30    # Toolhead movement necessary to clear the dock arms
Variable_attachmove_y:           0
Variable_attachmove_z:           0

#Umbilical to help untangle the umbilical in difficult situations
variable_umbilical:          False    # should we untangle the umbilical
variable_umbilical_x:           15    # X umbilical position
variable_umbilical_y:           15    # Y umbilical position

# location to park the toolhead
variable_park_toolhead:      False    # Enable toolhead parking
variable_parkposition_x:       125
variable_parkposition_y:       125
variable_parkposition_z:        30

variable_version:                1    # Helps users to update the necessary variables, do not update if the variables above are not updated

#Below this remark, you normally do not need to configure
#Attach move2
Variable_attachmove2_x:          0    # intermediate toolhead movement to attach
Variable_attachmove2_y:          0    # the probe on the dock
Variable_attachmove2_z:          0    # (can be negative)

variable_home_backoff:          10    # how many mm to move away from the endstop after homing

variable_override_homing:        ''   # configures what axis to home first
                                      #  '' = default klicky behavior (tries to avoid the hitting the dock
                                      # 'X' = forces X to home first 
                                      # 'Y' = forces Y to home first  

# Do not modify below
gcode:
    {% set Mx = printer['configfile'].config["stepper_x"]["position_max"]|float %}
    {% set My = printer['configfile'].config["stepper_y"]["position_max"]|float %}
    {% set Ox = printer['configfile'].config["probe"]["x_offset"]|float %}
    {% set Oy = printer['configfile'].config["probe"]["y_offset"]|float %}
    {% set Oz = printer['configfile'].config["probe"]["z_offset"]|float %}

    # If x, y coordinates are set for z endstop, assign them
    {% if z_endstop_x != 0 or z_endstop_y != 0 %}
        SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=z_endstop_x VALUE={ z_endstop_x }
        SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=z_endstop_y VALUE={ z_endstop_y }

    # if no x, y coordinates for z endstop, assume probe is endstop and move toolhead to center of bed
    {% else %}
        SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=z_endstop_x VALUE={ (Mx * 0.5) - Ox }
        SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=z_endstop_y VALUE={ (My * 0.5) - Oy }
    {% endif %}

[gcode_macro _Probe_Variables]
variable_probe_attached:            False
variable_probe_state:               False
variable_probe_lock:                False
variable_z_endstop_x:               0
variable_z_endstop_y:               0
gcode:


#checks if the variable definitions are up to date
[gcode_macro _klicky_check_variables_version]
gcode:
    {% set version = printer["gcode_macro _User_Variables"].version|default(0) %}

    {% if version != 1 %}
        { action_raise_error("Please update your klicky variables, there are some functionality changes") }
    {% endif %}


[gcode_macro _KlickyDebug]
gcode:
    {% set message  = params.MSG %}
    {% set debug = printer["gcode_macro _User_Variables"].debug|default(False) %}
    
    {% if debug %}
        { action_respond_info(message) }
    {% endif %}    


[gcode_macro _exit_point]
gcode:
    {% set function  = 'pre_' ~ params.FUNCTION  %}
    {% set move  = params.MOVE|default(0)  %}i
    {% set speed = printer["gcode_macro _User_Variables"].travel_speed %}

    # mandatory to save the new safe position
    M400
    RESTORE_GCODE_STATE NAME={function} MOVE={move}
    SET_VELOCITY_LIMIT ACCEL={printer.configfile.settings.printer.max_accel}
    SET_VELOCITY_LIMIT ACCEL_TO_DECEL={printer.configfile.settings.printer.max_accel_to_decel}
    RESTORE_GCODE_STATE NAME={function} MOVE={move} MOVE_SPEED={speed}

[gcode_macro _entry_point]
gcode:
    {% set function  = 'pre_' ~ params.FUNCTION  %}
    {% set move_accel = printer["gcode_macro _User_Variables"].move_accel|default(1000) %}
    # mandatory to save the new safe position
    M400
    SAVE_GCODE_STATE NAME={function}
    # removes the Z offset for better bed based docking
    SET_GCODE_OFFSET Z=0
    # all the macros initially assume absolute positioning
    G90
    # set a safe(sane) Acceleration
    SET_VELOCITY_LIMIT ACCEL={move_accel}

[gcode_macro _Homing_Variables]
gcode:
    {% set reset  = params.RESET|default(0)  %}
    {% if reset %}
        SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=probe_lock VALUE={ False }
    {% endif %}

# Attach probe and lock it
[gcode_macro Attach_Probe_Lock]
description: Attaches Klicky Probe, can only be docked after unlocking
gcode:
    Attach_Probe
    _Probe_Lock

# Dock probe and lock it
[gcode_macro Dock_Probe_Unlock]
description: Docks Klicky Probe even if it was locked
gcode:
    _Probe_Unlock
    Dock_Probe

# Unlock Probe
[gcode_macro Probe_Unlock]
description: Unlocks Klicky Probe state
gcode:
    _KlickyDebug msg="_Probe_Lock setting probe_lock variable to False"
    SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=probe_lock VALUE={ False }

# Lock Probe
[gcode_macro Probe_Lock]
description: Locks Klicky Probe state
gcode:
    _KlickyDebug msg="_Probe_Lock setting probe_lock variable to True"
    SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=probe_lock VALUE={ True }


# Klicky Dock Servo Deploy
[gcode_macro _DeployKlickyDock]
description: Deploys Klicky servo-controlled dock
gcode:
    {% set enable_dock_servo = printer["gcode_macro _User_Variables"].enable_dock_servo|default(False) %}
    {% set servo_delay = printer["gcode_macro _User_Variables"].servo_delay|default(1000) %}
    {% set servo_name = printer["gcode_macro _User_Variables"].servo_name %}
    {% set servo_deploy = printer["gcode_macro _User_Variables"].servo_deploy|default(360) %}

    #wait for all the moves to complete
    M400
    {% if enable_dock_servo != False %}
        _KlickyDebug msg="_DeployKlickyDock Klicky servo configuration enabled"
        {% if servo_deploy == 360 %}
            { action_raise_error("Klicky: servo active on klicky-variables, but no servo deploy angle specified") }
        {% endif %}
        _KlickyDebug msg="_DeployKlickyDock SET_SERVO SERVO={servo_name|string} ANGLE={servo_deploy|int}"
        SET_SERVO SERVO={servo_name|string} ANGLE={servo_deploy|int}
        M400
        G4 P{servo_delay|int}
        _KlickyDebug msg="_DeployKlickyDock SET_SERVO SERVO={servo_name|string} WIDTH=0"
        SET_SERVO SERVO={servo_name|string} WIDTH=0
    {% elif printer["gcode_macro _DeployDock"] is defined %}
        _KlickyDebug msg="_DeployKlickyDock calling _DeployDock"	
        _DeployDock
    {% endif %}


# Dock Servo Retract
[gcode_macro _RetractKlickyDock]
description: Retracts Klicky servo-controlled dock
gcode:
    {% set enable_dock_servo = printer["gcode_macro _User_Variables"].enable_dock_servo|default(False) %}
    {% set servo_delay = printer["gcode_macro _User_Variables"].servo_delay|default(1000) %}
    {% set servo_name = printer["gcode_macro _User_Variables"].servo_name %}
    {% set servo_retract = printer["gcode_macro _User_Variables"].servo_retract|default(360) %}
    
    #wait for all the moves to complete
    M400
    {% if enable_dock_servo != False %}
        _KlickyDebug msg="_RetractKlickyDock Klicky servo configuration enabled"
        {% if servo_retract == 360 %}
            { action_raise_error("Klicky: servo active on klicky-variables, but no servo retract angle specified") }
        {% endif %}
        _KlickyDebug msg="_RetractKlickyDock SET_SERVO SERVO={servo_name|string} ANGLE={servo_retract|int}"
        SET_SERVO SERVO={servo_name|string} ANGLE={servo_retract|int}
        M400
        G4 P{servo_delay|int}
        _KlickyDebug msg="_RetractKlickyDock SET_SERVO SERVO={servo_name|string} WIDTH=0"
        SET_SERVO SERVO={servo_name|string} WIDTH=0
    {% elif printer["gcode_macro _RetractDock"] is defined %}
        _KlickyDebug msg="_RetractKlickyDock calling _RetractDock"	
        _RetractDock
    {% endif %}


# Attach Probe Routine
[gcode_macro Attach_Probe]
description: Attaches Klicky Probe
gcode:
    # See if the position should be restored after the attach
    {% set goback  = params.BACK|default(0) %}
    # Get probe attach status
    {% set probe_attached = printer["gcode_macro _Probe_Variables"].probe_attached %}
    {% set probe_lock = printer["gcode_macro _Probe_Variables"].probe_lock %}
    {% set verbose = printer["gcode_macro _User_Variables"].verbose %}
    # Get Docking location
    {% set dockmove_x = printer["gcode_macro _User_Variables"].dockmove_x|default(0) %}
    {% set dockmove_y = printer["gcode_macro _User_Variables"].dockmove_y|default(0) %}
    {% set dockmove_z = printer["gcode_macro _User_Variables"].dockmove_z|default(0) %}
    {% set docklocation_x = printer["gcode_macro _User_Variables"].docklocation_x %}
    {% set docklocation_y = printer["gcode_macro _User_Variables"].docklocation_y %}
    {% set docklocation_z = printer["gcode_macro _User_Variables"].docklocation_z %}
    {% set attachmove_x = printer["gcode_macro _User_Variables"].attachmove_x|default(0) %}
    {% set attachmove_y = printer["gcode_macro _User_Variables"].attachmove_y|default(0) %}
    {% set attachmove_z = printer["gcode_macro _User_Variables"].attachmove_z|default(0) %}
    {% set attachmove2_x = printer["gcode_macro _User_Variables"].attachmove2_x|default(0) %}
    {% set attachmove2_y = printer["gcode_macro _User_Variables"].attachmove2_y|default(0) %}
    {% set attachmove2_z = printer["gcode_macro _User_Variables"].attachmove2_z|default(0) %}
    # Safe Z for travel
    {% set safe_z = printer["gcode_macro _User_Variables"].safe_z %}
    {% set enable_z_hop = printer["gcode_macro _User_Variables"].enable_z_hop %}
    # Set speed
    {% set travel_feedrate = printer["gcode_macro _User_Variables"].travel_speed * 60 %}
    {% set dock_feedrate = printer["gcode_macro _User_Variables"].dock_speed * 60 %}
    {% set release_feedrate = printer["gcode_macro _User_Variables"].release_speed * 60 %}
    {% set z_drop_feedrate = printer["gcode_macro _User_Variables"].z_drop_speed * 60 %}

   _entry_point function=Attach_Probe

    # If x and y are not homed
    {% if not 'xy' in printer.toolhead.homed_axes %}
        { action_raise_error("Must Home X and Y Axis First!") }
    _KlickyDebug msg="Attach_Probe Axis homed"	
    
    # If probe not attached and locked
    {% elif not probe_attached and not probe_lock %}
        _KlickyDebug msg="Attach_Probe going to attach probe"	
        {% if verbose %}
            { action_respond_info("Attaching Probe") }
        {% endif %}
        _KLICKY_STATUS_BUSY

        {% if not 'z' in printer.toolhead.homed_axes %}
            {% if verbose %}
                { action_respond_info("Resetting Z position to zero") }
            {% endif %}
            _KlickyDebug msg="Attach_Probe Z not homed, setting position as X=Y=Z=0"
            SET_KINEMATIC_POSITION Z=0
            {% if not enable_z_hop %} # Disables safe_z
                _KlickyDebug msg="Attach_Probe z_hop disabled"
                {% set safe_z = 0 %}
            {% endif %}
        {% endif %}

        # Prior to saving actual position, check if its necessary to move to a safe Z
        # that has enought overhead for the attached probe
        {% if printer.toolhead.position.z < safe_z %}
            _KlickyDebug msg="Attach_Probe toolhead too low, raising it by {safe_z}mm"
            {% if verbose %}
                { action_respond_info("moving to a safe Z distance") }
            {% endif %}
            G0 Z{safe_z} F{z_drop_feedrate}
        {% endif %}

        {% if not 'z' in printer.toolhead.homed_axes %} #duplicate??
            {% if verbose %}
                { action_respond_info("Resetting Z position to zero, duplicate?") }
            {% endif %}
            _KlickyDebug msg="Attach_Probe Z not homed, setting position as X=Y=Z=0"
            SET_KINEMATIC_POSITION Z=0
        {% endif %}

        {% if printer.toolhead.position.z < safe_z %} #duplicate??
            _KlickyDebug msg="Attach_Probe toolhead too low, raising it by {safe_z}mm, duplicate?"
            G0 Z{safe_z} F{z_drop_feedrate}
        {% endif %}

        _Umbilical_Path

        _entry_point function=Attach_Probe_intern

        # Probe entry location
        _KlickyDebug msg="Attach_Probe moving near the dock with G0 X{docklocation_x|int - attachmove_x|int - attachmove2_x|int} Y{docklocation_y|int - attachmove_y|int - attachmove2_y} F{travel_feedrate}"
        G0 X{docklocation_x|int - attachmove_x|int - attachmove2_x|int} Y{docklocation_y|int - attachmove_y|int - attachmove2_y} F{travel_feedrate}
        {% if docklocation_z != -128 %}
            _KlickyDebug msg="Attach_Probe moving near the dock with G0 Z{docklocation_z|int - attachmove_z|int - attachmove2_z|int} F{dock_feedrate}"
            G0 Z{docklocation_z|int - attachmove_z|int - attachmove2_z|int} F{dock_feedrate}
            _KlickyDebug msg="Attach_Probe moving near the dock with G0 Z{docklocation_z|int - attachmove_z|int} F{dock_feedrate}"
            G0 Z{docklocation_z|int - attachmove_z|int} F{dock_feedrate}
        {% endif %}

        # if necessary do some actions before moving the toolhead to dock
        _DeployKlickyDock


        # Drop Probe to Probe location
        {% if docklocation_z != -128 %}
            _KlickyDebug msg="Attach_Probe moving to the dock with G0 Z{docklocation_z} F{dock_feedrate}"
            G0 Z{docklocation_z} F{dock_feedrate}
        {% endif %}
        _KlickyDebug msg="Attach_Probe moving to the dock with G0 X{docklocation_x|int - attachmove2_x|int} Y{docklocation_y|int - attachmove2_y} F{dock_feedrate}"
        G0 X{docklocation_x|int - attachmove2_x|int} Y{docklocation_y|int - attachmove2_y} F{dock_feedrate}
        _KlickyDebug msg="Attach_Probe moving to the dock with G0 X{docklocation_x} Y{docklocation_y} F{dock_feedrate}"
        G0 X{docklocation_x} Y{docklocation_y} F{dock_feedrate}

        # Probe Attached
        {% if docklocation_z != -128 %}
            _KlickyDebug msg="Attach_Probe moving from the dock to G0 Z{docklocation_z|int - attachmove_z|int} F{z_drop_feedrate}"
            G0 Z{docklocation_z|int - attachmove_z|int} F{z_drop_feedrate}
        {% endif %}
        _KlickyDebug msg="Attach_Probe moving from the dock to G0 X{docklocation_x|int - attachmove_x|int} Y{docklocation_y|int - attachmove_y|int} F{release_feedrate}"
        G0 X{docklocation_x|int - attachmove_x|int} Y{docklocation_y|int - attachmove_y|int} F{release_feedrate}

        # if necessary do some actions after attaching the probe
        _RetractKlickyDock
        
        # Go to Z safe distance
        {% if printer.toolhead.position.z < safe_z %}
          _KlickyDebug msg="Attach_Probe moving to a safe Z position: G0 Z{safe_z} F{z_drop_feedrate}"
          G0 Z{safe_z} F{z_drop_feedrate}
        {% endif %}

        _Park_Toolhead

        _CheckProbe action=attach

        _exit_point function=Attach_Probe_intern move={goback}
        _KLICKY_STATUS_READY

    {% elif probe_lock %}
        {% if verbose %}
            { action_respond_info("Probe locked!") }
        {% endif %}

        # Probe attached, do nothing
        _KlickyDebug msg="Attach_Probe probe locked not attaching probe"
        _CheckProbe action=query

    {% else %}
        {% if verbose %}
            { action_respond_info("Probe already attached!") }
        {% endif %}

        # Probe attached, do nothing
        _KlickyDebug msg="Attach_Probe probe already attached, doing nothing"
        _CheckProbe action=query

    {% endif %}

    _exit_point function=Attach_Probe


# Dock Probe Routine
[gcode_macro Dock_Probe]
description: Docks Klicky Probe
gcode:
    # See if the position should be restored after the dock
    {% set goback  = params.back|default(0) %}
    # Get probe attach status
    {% set probe_attached = printer["gcode_macro _Probe_Variables"].probe_attached %}
    {% set probe_lock = printer["gcode_macro _Probe_Variables"].probe_lock %}
    {% set verbose = printer["gcode_macro _User_Variables"].verbose %}
    # Get Docking location
    {% set dockmove_x = printer["gcode_macro _User_Variables"].dockmove_x|default(0) %}
    {% set dockmove_y = printer["gcode_macro _User_Variables"].dockmove_y|default(0) %}
    {% set dockmove_z = printer["gcode_macro _User_Variables"].dockmove_z|default(0) %}
    {% set docklocation_x = printer["gcode_macro _User_Variables"].docklocation_x %}
    {% set docklocation_y = printer["gcode_macro _User_Variables"].docklocation_y %}
    {% set docklocation_z = printer["gcode_macro _User_Variables"].docklocation_z %}
    {% set attachmove_x = printer["gcode_macro _User_Variables"].attachmove_x|default(0) %}
    {% set attachmove_y = printer["gcode_macro _User_Variables"].attachmove_y|default(0) %}
    {% set attachmove_z = printer["gcode_macro _User_Variables"].attachmove_z|default(0) %}
    # Safe Z for travel
    {% set safe_z = printer["gcode_macro _User_Variables"].safe_z|float %}
    # Set feedrates
    {% set travel_feedrate = printer["gcode_macro _User_Variables"].travel_speed * 60 %}
    {% set dock_feedrate = printer["gcode_macro _User_Variables"].dock_speed * 60 %}
    {% set release_feedrate = printer["gcode_macro _User_Variables"].release_speed * 60 %}
    {% set z_drop_feedrate = printer["gcode_macro _User_Variables"].z_drop_speed * 60 %}

    # If axis aren't homed, fail
    {% if not 'xyz' in printer.toolhead.homed_axes %}
        { action_raise_error("Must Home X, Y and Z Axis First!") }
    {% endif %}
    _KlickyDebug msg="Dock_Probe Axis homed"

    _entry_point function=Dock_Probe

    # If probe not attached and not locked
    {% if probe_attached and not probe_lock %}
        _KlickyDebug msg="Dock_Probe going to dock probe"	
        {% if verbose %}
            { action_respond_info("Docking Probe") }
        {% endif %}
        _KLICKY_STATUS_BUSY

        {% if printer.toolhead.position.z < safe_z %}
            _KlickyDebug msg="Dock_Probe toolhead too low, raising it to {safe_z}mm"
            G0 Z{safe_z} F{z_drop_feedrate}
        {% endif %}

        _Umbilical_Path

        # Probe entry location
        _KlickyDebug msg="Dock_Probe moving near the dock with G0 X{docklocation_x|int - attachmove_x|int} Y{docklocation_y|int - attachmove_y|int} F{travel_feedrate}"
        G0 X{docklocation_x|int - attachmove_x|int} Y{docklocation_y|int - attachmove_y|int} F{travel_feedrate}
        {% if docklocation_z != -128 %}
            _KlickyDebug msg="Dock_Probe moving near the dock with G0 Z{docklocation_z|int - attachmove_z|int} F{dock_feedrate}"
            G0 Z{docklocation_z|int - attachmove_z|int} F{dock_feedrate}
        {% endif %}

        # if necessary do some actions before moving the toolhead to dock
        _DeployKlickyDock

        # Drop Probe to Probe location
        _KlickyDebug msg="Dock_Probe moving to the dock with G0 X{docklocation_x} Y{docklocation_y} F{dock_feedrate}"
        G0 X{docklocation_x} Y{docklocation_y} F{dock_feedrate}
        {% if docklocation_z != -128 %}
            _KlickyDebug msg="Attach_Probe moving to the dock with G0 Z{docklocation_z} F{dock_feedrate}"
            G0 Z{docklocation_z} F{dock_feedrate}
        {% endif %}

        # Probe decoupling
        {% if docklocation_z != -128 %}
            _KlickyDebug msg="Dock_Probe moving from the dock to G0 Z{docklocation_z|int + dockmove_z|int} F{release_feedrate}"
            G0 Z{docklocation_z|int + dockmove_z|int} F{release_feedrate}
        {% endif %}
        _KlickyDebug msg="Dock_Probe moving from the dock to G0 X{docklocation_x|int + dockmove_x|int} Y{docklocation_y|int + dockmove_y|int} F{release_feedrate}"
        G0 X{docklocation_x|int + dockmove_x|int} Y{docklocation_y|int + dockmove_y|int} F{release_feedrate}
        
        # if necessary do some actions after attaching the probe
        _RetractKlickyDock

        #Do an extra move away
        _KlickyDebug msg="Dock_Probe moving away from the dock to G0 X{docklocation_x|int + dockmove_x|int - attachmove_x|int} Y{docklocation_y|int + dockmove_y|int - attachmove_y|int} F{release_feedrate}"
        G0 X{docklocation_x|int + dockmove_x|int - attachmove_x|int} Y{docklocation_y|int + dockmove_y|int - attachmove_y|int} F{release_feedrate}

        # Go to Z safe distance
        {% if printer.toolhead.position.z < safe_z %}
            _KlickyDebug msg="Dock_Probe toolhead too low, raising it to {safe_z}mm"
            G0 Z{safe_z} F{z_drop_feedrate}
        {% endif %}

        _Park_Toolhead

        G4 P1000
        _CheckProbe action=dock
        _KLICKY_STATUS_READY

    {% elif probe_lock %}
        {% if verbose %}
            { action_respond_info("Probe locked") }
        {% endif %}

        # Probe docked, do nothing
        _KlickyDebug msg="Dock_Probe probe locked not docking probe"
        _CheckProbe action=query

    {% else %}
        {% if verbose %}
            { action_respond_info("Probe already docked") }
        {% endif %}

        # Probe docked, do nothing
        _KlickyDebug msg="Dock_Probe probe already docked, doing nothing"
        _CheckProbe action=query

    {% endif %}

    _exit_point function=Dock_Probe move={goback}

# Probe Calibrate
[gcode_macro PROBE_CALIBRATE]
rename_existing: _PROBE_CALIBRATE
description:Calibrate the probe's z_offset with klicky automount
gcode:
    {% set safe_z = printer["gcode_macro _User_Variables"].safe_z|float %}
    {% set z_drop_feedrate = printer["gcode_macro _User_Variables"].z_drop_speed * 60 %}
    {% set max_x = printer["gcode_macro _User_Variables"].max_bed_x|float %}
    {% set max_y = printer["gcode_macro _User_Variables"].max_bed_y|float %}
    {% set probe_offset_x = printer['configfile'].config["probe"]["x_offset"]|float %}
    {% set probe_offset_y = printer['configfile'].config["probe"]["y_offset"]|float %}

    {% if not 'xyz' in printer.toolhead.homed_axes %}
        { action_raise_error("Must Home X, Y and Z Axis First!") }
    {% endif %}
    _KlickyDebug msg="probe_calibrate Axis homed"
    _KlickyDebug msg="probe_calibrate Variables max_x={max_x},max_y={max_y},probe_offset_x={probe_offset_x},probe_offset_y={probe_offset_y}"

    # Protect against PROBE CALIBRATE performed from outside the bed
    {% if printer['gcode_move'].position.y > (max_y - probe_offset_y)
          or printer['gcode_move'].position.y < - probe_offset_y
          or printer['gcode_move'].position.x > (max_x - probe_offset_x)
          or printer['gcode_move'].position.x < - probe_offset_x %}
      { action_raise_error("Must perform PROBE_CALIBRATE with the probe above the BED, check klicky_variables bed size!") }
    {% endif%}

    _CheckProbe action=query
    G90
    Attach_Probe back=1
    _KLICKY_STATUS_CALIBRATING_Z

    _KlickyDebug msg="probe_calibrate calling klipper probe_calibrate"
    _PROBE_CALIBRATE {% for p in params
            %}{'%s=%s ' % (p, params[p])}{%
           endfor %}

    M118 moving the toolhead 20 mm from the bed
    _KlickyDebug msg="probe_calibrate Moving Z up by 20mm"
    TESTZ Z=20
    M118 remove manually the probe and continue calibration
    _KLICKY_STATUS_READY


# Probe Accuracy
[gcode_macro PROBE_ACCURACY]
rename_existing: _PROBE_ACCURACY
description:Probe Z-height accuracy at current XY position with klicky automount
gcode:
    {% set safe_z = printer["gcode_macro _User_Variables"].safe_z|float %}
    {% set z_drop_feedrate = printer["gcode_macro _User_Variables"].z_drop_speed * 60 %}
    {% set max_x = printer["gcode_macro _User_Variables"].max_bed_x|float %}
    {% set max_y = printer["gcode_macro _User_Variables"].max_bed_y|float %}
    {% set probe_offset_x = printer['configfile'].config["probe"]["x_offset"]|float %}
    {% set probe_offset_y = printer['configfile'].config["probe"]["y_offset"]|float %}

    {% if not 'xyz' in printer.toolhead.homed_axes %}
        { action_raise_error("Must Home X, Y and Z Axis First!") }
    {% endif %}
    _KlickyDebug msg="probe_accuracy Axis homed"
    _KlickyDebug msg="probe_accuracy Variables max_x={max_x},max_y={max_y},probe_offset_x={probe_offset_x},probe_offset_y={probe_offset_y}"
    
    _entry_point function=PROBE_ACCURACY

    # Protect against PROBE_ACCURACY performed from outside the bed
    {% if printer['gcode_move'].position.y > (max_y - probe_offset_y)
          or printer['gcode_move'].position.y < - probe_offset_y
          or printer['gcode_move'].position.x > (max_x - probe_offset_x)
          or printer['gcode_move'].position.x < - probe_offset_x %}
      { action_raise_error("Must perform PROBE_ACCURACY with the probe above the BED, check klicky_variables bed size!") }
    {% endif%}

    _CheckProbe action=query
    Attach_Probe back=1

    _KlickyDebug msg="probe_accuracy calling klipper probe accuracy"
    _PROBE_ACCURACY {% for p in params
            %}{'%s=%s ' % (p, params[p])}{%
           endfor %}

    Dock_Probe back=1                                          

    _exit_point function=PROBE_ACCURACY move=1


# Umbilical path setup
[gcode_macro _Umbilical_Path]
gcode:
    {% set umbilical = printer["gcode_macro _User_Variables"].umbilical %}
    {% set umbilical_x = printer["gcode_macro _User_Variables"].umbilical_x %}
    {% set umbilical_y = printer["gcode_macro _User_Variables"].umbilical_y %}
    {% set safe_z = printer["gcode_macro _User_Variables"].safe_z|float %}
    {% set travel_feedrate = printer["gcode_macro _User_Variables"].travel_speed * 60 %}

    {% if umbilical %}
        # Used to give the umbilical a better path to follow and coil properly if dock is tight in space
        _entry_point function=Umbilical_Path

        _KlickyDebug msg="_Umbilical_Path moving to G0 X{umbilical_x} Y{umbilical_y} Z{safe_z} F{travel_feedrate}"
        G0 X{umbilical_x} Y{umbilical_y} Z{safe_z} F{travel_feedrate}

        _exit_point function=Umbilical_Path
    {% endif %}


# check to see if probe is where it is supposed to be after
# attaching/docking maneuver and set homing error or shutdown
[gcode_macro _CheckProbe]
variable_probe_state:           0
gcode:
    Query_Probe
    _SetProbeState action={ params.ACTION }

# due to how templates are evaluated, we have query endstops in one
# macro and call another macro to make decisions based on the result
[gcode_macro _SetProbeState]
gcode:
    {% set query_probe_triggered = printer.probe.last_query %}
    {% set action  = params.ACTION|default('') %}

    # If triggered (true), probe not attached
    {% if query_probe_triggered %}
        SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=probe_attached VALUE={ False }
    {% else %}
        # If not triggered (false), probe attached
        SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=probe_attached VALUE={ True }
    {% endif %}

    {% if action == 'query' %}
          SET_GCODE_VARIABLE MACRO=_Probe_Variables VARIABLE=probe_state VALUE={ query_probe_triggered }
    {% endif %}

    # If probe fails to attach/detach

    # If not docked
    {% if not query_probe_triggered and action == 'dock' %}
        { action_raise_error("Probe dock failed!") }
    {% endif %}

    # If not attached
    {% if query_probe_triggered and action == 'attach' %}
        { action_raise_error("Probe attach failed!") }
    {% endif %}


# Park Toolhead Routine
[gcode_macro _Park_Toolhead]
gcode:
    {% set park_toolhead = printer["gcode_macro _User_Variables"].park_toolhead %}
    {% set parkposition_x = printer["gcode_macro _User_Variables"].parkposition_x %}
    {% set parkposition_y = printer["gcode_macro _User_Variables"].parkposition_y %}
    {% set parkposition_z = printer["gcode_macro _User_Variables"].parkposition_z %}
    {% set travel_feedrate = printer["gcode_macro _User_Variables"].travel_speed * 60 %}
    {% set verbose = printer["gcode_macro _User_Variables"].verbose %}

    _entry_point function=Park_Toolhead

    {% if park_toolhead and 'xyz' in printer.toolhead.homed_axes %}
        {% if verbose %}
            { action_respond_info("Parking Toolhead") }
        {% endif %}
        _KlickyDebug msg="_Park_Toolhead moving to G0 X{parkposition_x} Y{parkposition_y} Z{parkposition_z} F{travel_feedrate}"
        G0 X{parkposition_x} Y{parkposition_y} Z{parkposition_z} F{travel_feedrate}
    {% endif %}
    _exit_point function=Park_Toolhead