diff options
| -rw-r--r-- | klippy/extras/homing.py | 14 | ||||
| -rw-r--r-- | klippy/stepper.py | 6 |
2 files changed, 16 insertions, 4 deletions
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index 06b52f1e..bbad5337 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -1,6 +1,6 @@ # Helper code for implementing homing operations # -# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2016-2024 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math @@ -29,10 +29,17 @@ class StepperPosition: self.endstop_name = endstop_name self.stepper_name = stepper.get_name() self.start_pos = stepper.get_mcu_position() + self.start_cmd_pos = stepper.mcu_to_commanded_position(self.start_pos) self.halt_pos = self.trig_pos = None def note_home_end(self, trigger_time): self.halt_pos = self.stepper.get_mcu_position() self.trig_pos = self.stepper.get_past_mcu_position(trigger_time) + def verify_no_probe_skew(self, haltpos): + new_start_pos = self.stepper.get_mcu_position(self.start_cmd_pos) + if new_start_pos != self.start_pos: + logging.warning( + "Stepper '%s' position skew after probe: pos %d now %d", + self.stepper.get_name(), self.start_pos, new_start_pos) # Implementation of homing/probing moves class HomingMove: @@ -121,6 +128,9 @@ class HomingMove: haltpos = trigpos = self.calc_toolhead_pos(kin_spos, trig_steps) if trig_steps != halt_steps: haltpos = self.calc_toolhead_pos(kin_spos, halt_steps) + self.toolhead.set_position(haltpos) + for sp in self.stepper_positions: + sp.verify_no_probe_skew(haltpos) else: haltpos = trigpos = movepos over_steps = {sp.stepper_name: sp.halt_pos - sp.trig_pos @@ -130,7 +140,7 @@ class HomingMove: halt_kin_spos = {s.get_name(): s.get_commanded_position() for s in kin.get_steppers()} haltpos = self.calc_toolhead_pos(halt_kin_spos, over_steps) - self.toolhead.set_position(haltpos) + self.toolhead.set_position(haltpos) # Signal homing/probing move complete try: self.printer.send_event("homing:homing_move_end", self) diff --git a/klippy/stepper.py b/klippy/stepper.py index 9b692904..05e56cca 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -138,8 +138,10 @@ class MCU_stepper: def get_commanded_position(self): ffi_main, ffi_lib = chelper.get_ffi() return ffi_lib.itersolve_get_commanded_pos(self._stepper_kinematics) - def get_mcu_position(self): - mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset + def get_mcu_position(self, cmd_pos=None): + if cmd_pos is None: + cmd_pos = self.get_commanded_position() + mcu_pos_dist = cmd_pos + self._mcu_position_offset mcu_pos = mcu_pos_dist / self._step_dist if mcu_pos >= 0.: return int(mcu_pos + 0.5) |