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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-09-26 15:57:22 -0400 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2018-10-01 11:12:30 -0400 |
| commit | a9a0bb87fa472c470d5cbd4ffc78e1acb29a04c1 (patch) | |
| tree | 50c31491411cb009e44d7e92faa614364a821f89 | |
| parent | 31ec0985770e420eadc5ba9d7eb56a2c4ab40c60 (diff) | |
| download | kutter-a9a0bb87fa472c470d5cbd4ffc78e1acb29a04c1.tar.gz kutter-a9a0bb87fa472c470d5cbd4ffc78e1acb29a04c1.tar.xz kutter-a9a0bb87fa472c470d5cbd4ffc78e1acb29a04c1.zip | |
probe: Verify the toolhead moves at least some distance on a probe
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/extras/probe.py | 3 | ||||
| -rw-r--r-- | klippy/homing.py | 34 |
2 files changed, 19 insertions, 18 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index df5f9268..5b503610 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -70,8 +70,7 @@ class PrinterProbe: pos = toolhead.get_position() pos[2] = self.z_position try: - homing_state.homing_move( - pos, [(self.mcu_probe, "probe")], self.speed, probe_pos=True) + homing_state.probing_move(pos, self.mcu_probe, self.speed) except homing.EndstopError as e: reason = str(e) if "Timeout during endstop homing" in reason: diff --git a/klippy/homing.py b/klippy/homing.py index 48144001..b65c3124 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -40,9 +40,12 @@ class Homing: dist_ticks = adjusted_freq * mcu_stepper.get_step_dist() ticks_per_step = math.ceil(dist_ticks / speed) return dist_ticks / ticks_per_step - def _homing_move(self, movepos, endstops, speed, probe_pos=False): + def _homing_move(self, movepos, endstops, speed, + probe_pos=False, verify_movement=False): # Start endstop checking print_time = self.toolhead.get_last_move_time() + start_mcu_pos = [(s, name, s.get_mcu_position()) + for es, name in endstops for s in es.get_steppers()] for mcu_endstop, name in endstops: min_step_dist = min([s.get_step_dist() for s in mcu_endstop.get_steppers()]) @@ -74,10 +77,18 @@ class Homing: mcu_endstop.home_finalize() if error is not None: raise EndstopError(error) - def homing_move(self, movepos, endstops, speed, probe_pos=False): - for mcu_endstop, name in endstops: - mcu_endstop.home_prepare() - self._homing_move(movepos, endstops, speed, probe_pos) + # Check if some movement occurred + if verify_movement: + for s, name, pos in start_mcu_pos: + if s.get_mcu_position() == pos: + if probe_pos: + raise EndstopError("Probe triggered prior to movement") + raise EndstopError( + "Endstop %s still triggered after retract" % (name,)) + def probing_move(self, movepos, mcu_probe, speed): + mcu_probe.home_prepare() + self._homing_move(movepos, [(mcu_probe, "probe")], speed, + probe_pos=True, verify_movement=True) def home(self, forcepos, movepos, endstops, speed, second_home=False): if second_home and forcepos == movepos: return @@ -96,18 +107,9 @@ class Homing: for es, n in endstops for s in es.get_steppers()]) self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False) speed = self._get_homing_speed(speed, endstops) - # Setup for retract verification - self.toolhead.get_last_move_time() - start_mcu_pos = [(s, name, s.get_mcu_position()) - for es, name in endstops for s in es.get_steppers()] # Issue homing move - self._homing_move(movepos, endstops, speed) - # Verify retract led to some movement on second home - if second_home and self.verify_retract: - for s, name, pos in start_mcu_pos: - if s.get_mcu_position() == pos: - raise EndstopError( - "Endstop %s still triggered after retract" % (name,)) + self._homing_move(movepos, endstops, speed, + verify_movement=second_home and self.verify_retract) def home_axes(self, axes): self.changed_axes = axes try: |