Add Z axis height

Update roadmap

README.md

@@ -63,6 +63,8 @@ Using Ellis' pattern (AUTO_SPEED_VALIDATE) is **NOT** a safe movement pattern. P
    - [ ] Add AUTO_SPEED ACCEL=10000 - to find what velocity lets you use accel 10000
    - [ ] Add AUTO_SPEED VELOC=500 - to find what accel lets you use velocity 500
    - [ ] Make AUTO_SPEED measure different accels/velocity to find the best values based on printer size
+ - [ ] Variable motor current
+ - [ ] Variable homing speed
  - [X] Add testing Z axis
  - [X] Reduce code duplication
  - [X] Check kinematics to find best movement patterns

autospeed/main.py

@@ -147,6 +147,11 @@ def cmd_AUTO_SPEED(self, gcmd):
         validate = gcmd.get_int('VALIDATE', 0, minval=0, maxval=1)
 
         self._prepare(gcmd) # Make sure the printer is level, [check endstop variance]
+
+        move_z = gcmd.get_int('Z', None)
+        if move_z is not None:
+            self._move([None, None, move_z], self.th_veloc)
+
         start = perf_counter()
         accel_results = self.cmd_AUTO_SPEED_ACCEL(gcmd)
         veloc_results = self.cmd_AUTO_SPEED_VELOCITY(gcmd)