diff options
| -rw-r--r-- | klippy/homing.py | 10 | ||||
| -rw-r--r-- | klippy/toolhead.py | 5 |
2 files changed, 11 insertions, 4 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index a8ad2e70..abaafa6a 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -5,7 +5,7 @@ # This file may be distributed under the terms of the GNU GPLv3 license. import logging -HOMING_DELAY = 0.250 +HOMING_STEP_DELAY = 0.00000025 ENDSTOP_SAMPLE_TIME = .000015 ENDSTOP_SAMPLE_COUNT = 4 @@ -34,7 +34,13 @@ class Homing: self.toolhead.set_position(self._fill_coord(forcepos)) # Start homing and issue move if not second_home: - self.toolhead.dwell(HOMING_DELAY) + est_move_d = sum([abs(forcepos[i]-movepos[i]) + for i in range(3) if movepos[i] is not None]) + est_steps = sum( + [est_move_d / mcu_stepper.get_step_dist() + for s in steppers + for mcu_endstop, mcu_stepper, name in s.get_endstops()]) + self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False) print_time = self.toolhead.get_last_move_time() endstops = [] for s in steppers: diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 50fea974..dde40e9b 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -329,10 +329,11 @@ class ToolHead: self._check_stall() def home(self, homing_state): self.kin.home(homing_state) - def dwell(self, delay): + def dwell(self, delay, check_stall=True): self.get_last_move_time() self.update_move_time(delay) - self._check_stall() + if check_stall: + self._check_stall() def motor_off(self): self.dwell(STALL_TIME) last_move_time = self.get_last_move_time() |