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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-07-26 22:06:14 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-07-28 11:22:28 -0400 |
| commit | 654546e3382b87610a51d01d17c917fb8d8bbaeb (patch) | |
| tree | 4bba3ad08ded17c6b022eb930bc1e970818733c8 /klippy/toolhead.py | |
| parent | 170389ef145a2805738d8411eb65433de09eeaac (diff) | |
| download | kutter-654546e3382b87610a51d01d17c917fb8d8bbaeb.tar.gz kutter-654546e3382b87610a51d01d17c917fb8d8bbaeb.tar.xz kutter-654546e3382b87610a51d01d17c917fb8d8bbaeb.zip | |
stepper: Support stepper phase adjustments when homing
Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 35d296e1..8c389d19 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -254,7 +254,15 @@ class ToolHead: move = Move(self, newpos, move_d, axes_d, speed, self.max_xy_accel) self.move_queue.add_move(move) def home(self, axes): - return self.kin.home(self, axes) + homing = self.kin.home(self, axes) + def axes_update(axes): + pos = self.get_position() + homepos = self.kin.get_homed_position() + for axis in axes: + pos[axis] = homepos[axis] + self.set_position(pos) + homing.plan_axes_update(axes_update) + return homing def dwell(self, delay): self.get_last_move_time() self.update_move_time(delay) |