diff options
| -rw-r--r-- | klippy/homing.py | 37 | ||||
| -rw-r--r-- | klippy/kinematics/cartesian.py | 5 | ||||
| -rw-r--r-- | klippy/kinematics/corexy.py | 5 | ||||
| -rw-r--r-- | klippy/kinematics/delta.py | 3 | ||||
| -rw-r--r-- | klippy/kinematics/polar.py | 5 |
5 files changed, 11 insertions, 44 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index efb44070..a1d010d7 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -5,7 +5,6 @@ # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math, collections -HOMING_STEP_DELAY = 0.00000025 HOMING_START_DELAY = 0.001 ENDSTOP_SAMPLE_TIME = .000015 ENDSTOP_SAMPLE_COUNT = 4 @@ -32,25 +31,15 @@ class Homing: return thcoord 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. - 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 _endstop_notify(self): self.endstops_pending -= 1 if not self.endstops_pending: self.toolhead.signal_drip_mode_end() - def homing_move(self, movepos, endstops, speed, dwell_t=0., + def homing_move(self, movepos, endstops, speed, 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()) @@ -98,42 +87,30 @@ class Homing: raise EndstopError("Probe triggered prior to movement") raise EndstopError( "Endstop %s still triggered after retract" % (name,)) - def home_rails(self, rails, forcepos, movepos, limit_speed=None): + def home_rails(self, rails, forcepos, movepos): # Alter kinematics class to think printer is at forcepos homing_axes = [axis for axis in range(3) if forcepos[axis] is not None] forcepos = self._fill_coord(forcepos) movepos = self._fill_coord(movepos) self.toolhead.set_position(forcepos, homing_axes=homing_axes) - # Determine homing speed + # Perform first home 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) + self.homing_move(movepos, endstops, hi.speed) # Perform second home if hi.retract_dist: # Retract + axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)] 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) + self.toolhead.move(retractpos, hi.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, + self.homing_move(movepos, endstops, hi.second_homing_speed, verify_movement=self.verify_retract) # Signal home operation complete ret = self.printer.send_event("homing:homed_rails", self, rails) diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 0ce28dbe..0aa00f18 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -66,10 +66,7 @@ class CartKinematics: else: forcepos[axis] += 1.5 * (position_max - hi.position_endstop) # Perform homing - limit_speed = None - if axis == 2: - limit_speed = self.max_z_velocity - homing_state.home_rails([rail], forcepos, homepos, limit_speed) + homing_state.home_rails([rail], forcepos, homepos) 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 98db27eb..03580e3e 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -60,10 +60,7 @@ class CoreXYKinematics: else: forcepos[axis] += 1.5 * (position_max - hi.position_endstop) # Perform homing - limit_speed = None - if axis == 2: - limit_speed = self.max_z_velocity - homing_state.home_rails([rail], forcepos, homepos, limit_speed) + homing_state.home_rails([rail], forcepos, homepos) 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 e925cc01..a84f6852 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -101,8 +101,7 @@ class DeltaKinematics: homing_state.set_axes([0, 1, 2]) forcepos = list(self.home_position) forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) - homing_state.home_rails(self.rails, forcepos, self.home_position, - limit_speed=self.max_z_velocity) + homing_state.home_rails(self.rails, forcepos, self.home_position) def motor_off(self, print_time): self.limit_xy2 = -1. for rail in self.rails: diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index 70b314eb..790ce467 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -63,10 +63,7 @@ class PolarKinematics: else: forcepos[axis] += position_max - hi.position_endstop # Perform homing - limit_speed = None - if axis == 2: - limit_speed = self.max_z_velocity - homing_state.home_rails([rail], forcepos, homepos, limit_speed) + homing_state.home_rails([rail], forcepos, homepos) def home(self, homing_state): # Always home XY together homing_axes = homing_state.get_axes() |