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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-10-09 12:53:01 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-10-10 14:30:09 -0400 |
| commit | d32506bd2eb6c5231d83b063ad528a26f0dda563 (patch) | |
| tree | dd539e776ca39d060527043d861c5c4e8dd2a92a /klippy | |
| parent | 770b92863f391df5af45909070bc2e87609c5d45 (diff) | |
| download | kutter-d32506bd2eb6c5231d83b063ad528a26f0dda563.tar.gz kutter-d32506bd2eb6c5231d83b063ad528a26f0dda563.tar.xz kutter-d32506bd2eb6c5231d83b063ad528a26f0dda563.zip | |
homing: Move homing offset adjustment logic to generic homing code
Move the "stepper phase" adjustment logic from the kinematic classes
to the generic homing.py code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/homing.py | 8 | ||||
| -rw-r--r-- | klippy/kinematics/cartesian.py | 3 | ||||
| -rw-r--r-- | klippy/kinematics/corexy.py | 4 | ||||
| -rw-r--r-- | klippy/kinematics/delta.py | 4 |
4 files changed, 8 insertions, 11 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index c53a65d4..901af03d 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -123,6 +123,14 @@ class Homing: self.toolhead.set_position(forcepos) self.homing_move(movepos, endstops, second_homing_speed, verify_movement=self.verify_retract) + # Apply homing offsets + for rail in rails: + cp = rail.get_commanded_position() + rail.set_commanded_position(cp + rail.get_homed_offset()) + adjustpos = self.toolhead.get_kinematics().calc_position() + for axis in homing_axes: + movepos[axis] = adjustpos[axis] + self.toolhead.set_position(movepos) def home_axes(self, axes): self.changed_axes = axes try: diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 6e971fb5..0ce28dbe 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -70,9 +70,6 @@ class CartKinematics: if axis == 2: limit_speed = self.max_z_velocity homing_state.home_rails([rail], forcepos, homepos, limit_speed) - # Set final homed position - forcepos[axis] = hi.position_endstop + rail.get_homed_offset() - homing_state.set_homed_position(forcepos) def home(self, homing_state): # Each axis is homed independently and in order for axis in homing_state.get_axes(): diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 99f48fbf..e7ab2f24 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -63,10 +63,6 @@ class CoreXYKinematics: if axis == 2: limit_speed = self.max_z_velocity homing_state.home_rails([rail], forcepos, homepos, limit_speed) - if axis == 2: - # Support endstop phase detection on Z axis - forcepos[axis] = hi.position_endstop + rail.get_homed_offset() - homing_state.set_homed_position(forcepos) def motor_off(self, print_time): self.limits = [(1.0, -1.0)] * 3 for rail in self.rails: diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 3f453578..d770ec1d 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -103,10 +103,6 @@ class DeltaKinematics: forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) homing_state.home_rails(self.rails, forcepos, self.home_position, limit_speed=self.max_z_velocity) - # Set final homed position - spos = [ep + rail.get_homed_offset() - for ep, rail in zip(self.abs_endstops, self.rails)] - homing_state.set_homed_position(self._actuator_to_cartesian(spos)) def motor_off(self, print_time): self.limit_xy2 = -1. for rail in self.rails: |