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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-11-18 13:39:48 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-11-18 14:17:53 -0500 |
| commit | ab1972d1cfeb8581016a8322786df441876da368 (patch) | |
| tree | f1c1a573df541c7d86d6bcf53494653f28d4f3b6 /klippy | |
| parent | e0aa067cc9e85d3244045afce34fc2e6764fa66e (diff) | |
| download | kutter-ab1972d1cfeb8581016a8322786df441876da368.tar.gz kutter-ab1972d1cfeb8581016a8322786df441876da368.tar.xz kutter-ab1972d1cfeb8581016a8322786df441876da368.zip | |
homing: Verify the endstops are no longer triggered after retract move
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/cartesian.py | 2 | ||||
| -rw-r--r-- | klippy/delta.py | 2 | ||||
| -rw-r--r-- | klippy/homing.py | 32 |
3 files changed, 28 insertions, 8 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index f6dc3685..4907f58a 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -58,7 +58,7 @@ class CartKinematics: homing_state.plan_home(list(coord), homepos, [s], s.homing_speed) # Retract coord[axis] = rpos - homing_state.plan_move(list(coord), s.homing_speed) + homing_state.plan_retract(list(coord), [s], s.homing_speed) # Home again coord[axis] = r2pos homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0) diff --git a/klippy/delta.py b/klippy/delta.py index 40df8ab6..9b12cb8a 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -96,7 +96,7 @@ class DeltaKinematics: , s.homing_speed) # Retract coord[2] = homepos[2] - s.homing_retract_dist - homing_state.plan_move(list(coord), s.homing_speed) + homing_state.plan_retract(list(coord), self.steppers, s.homing_speed) # Home again coord[2] -= s.homing_retract_dist homing_state.plan_home(list(coord), homepos, self.steppers diff --git a/klippy/homing.py b/klippy/homing.py index 1cdd2543..1beebd57 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -21,8 +21,9 @@ class Homing: def plan_home(self, forcepos, movepos, steppers, speed): self.states.append((self.do_home, (forcepos, movepos, steppers, speed))) self.states.append((self.do_wait_endstop, ())) - def plan_move(self, newpos, speed): - self.states.append((self.do_move, (newpos, speed))) + def plan_retract(self, newpos, steppers, speed): + self.states.append((self.do_retract, (newpos, steppers, speed))) + self.states.append((self.do_verify_retract, ())) def plan_calc_position(self, callback): self.states.append((self.do_calc_position, (callback,))) def plan_axes_update(self, callback): @@ -48,9 +49,14 @@ class Homing: if coord[i] is not None: thcoord[i] = coord[i] return thcoord - def do_move(self, newpos, speed): + def do_retract(self, newpos, steppers, speed): # Issue a move command self.toolhead.move(self.fill_coord(newpos), speed) + # Query endstops + print_time = self.toolhead.get_last_move_time() + for s in steppers: + es = s.query_endstop(print_time) + self.endstops.append((s.name, es)) return False def do_home(self, forcepos, movepos, steppers, speed): # Alter kinematics class to think printer is at forcepos @@ -68,15 +74,29 @@ class Homing: return False def do_wait_endstop(self): # Check if endstops have triggered - for name, es in self.endstops: + while self.endstops: + name, es = self.endstops[0] try: if es.check_busy(self.eventtime): return True except mcu.MCUError, e: raise EndstopError("Failed to home stepper %s: %s" % ( name, str(e))) - # Finished - del self.endstops[:] + self.endstops.pop(0) + return False + def do_verify_retract(self): + while self.endstops: + name, es = self.endstops[0] + try: + if es.check_busy(self.eventtime): + return True + except mcu.MCUError, e: + raise EndstopError("Failed to retract stepper %s: %s" % ( + name, str(e))) + if es.get_last_triggered(): + raise EndstopError("Endstop %s still triggered after retract" % ( + name,)) + self.endstops.pop(0) return False def do_calc_position(self, callback): self.toolhead.set_position(self.fill_coord(callback(self))) |