diff options
| -rw-r--r-- | klippy/cartesian.py | 4 | ||||
| -rw-r--r-- | klippy/corexy.py | 4 | ||||
| -rw-r--r-- | klippy/delta.py | 2 | ||||
| -rw-r--r-- | klippy/homing.py | 12 | ||||
| -rw-r--r-- | klippy/stepper.py | 7 |
5 files changed, 18 insertions, 11 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index c22b24c5..5e73297e 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -48,7 +48,9 @@ class CartKinematics: rpos = s.position_endstop + s.homing_retract_dist r2pos = rpos + s.homing_retract_dist # Initial homing - homing_speed = s.get_homing_speed() + homing_speed = s.homing_speed + if axis == 2: + homing_speed = min(homing_speed, self.max_z_velocity) homepos = [None, None, None, None] homepos[axis] = s.position_endstop coord = [None, None, None, None] diff --git a/klippy/corexy.py b/klippy/corexy.py index 3eac2e26..8ace928e 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -56,7 +56,9 @@ class CoreXYKinematics: rpos = s.position_endstop + s.homing_retract_dist r2pos = rpos + s.homing_retract_dist # Initial homing - homing_speed = s.get_homing_speed() + homing_speed = s.homing_speed + if axis == 2: + homing_speed = min(homing_speed, self.max_z_velocity) homepos = [None, None, None, None] homepos[axis] = s.position_endstop coord = [None, None, None, None] diff --git a/klippy/delta.py b/klippy/delta.py index e2bb971a..c0e5ef28 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -112,7 +112,7 @@ 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() + homing_speed = min(s.homing_speed, self.max_z_velocity) homepos = [0., 0., self.max_z, None] coord = list(homepos) coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) diff --git a/klippy/homing.py b/klippy/homing.py index 9f56a6e9..3a926083 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -3,7 +3,7 @@ # Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import logging +import logging, math HOMING_STEP_DELAY = 0.00000025 ENDSTOP_SAMPLE_TIME = .000015 @@ -31,6 +31,15 @@ class Homing: self.toolhead.move(self._fill_coord(newpos), speed) def set_homed_position(self, pos): self.toolhead.set_position(self._fill_coord(pos)) + def _get_homing_speed(self, speed, endstops): + # Round the requested homing speed so that it is an even + # number of ticks per step. + speed = min(speed, self.toolhead.get_max_velocity()[0]) + mcu_stepper = endstops[0][0].get_steppers()[0] + adjusted_freq = mcu_stepper.get_mcu().get_adjusted_freq() + 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): # Start endstop checking print_time = self.toolhead.get_last_move_time() @@ -67,6 +76,7 @@ class Homing: est_steps = sum([est_move_d / s.get_step_dist() 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()) diff --git a/klippy/stepper.py b/klippy/stepper.py index 109d0904..089d14dc 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -122,13 +122,6 @@ class PrinterHomingStepper(PrinterStepper): self.homing_endstop_accuracy = self.homing_stepper_phases def get_endstops(self): return [(self.mcu_endstop, self.name)] - def get_homing_speed(self): - # Round the configured homing speed so that it is an even - # number of ticks per step. - adjusted_freq = self.mcu_stepper.get_mcu().get_adjusted_freq() - dist_ticks = adjusted_freq * self.step_dist - ticks_per_step = round(dist_ticks / self.homing_speed) - return dist_ticks / ticks_per_step def get_homed_offset(self): if not self.homing_stepper_phases or self.need_motor_enable: return 0. |