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Code_Overview.html

@@ -1851,10 +1851,10 @@ should only need to update the host software.</p>
    be efficient as it is typically only called during homing and
    probing operations.</li>
 <li>Other methods. Implement the <code>check_move()</code>, <code>get_status()</code>,
-   <code>get_steppers()</code>, <code>home()</code>, and <code>set_position()</code> methods. These
+   <code>get_steppers()</code>, <code>home()</code>, <code>clear_homing_state()</code>, and <code>set_position()</code>
-   functions are typically used to provide kinematic specific checks.
+   methods. These functions are typically used to provide kinematic
-   However, at the start of development one can use boiler-plate code
+   specific checks. However, at the start of development one can use
-   here.</li>
+   boiler-plate code here.</li>
 <li>Implement test cases. Create a g-code file with a series of moves
    that can test important cases for the given kinematics. Follow the
    <a href="Debugging.html">debugging documentation</a> to convert this g-code file

G-Codes.html

@@ -5250,15 +5250,18 @@ will almost certainly place the low-level kinematics in an incorrect
 state; issue a G28 afterwards to reset the kinematics. This command is
 intended for low-level diagnostics and debugging.</p>
 <h4 id="set_kinematic_position">SET_KINEMATIC_POSITION<a class="headerlink" href="#set_kinematic_position" title="Permanent link">&para;</a></h4>
-<p><code>SET_KINEMATIC_POSITION [X=&lt;value&gt;] [Y=&lt;value&gt;] [Z=&lt;value&gt;]</code>: Force
+<p><code>SET_KINEMATIC_POSITION [X=&lt;value&gt;] [Y=&lt;value&gt;] [Z=&lt;value&gt;]
-the low-level kinematic code to believe the toolhead is at the given
+[CLEAR=&lt;[X][Y][Z]&gt;]</code>: Force the low-level kinematic code to believe the
-cartesian position. This is a diagnostic and debugging command; use
+toolhead is at the given cartesian position. This is a diagnostic and
-SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
+debugging command; use SET_GCODE_OFFSET and/or G92 for regular axis
-axis is not specified then it will default to the position that the
+transformations. If an axis is not specified then it will default to the
-head was last commanded to. Setting an incorrect or invalid position
+position that the head was last commanded to. Setting an incorrect or
-may lead to internal software errors. This command may invalidate
+invalid position may lead to internal software errors. Use the CLEAR
-future boundary checks; issue a G28 afterwards to reset the
+parameter to forget the homing state for the given axes. Note that CLEAR
-kinematics.</p>
+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.</p>
 <h3 id="gcode">[gcode]<a class="headerlink" href="#gcode" title="Permanent link">&para;</a></h3>
 <p>The gcode module is automatically loaded.</p>
 <h4 id="restart">RESTART<a class="headerlink" href="#restart" title="Permanent link">&para;</a></h4>