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| author | Kevin O'Connor <kevin@koconnor.net> | 2021-08-28 12:59:01 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2021-08-28 15:45:11 -0400 |
| commit | 2e131497ca342514d543fc91cb559df2d2802462 (patch) | |
| tree | 6bf64578ad76c37ee180325c34df26c1709a8364 | |
| parent | 8d4d16d51a3e3581b04b49b4fd216a40d4ae7c3d (diff) | |
| download | kutter-2e131497ca342514d543fc91cb559df2d2802462.tar.gz kutter-2e131497ca342514d543fc91cb559df2d2802462.tar.xz kutter-2e131497ca342514d543fc91cb559df2d2802462.zip | |
homing: Fix error in retract move causing "must home axis" errors
It's possible for the original homing move of an axis to alter the
position of other axes. Make sure those other axes are not requested
to move on a subsequent second home retract move, as that could cause
an error if those other axes have not been homed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/extras/homing.py | 27 |
1 files changed, 15 insertions, 12 deletions
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index 951f63ae..ff20a8e3 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -174,29 +174,31 @@ class Homing: self.printer.send_event("homing:home_rails_begin", self, rails) # Alter kinematics class to think printer is at forcepos homing_axes = [axis for axis in range(3) if forcepos[axis] is not None] - forcepos = self._fill_coord(forcepos) - movepos = self._fill_coord(movepos) - self.toolhead.set_position(forcepos, homing_axes=homing_axes) + startpos = self._fill_coord(forcepos) + homepos = self._fill_coord(movepos) + self.toolhead.set_position(startpos, homing_axes=homing_axes) # Perform first home endstops = [es for rail in rails for es in rail.get_endstops()] hi = rails[0].get_homing_info() hmove = HomingMove(self.printer, endstops) - hmove.homing_move(movepos, hi.speed) + hmove.homing_move(homepos, hi.speed) # Perform second home if hi.retract_dist: # Retract - axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)] + startpos = self._fill_coord(forcepos) + homepos = self._fill_coord(movepos) + axes_d = [hp - sp for hp, sp in zip(homepos, startpos)] move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) retract_r = min(1., hi.retract_dist / move_d) - retractpos = [mp - ad * retract_r - for mp, ad in zip(movepos, axes_d)] + retractpos = [hp - ad * retract_r + for hp, ad in zip(homepos, axes_d)] self.toolhead.move(retractpos, hi.retract_speed) # Home again - forcepos = [rp - ad * retract_r + startpos = [rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)] - self.toolhead.set_position(forcepos) + self.toolhead.set_position(startpos) hmove = HomingMove(self.printer, endstops) - hmove.homing_move(movepos, hi.second_homing_speed) + hmove.homing_move(homepos, hi.second_homing_speed) if hmove.check_no_movement() is not None: raise self.printer.command_error( "Endstop %s still triggered after retract" @@ -210,13 +212,14 @@ class Homing: if any(self.adjust_pos.values()): # Apply any homing offsets kin = self.toolhead.get_kinematics() + homepos = self.toolhead.get_position() kin_spos = {s.get_name(): (s.get_commanded_position() + self.adjust_pos.get(s.get_name(), 0.)) for s in kin.get_steppers()} newpos = kin.calc_position(kin_spos) for axis in homing_axes: - movepos[axis] = newpos[axis] - self.toolhead.set_position(movepos) + homepos[axis] = newpos[axis] + self.toolhead.set_position(homepos) class PrinterHoming: def __init__(self, config): |