CloakedCode/Mental Dockable Probe (#43)

* Dockable Probe

annexed_probe: added dock_retries configuration option

annexed_probe: renamed decouple_speed to detach_speed for consistency

Annexed_Probe.md: initial commit of documentation

Config_Reference.md: added annexed_probe config section

annexed_probe: retry attempts must be greater than 1

annexed_probe: redefine default speeds

annexed_probe: changed delayed detach to optional

Annexed_Probe.md: added section for delayed_detach option

Annexed_Probe.md: (fixed invalid characters and whitespace errors

Annexed_Probe.md: Added additional documentation and gcode reference

Config_Reference.md: Removed extra spaces for annexed_probe and added allow_delayed_detach parameter

G-Codes.md: added annexed_probe gcode reference

annexed_probe.py: changed initial position execution to after docking completed

annexed_probe: rename to dockable_probe

dockable_probe: remove ability to set manual_probe_state

dockable_probe: change docking points to discrete coordinates instead of vectors

Annexed_Probe.md: fixed typo in tool velocities

dockable_probe: corrected typos

dockable_probe.py - Corrected typo in _do_detach()

dockable_probe: Python3 compatibility and misc fixes in parseCoord

- map() returns a iterable which is not sliceable.
- Fix a bug where the coordinate vector could be resized.
- Better error reporting.

Signed-off-by: Maël Kerbiriou <m431.kerbiriou@gmail.com>

* black

---------

Signed-off-by: Maël Kerbiriou <m431.kerbiriou@gmail.com>
Co-authored-by: Paul McGowan <mental405@gmail.com>

docs/Config_Reference.md

@@ -1910,6 +1910,84 @@ control_pin:
 #   See the "probe" section for information on these parameters.
 ```
 
+### [dockable_probe]
+
+Certain probes are magnetically coupled to the toolhead and stowed
+in a dock when not in use. One should define this section instead
+of a probe section if the probe uses magnets to attach and a dock
+for storage. See [Dockable Probe Guide](Dockable_Probe.md)
+for more detailed information regarding configuration and setup.
+
+```
+[dockable_probe]
+dock_position: 0,0,0
+#   The physical position of the probe dock relative to the origin of
+#   the bed. The coordinates are specified as a comma separated X, Y, Z
+#   list of values. Certain dock designs are independent of the Z axis.
+#   If Z is specified the toolhead will move to the Z location before the X, Y
+#   coordinates.
+#   This parameter is required.
+approach_position: 0,0,0
+#   The X, Y, Z position where the toolhead needs to be prior to moving into the
+#   dock so that the probe is aligned properly for attaching or detaching.
+#   If Z is specified the toolhead will move to the Z location before the X, Y
+#   coordinates.
+#   This parameter is required.
+detach_position: 0,0,0
+#   Similar to the approach_position, the detach_position is the coordinates
+#   where the toolhead is moved after the probe has been docked.
+#   For magnetically coupled probes, this is typically perpendicular to
+#   the approach_position in a direction that does not cause the tool to
+#   collide with the printer.
+#   If Z is specified the toolhead will move to the Z location before the X, Y
+#   coordinates.
+#   This parameter is required.
+#z_hop: 15.0
+#   Distance (in mm) to lift the Z axis prior to attaching/detaching the probe.
+#   If the Z axis is already homed and the current Z position is less
+#   than `z_hop`, then this will lift the head to a height of `z_hop`. If
+#   the Z axis is not already homed the head is lifted by `z_hop`.
+#   The default is to not implement Z hop.
+#dock_retries:
+#   The number of times to attempt to attach/dock the probe before raising
+#   an error and aborting probing.
+#   The default is 0.
+#auto_attach_detach: False
+#   Enable/Disable the automatic attaching/detaching of the probe during
+#   actions that require the probe.
+#   The default is True.
+#attach_speed:
+#detach_speed:
+#travel_speed:
+#   Optional speeds used during moves.
+#   The default is to use `speed` of `probe` or 5.0.
+#check_open_attach:
+#   The probe status should be verified prior to homing. Setting this option
+#   to true will check the probe "endstop" is "open" after attaching and
+#   will abort probing if not, also checking for "triggered" after docking.
+#   Conversively, setting this to false, the probe should read "triggered"
+#   after attaching and "open" after docking. If not, probing will abort.
+#probe_sense_pin:
+#   This supplemental pin can be defined to determine an attached state
+#   instead of check_open_attach.
+#dock_sense_pin:
+#   This supplemental pin can be defined to determine a docked state in
+#   addition to probe_sense_pin or check_open_attach.
+#x_offset:
+#y_offset:
+#z_offset:
+#lift_speed:
+#speed:
+#samples:
+#sample_retract_dist:
+#samples_result:
+#samples_tolerance:
+#samples_tolerance_retries:
+#activate_gcode:
+#deactivate_gcode:
+#   See the "probe" section for information on these parameters.
+```
+
 ### [smart_effector]
 
 The "Smart Effector" from Duet3d implements a Z probe using a force