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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-10-13 10:04:30 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-10-13 10:09:56 -0400 |
| commit | 977aabe038a4fbfa46c2b8873999e9e198f7487f (patch) | |
| tree | e3160bea85c5d63d71c94bf20b4523cd07a77187 | |
| parent | da7d8dbcac03434b046248fad3edfa78a514e733 (diff) | |
| download | kutter-977aabe038a4fbfa46c2b8873999e9e198f7487f.tar.gz kutter-977aabe038a4fbfa46c2b8873999e9e198f7487f.tar.xz kutter-977aabe038a4fbfa46c2b8873999e9e198f7487f.zip | |
stepper: Return homing offset in steps instead of an absolute position
Rename get_homed_position() to get_homed_offset() and return the
endstop position delta in steps instead of an absolute position
relative to position_endstop. The conversion to absolute positions
can be dependent on the type of kinematics in use, so is inappropriate
to do in the low level stepper.py code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/cartesian.py | 3 | ||||
| -rw-r--r-- | klippy/stepper.py | 10 |
2 files changed, 7 insertions, 6 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index de9d4fa4..860ce9fd 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -28,7 +28,8 @@ class CartKinematics: max_xy_accel = min(s.max_accel for s in self.steppers[:2]) return max_xy_speed, max_xy_accel def get_homed_position(self): - return [s.get_homed_position() for s in self.steppers] + return [s.position_endstop + s.get_homed_offset()*s.step_dist + for s in self.steppers] def home(self, toolhead, axes): # Each axis is homed independently and in order homing_state = homing.Homing(toolhead, axes) diff --git a/klippy/stepper.py b/klippy/stepper.py index 310a0711..8881c99f 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -85,21 +85,21 @@ class PrinterStepper: return None self.mcu_endstop.query_endstop() return self.mcu_endstop - def get_homed_position(self): + def get_homed_offset(self): if not self.homing_stepper_phases: - return self.position_endstop + return 0 pos = self.mcu_endstop.get_last_position() pos %= self.homing_stepper_phases if self.homing_endstop_phase is None: logging.info("Setting %s endstop phase to %d" % ( self.config.section, pos)) self.homing_endstop_phase = pos - return self.position_endstop + return 0 delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy: delta -= self.homing_stepper_phases elif delta > self.homing_endstop_accuracy: logging.error("Endstop %s incorrect phase (got %d vs %d)" % ( self.config.section, pos, self.homing_endstop_phase)) - return self.position_endstop - return self.position_endstop + delta * self.step_dist + return 0 + return delta |