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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-08-29 17:37:14 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-08-29 18:00:17 -0400 |
| commit | 002dc0dfaf42feae0e7955c035ef0bbd19cf0a19 (patch) | |
| tree | 37a66798f739d415325232502d56609775309618 /klippy/delta.py | |
| parent | 68d6788413ea8408d3c0290f4e6aa9974733a324 (diff) | |
| download | kutter-002dc0dfaf42feae0e7955c035ef0bbd19cf0a19.tar.gz kutter-002dc0dfaf42feae0e7955c035ef0bbd19cf0a19.tar.xz kutter-002dc0dfaf42feae0e7955c035ef0bbd19cf0a19.zip | |
stepper: Adjust homing_speed so that it's an even number of ticks per step
Adjust the configured homing speed so that it always results in a
speed that is an even number of mcu ticks per step. This ensures that
the code can always get good step compression during homing, which is
important as the entire homing operation must be able to fit within
the mcu's move queue. This fixes some "move queue empty" mcu shutdown
errors that could occur when the Z step distance was an unusual size.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 8d8ecf04..fc796cd4 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -107,17 +107,18 @@ class DeltaKinematics: s = self.steppers[0] # Assume homing speed same for all steppers self.need_home = False # Initial homing + homing_speed = s.get_homing_speed() homepos = [0., 0., self.max_z, None] coord = list(homepos) coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2) - homing_state.home(list(coord), homepos, self.steppers, s.homing_speed) + homing_state.home(list(coord), homepos, self.steppers, homing_speed) # Retract coord[2] = homepos[2] - s.homing_retract_dist - homing_state.retract(list(coord), s.homing_speed) + homing_state.retract(list(coord), homing_speed) # Home again coord[2] -= s.homing_retract_dist homing_state.home(list(coord), homepos, self.steppers - , s.homing_speed/2.0, second_home=True) + , homing_speed/2.0, second_home=True) # Set final homed position spos = self._cartesian_to_actuator(homepos) spos = [spos[i] + self.steppers[i].position_endstop - self.max_z |