diff options
| -rw-r--r-- | klippy/homing.py | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index 11b6e152..1c2557f4 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -31,6 +31,16 @@ class Homing: return thcoord def set_homed_position(self, pos): self.toolhead.set_position(self._fill_coord(pos)) + def _calc_endstop_rate(self, mcu_endstop, movepos, speed): + startpos = self.toolhead.get_position() + axes_d = [mp - sp for mp, sp in zip(movepos, startpos)] + move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) + move_t = move_d / speed + max_steps = max([(abs(s.calc_position_from_coord(startpos) + - s.calc_position_from_coord(movepos)) + / s.get_step_dist()) + for s in mcu_endstop.get_steppers()]) + return move_t / max_steps def _endstop_notify(self): self.endstops_pending -= 1 if not self.endstops_pending: @@ -51,11 +61,10 @@ class Homing: print_time = self.toolhead.get_last_move_time() self.endstops_pending = len(endstops) for mcu_endstop, name in endstops: - min_step_dist = min([s.get_step_dist() - for s in mcu_endstop.get_steppers()]) + rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed) mcu_endstop.home_start( print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, - min_step_dist / speed, notify=self._endstop_notify) + rest_time, notify=self._endstop_notify) self.toolhead.dwell(HOMING_START_DELAY) # Issue move error = None |