diff options
| -rw-r--r-- | klippy/extras/homing.py | 41 |
1 files changed, 22 insertions, 19 deletions
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index 5a2c518f..75607141 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -21,6 +21,7 @@ class HomingMove: def __init__(self, printer): self.printer = printer self.toolhead = printer.lookup_object('toolhead') + self.end_mcu_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)] @@ -33,8 +34,7 @@ class HomingMove: if max_steps <= 0.: return .001 return move_t / max_steps - def homing_move(self, movepos, endstops, speed, - probe_pos=False, verify_movement=False): + def homing_move(self, movepos, endstops, speed, probe_pos=False): # Notify start of homing/probing move self.printer.send_event("homing:homing_move_begin", [es for es, name in endstops]) @@ -69,10 +69,10 @@ class HomingMove: error = "Failed to home %s: Timeout during homing" % (name,) # Determine stepper halt positions self.toolhead.flush_step_generation() - end_mcu_pos = [(s, name, spos, s.get_mcu_position()) - for s, name, spos in start_mcu_pos] + self.end_mcu_pos = [(s, name, spos, s.get_mcu_position()) + for s, name, spos in start_mcu_pos] if probe_pos: - for s, name, spos, epos in end_mcu_pos: + for s, name, spos, epos in self.end_mcu_pos: md = (epos - spos) * s.get_step_dist() s.set_tag_position(s.get_tag_position() + md) movepos = list(kin.calc_tag_position())[:3] + movepos[3:] @@ -86,17 +86,14 @@ class HomingMove: error = str(e) if error is not None: raise self.printer.command_error(error) - # Check if some movement occurred - can_verify = self.printer.get_start_args().get('debuginput') is None - if verify_movement and can_verify: - for s, name, spos, epos in end_mcu_pos: - if spos == epos: - if probe_pos: - raise self.printer.command_error( - "Probe triggered prior to movement") - raise self.printer.command_error( - "Endstop %s still triggered after retract" % (name,)) return movepos + def check_no_movement(self): + if self.printer.get_start_args().get('debuginput') is not None: + return None + for s, name, spos, epos in self.end_mcu_pos: + if spos == epos: + return name + return None # State tracking of homing requests class Homing: @@ -144,8 +141,11 @@ class Homing: for rp, ad in zip(retractpos, axes_d)] self.toolhead.set_position(forcepos) hmove = HomingMove(self.printer) - hmove.homing_move(movepos, endstops, hi.second_homing_speed, - verify_movement=True) + hmove.homing_move(movepos, endstops, hi.second_homing_speed) + if hmove.check_no_movement() is not None: + raise self.printer.command_error( + "Endstop %s still triggered after retract" + % (hmove.check_no_movement(),)) # Signal home operation complete self.toolhead.flush_step_generation() kin = self.toolhead.get_kinematics() @@ -168,8 +168,11 @@ class PrinterHoming: def probing_move(self, mcu_probe, pos, speed): hmove = HomingMove(self.printer) endstops = [(mcu_probe, "probe")] - return hmove.homing_move(pos, endstops, speed, - probe_pos=True, verify_movement=True) + epos = hmove.homing_move(pos, endstops, speed, probe_pos=True) + if hmove.check_no_movement() is not None: + raise self.printer.command_error( + "Probe triggered prior to movement") + return epos def cmd_G28(self, gcmd): # Move to origin axes = [] |