diff options
| -rw-r--r-- | docs/Todo.md | 2 | ||||
| -rw-r--r-- | klippy/cartesian.py | 2 | ||||
| -rw-r--r-- | klippy/delta.py | 2 | ||||
| -rw-r--r-- | klippy/homing.py | 32 |
4 files changed, 28 insertions, 10 deletions
diff --git a/docs/Todo.md b/docs/Todo.md index 9b5516ea..dbd75030 100644 --- a/docs/Todo.md +++ b/docs/Todo.md @@ -86,8 +86,6 @@ Safety features can be useful to detect a sensor failure (eg, thermistor short) that could otherwise cause the PID to command excessive heating. -* Verify the endstop is no longer triggered after retraction. - * Possibly implement host based checking on the ratio between extrude amount and head movement. * Enforce acceleration and speed limits on extruder stepper motor. diff --git a/klippy/cartesian.py b/klippy/cartesian.py index f6dc3685..4907f58a 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -58,7 +58,7 @@ class CartKinematics: homing_state.plan_home(list(coord), homepos, [s], s.homing_speed) # Retract coord[axis] = rpos - homing_state.plan_move(list(coord), s.homing_speed) + homing_state.plan_retract(list(coord), [s], s.homing_speed) # Home again coord[axis] = r2pos homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0) diff --git a/klippy/delta.py b/klippy/delta.py index 40df8ab6..9b12cb8a 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -96,7 +96,7 @@ class DeltaKinematics: , s.homing_speed) # Retract coord[2] = homepos[2] - s.homing_retract_dist - homing_state.plan_move(list(coord), s.homing_speed) + homing_state.plan_retract(list(coord), self.steppers, s.homing_speed) # Home again coord[2] -= s.homing_retract_dist homing_state.plan_home(list(coord), homepos, self.steppers diff --git a/klippy/homing.py b/klippy/homing.py index 1cdd2543..1beebd57 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -21,8 +21,9 @@ class Homing: def plan_home(self, forcepos, movepos, steppers, speed): self.states.append((self.do_home, (forcepos, movepos, steppers, speed))) self.states.append((self.do_wait_endstop, ())) - def plan_move(self, newpos, speed): - self.states.append((self.do_move, (newpos, speed))) + def plan_retract(self, newpos, steppers, speed): + self.states.append((self.do_retract, (newpos, steppers, speed))) + self.states.append((self.do_verify_retract, ())) def plan_calc_position(self, callback): self.states.append((self.do_calc_position, (callback,))) def plan_axes_update(self, callback): @@ -48,9 +49,14 @@ class Homing: if coord[i] is not None: thcoord[i] = coord[i] return thcoord - def do_move(self, newpos, speed): + def do_retract(self, newpos, steppers, speed): # Issue a move command self.toolhead.move(self.fill_coord(newpos), speed) + # Query endstops + print_time = self.toolhead.get_last_move_time() + for s in steppers: + es = s.query_endstop(print_time) + self.endstops.append((s.name, es)) return False def do_home(self, forcepos, movepos, steppers, speed): # Alter kinematics class to think printer is at forcepos @@ -68,15 +74,29 @@ class Homing: return False def do_wait_endstop(self): # Check if endstops have triggered - for name, es in self.endstops: + while self.endstops: + name, es = self.endstops[0] try: if es.check_busy(self.eventtime): return True except mcu.MCUError, e: raise EndstopError("Failed to home stepper %s: %s" % ( name, str(e))) - # Finished - del self.endstops[:] + self.endstops.pop(0) + return False + def do_verify_retract(self): + while self.endstops: + name, es = self.endstops[0] + try: + if es.check_busy(self.eventtime): + return True + except mcu.MCUError, e: + raise EndstopError("Failed to retract stepper %s: %s" % ( + name, str(e))) + if es.get_last_triggered(): + raise EndstopError("Endstop %s still triggered after retract" % ( + name,)) + self.endstops.pop(0) return False def do_calc_position(self, callback): self.toolhead.set_position(self.fill_coord(callback(self))) |