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Testing
Offline tests: every PRTouch module and z_compensate.py has dedicated coverage in
klippy/extras/ — test_prtouch_safety_guard.py, test_prtouch_probe_safety_hardening.py,
test_z_compensate_xy_reference.py, test_z_compensate_reentrancy_guard.py,
test_z_compensate_offset_safety.py, and more.
On real hardware: PRTouch went through physical qualification on the golden printer — homing,
mesh, heating, and extrusion all passed. Along the way we found and fixed two real bugs (a
step-disarm timing mismatch, a redundant safety-lift removed) and resolved a Z-stepper sound issue.
That qualified state is tagged in NebulaOS-firmware as
nebulaos-canonical-baseline-2026-08-14-prtouch-qualified.
If you're testing this yourself: the load cell is bed-mounted, so press the bed, not the nozzle.
READ_PRES is safe to run first — it's a zero-motion sensor read, good for confirming the hardware
is alive before you risk an actual probe move.
See also: PRTouch, Z Compensation.