diff options
| -rw-r--r-- | klippy/extras/bltouch.py | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index 56d6d323..5f3e88da 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -36,7 +36,7 @@ class BLTouchEndstopWrapper: self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin')) self.mcu_pwm.setup_max_duration(0.) self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD) - self.next_cmd_time = 0. + self.next_cmd_time = self.action_end_time = 0. # Create an "endstop" object to handle the sensor pin pin = config.get('sensor_pin') pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True) @@ -89,10 +89,10 @@ class BLTouchEndstopWrapper: def sync_print_time(self): toolhead = self.printer.lookup_object('toolhead') print_time = toolhead.get_last_move_time() - if self.next_cmd_time > print_time: - toolhead.dwell(self.next_cmd_time - print_time) - else: + if print_time > self.next_cmd_time: self.next_cmd_time = print_time + elif self.action_end_time > print_time: + toolhead.dwell(self.action_end_time - print_time) def send_cmd(self, cmd, duration=MIN_CMD_TIME): self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD) # Translate duration to ticks to avoid any secondary mcu clock skew @@ -100,6 +100,8 @@ class BLTouchEndstopWrapper: cmd_clock = mcu.print_time_to_clock(self.next_cmd_time) cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME)) self.next_cmd_time = mcu.clock_to_print_time(cmd_clock) + if cmd is not None: + self.action_end_time = self.next_cmd_time return self.next_cmd_time def verify_state(self, check_start_time, check_end_time, triggered): # Perform endstop check to verify bltouch reports desired state |