diff options
| -rw-r--r-- | klippy/extras/bltouch.py | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index 902703ad..7276c361 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -59,6 +59,10 @@ class BLTouchEndstopWrapper: kin = self.printer.lookup_object('toolhead').get_kinematics() for stepper in kin.get_steppers('Z'): stepper.add_to_endstop(self) + def sync_mcu_print_time(self): + curtime = self.printer.get_reactor().monotonic() + est_time = self.mcu_pwm.get_mcu().estimated_print_time(curtime) + self.next_cmd_time = max(self.next_cmd_time, est_time + MIN_CMD_TIME) def sync_print_time(self): toolhead = self.printer.lookup_object('toolhead') print_time = toolhead.get_last_move_time() @@ -100,14 +104,14 @@ class BLTouchEndstopWrapper: def home_prepare(self): self.test_sensor() self.sync_print_time() - self.send_cmd('pin_down', duration=self.pin_move_time) - self.send_cmd('touch_mode') + self.send_cmd('pin_down', duration=self.pin_move_time - MIN_CMD_TIME) + self.send_cmd(None) self.sync_print_time() self.mcu_endstop.home_prepare() self.start_mcu_pos = [(s, s.get_mcu_position()) for s in self.mcu_endstop.get_steppers()] def home_finalize(self): - self.sync_print_time() + self.sync_mcu_print_time() self.send_cmd('reset') self.send_cmd('pin_up', duration=self.pin_move_time - MIN_CMD_TIME) self.send_cmd(None) |