diff options
| -rw-r--r-- | klippy/extras/probe.py | 4 | ||||
| -rw-r--r-- | klippy/homing.py | 71 | ||||
| -rw-r--r-- | klippy/kinematics/cartesian.py | 38 | ||||
| -rw-r--r-- | klippy/kinematics/corexy.py | 41 | ||||
| -rw-r--r-- | klippy/kinematics/delta.py | 19 |
5 files changed, 73 insertions, 100 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 87edfdb6..865b240b 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -50,8 +50,10 @@ class PrinterProbe: homing_state = homing.Homing(toolhead) pos = toolhead.get_position() pos[2] = self.z_position + endstops = [(self.mcu_probe, "probe")] try: - homing_state.probing_move(pos, self.mcu_probe, self.speed) + homing_state.homing_move(pos, endstops, self.speed, + probe_pos=True, verify_movement=True) except homing.EndstopError as e: reason = str(e) if "Timeout during endstop homing" in reason: diff --git a/klippy/homing.py b/klippy/homing.py index b65c3124..c53a65d4 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -27,21 +27,23 @@ class Homing: if coord[i] is not None: thcoord[i] = coord[i] return thcoord - def retract(self, newpos, speed): - self.toolhead.move(self._fill_coord(newpos), speed) def set_homed_position(self, pos): self.toolhead.set_position(self._fill_coord(pos)) def _get_homing_speed(self, speed, endstops): # Round the requested homing speed so that it is an even # number of ticks per step. - speed = min(speed, self.toolhead.get_max_velocity()[0]) mcu_stepper = endstops[0][0].get_steppers()[0] adjusted_freq = mcu_stepper.get_mcu().get_adjusted_freq() dist_ticks = adjusted_freq * mcu_stepper.get_step_dist() ticks_per_step = math.ceil(dist_ticks / speed) return dist_ticks / ticks_per_step - def _homing_move(self, movepos, endstops, speed, - probe_pos=False, verify_movement=False): + def homing_move(self, movepos, endstops, speed, dwell_t=0., + probe_pos=False, verify_movement=False): + # Notify endstops of upcoming home + for mcu_endstop, name in endstops: + mcu_endstop.home_prepare() + if dwell_t: + self.toolhead.dwell(dwell_t, check_stall=False) # Start endstop checking print_time = self.toolhead.get_last_move_time() start_mcu_pos = [(s, name, s.get_mcu_position()) @@ -53,7 +55,6 @@ class Homing: print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, min_step_dist / speed) # Issue move - movepos = self._fill_coord(movepos) error = None try: self.toolhead.move(movepos, speed) @@ -85,31 +86,43 @@ class Homing: raise EndstopError("Probe triggered prior to movement") raise EndstopError( "Endstop %s still triggered after retract" % (name,)) - def probing_move(self, movepos, mcu_probe, speed): - mcu_probe.home_prepare() - self._homing_move(movepos, [(mcu_probe, "probe")], speed, - probe_pos=True, verify_movement=True) - def home(self, forcepos, movepos, endstops, speed, second_home=False): - if second_home and forcepos == movepos: - return + def home_rails(self, rails, forcepos, movepos, limit_speed=None): # Alter kinematics class to think printer is at forcepos homing_axes = [axis for axis in range(3) if forcepos[axis] is not None] - self.toolhead.set_position( - self._fill_coord(forcepos), homing_axes=homing_axes) - # Notify endstops of upcoming home - for mcu_endstop, name in endstops: - mcu_endstop.home_prepare() - # Add a CPU delay when homing a large axis - if not second_home: - 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 / s.get_step_dist() - for es, n in endstops for s in es.get_steppers()]) - self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False) - speed = self._get_homing_speed(speed, endstops) - # Issue homing move - self._homing_move(movepos, endstops, speed, - verify_movement=second_home and self.verify_retract) + forcepos = self._fill_coord(forcepos) + movepos = self._fill_coord(movepos) + self.toolhead.set_position(forcepos, homing_axes=homing_axes) + # Determine homing speed + endstops = [es for rail in rails for es in rail.get_endstops()] + hi = rails[0].get_homing_info() + max_velocity = self.toolhead.get_max_velocity()[0] + if limit_speed is not None and limit_speed < max_velocity: + max_velocity = limit_speed + homing_speed = min(hi.speed, max_velocity) + homing_speed = self._get_homing_speed(homing_speed, endstops) + second_homing_speed = min(hi.second_homing_speed, max_velocity) + # Calculate a CPU delay when homing a large axis + axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)] + est_move_d = abs(axes_d[0]) + abs(axes_d[1]) + abs(axes_d[2]) + est_steps = sum([est_move_d / s.get_step_dist() + for es, n in endstops for s in es.get_steppers()]) + dwell_t = est_steps * HOMING_STEP_DELAY + # Perform first home + self.homing_move(movepos, endstops, homing_speed, dwell_t=dwell_t) + # Perform second home + if hi.retract_dist: + # Retract + move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) + retract_r = min(1., hi.retract_dist / move_d) + retractpos = [mp - ad * retract_r + for mp, ad in zip(movepos, axes_d)] + self.toolhead.move(retractpos, homing_speed) + # Home again + forcepos = [rp - ad * retract_r + for rp, ad in zip(retractpos, axes_d)] + self.toolhead.set_position(forcepos) + self.homing_move(movepos, endstops, second_homing_speed, + verify_movement=self.verify_retract) def home_axes(self, axes): self.changed_axes = axes try: diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index e6882061..6e971fb5 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -55,38 +55,24 @@ class CartKinematics: if i in homing_axes: self.limits[i] = rail.get_range() def _home_axis(self, homing_state, axis, rail): - # Determine moves + # Determine movement position_min, position_max = rail.get_range() hi = rail.get_homing_info() + homepos = [None, None, None, None] + homepos[axis] = hi.position_endstop + forcepos = list(homepos) if hi.positive_dir: - pos = hi.position_endstop - 1.5*(hi.position_endstop - position_min) - rpos = hi.position_endstop - hi.retract_dist - r2pos = rpos - hi.retract_dist + forcepos[axis] -= 1.5 * (hi.position_endstop - position_min) else: - pos = hi.position_endstop + 1.5*(position_max - hi.position_endstop) - rpos = hi.position_endstop + hi.retract_dist - r2pos = rpos + hi.retract_dist - # Initial homing - homing_speed = hi.speed - second_homing_speed = hi.second_homing_speed + forcepos[axis] += 1.5 * (position_max - hi.position_endstop) + # Perform homing + limit_speed = None if axis == 2: - homing_speed = min(homing_speed, self.max_z_velocity) - second_homing_speed = min(second_homing_speed, self.max_z_velocity) - homepos = [None, None, None, None] - homepos[axis] = hi.position_endstop - coord = [None, None, None, None] - coord[axis] = pos - homing_state.home(coord, homepos, rail.get_endstops(), homing_speed) - # Retract - coord[axis] = rpos - homing_state.retract(coord, homing_speed) - # Home again - coord[axis] = r2pos - homing_state.home(coord, homepos, rail.get_endstops(), - second_homing_speed, second_home=True) + limit_speed = self.max_z_velocity + homing_state.home_rails([rail], forcepos, homepos, limit_speed) # Set final homed position - coord[axis] = hi.position_endstop + rail.get_homed_offset() - homing_state.set_homed_position(coord) + forcepos[axis] = hi.position_endstop + rail.get_homed_offset() + homing_state.set_homed_position(forcepos) def home(self, homing_state): # Each axis is homed independently and in order for axis in homing_state.get_axes(): diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 4121c4b6..99f48fbf 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -48,42 +48,25 @@ class CoreXYKinematics: # Each axis is homed independently and in order for axis in homing_state.get_axes(): rail = self.rails[axis] - # Determine moves + # Determine movement position_min, position_max = rail.get_range() hi = rail.get_homing_info() + homepos = [None, None, None, None] + homepos[axis] = hi.position_endstop + forcepos = list(homepos) if hi.positive_dir: - pos = hi.position_endstop - 1.5*( - hi.position_endstop - position_min) - rpos = hi.position_endstop - hi.retract_dist - r2pos = rpos - hi.retract_dist + forcepos[axis] -= 1.5 * (hi.position_endstop - position_min) else: - pos = hi.position_endstop + 1.5*( - position_max - hi.position_endstop) - rpos = hi.position_endstop + hi.retract_dist - r2pos = rpos + hi.retract_dist - # Initial homing - homing_speed = hi.speed - second_homing_speed = hi.second_homing_speed + forcepos[axis] += 1.5 * (position_max - hi.position_endstop) + # Perform homing + limit_speed = None if axis == 2: - homing_speed = min(homing_speed, self.max_z_velocity) - second_homing_speed = min(second_homing_speed, - self.max_z_velocity) - homepos = [None, None, None, None] - homepos[axis] = hi.position_endstop - coord = [None, None, None, None] - coord[axis] = pos - homing_state.home(coord, homepos, rail.get_endstops(), homing_speed) - # Retract - coord[axis] = rpos - homing_state.retract(coord, homing_speed) - # Home again - coord[axis] = r2pos - homing_state.home(coord, homepos, rail.get_endstops(), - second_homing_speed, second_home=True) + limit_speed = self.max_z_velocity + homing_state.home_rails([rail], forcepos, homepos, limit_speed) if axis == 2: # Support endstop phase detection on Z axis - coord[axis] = hi.position_endstop + rail.get_homed_offset() - homing_state.set_homed_position(coord) + forcepos[axis] = hi.position_endstop + rail.get_homed_offset() + homing_state.set_homed_position(forcepos) def motor_off(self, print_time): self.limits = [(1.0, -1.0)] * 3 for rail in self.rails: diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index f340f9b4..6be91661 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -97,22 +97,11 @@ class DeltaKinematics: def home(self, homing_state): # All axes are homed simultaneously homing_state.set_axes([0, 1, 2]) - endstops = [es for rail in self.rails for es in rail.get_endstops()] - # Initial homing - assume homing speed same for all steppers - hi = self.rails[0].get_homing_info() - homing_speed = min(hi.speed, self.max_z_velocity) - second_homing_speed = min(hi.second_homing_speed, self.max_z_velocity) homepos = [0., 0., self.max_z, None] - coord = list(homepos) - coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) - homing_state.home(coord, homepos, endstops, homing_speed) - # Retract - coord[2] = homepos[2] - hi.retract_dist - homing_state.retract(coord, homing_speed) - # Home again - coord[2] -= hi.retract_dist - homing_state.home(coord, homepos, endstops, - second_homing_speed, second_home=True) + forcepos = list(homepos) + forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) + homing_state.home_rails(self.rails, forcepos, homepos, + limit_speed=self.max_z_velocity) # Set final homed position spos = [ep + rail.get_homed_offset() for ep, rail in zip(self.abs_endstops, self.rails)] |