diff options
Diffstat (limited to 'klippy/extras/homing.py')
| -rw-r--r-- | klippy/extras/homing.py | 27 |
1 files changed, 15 insertions, 12 deletions
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index 951f63ae..ff20a8e3 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -174,29 +174,31 @@ class Homing: self.printer.send_event("homing:home_rails_begin", self, rails) # 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) + startpos = self._fill_coord(forcepos) + homepos = self._fill_coord(movepos) + self.toolhead.set_position(startpos, homing_axes=homing_axes) # Perform first home endstops = [es for rail in rails for es in rail.get_endstops()] hi = rails[0].get_homing_info() hmove = HomingMove(self.printer, endstops) - hmove.homing_move(movepos, hi.speed) + hmove.homing_move(homepos, hi.speed) # Perform second home if hi.retract_dist: # Retract - axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)] + startpos = self._fill_coord(forcepos) + homepos = self._fill_coord(movepos) + axes_d = [hp - sp for hp, sp in zip(homepos, startpos)] 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)] + retractpos = [hp - ad * retract_r + for hp, ad in zip(homepos, axes_d)] self.toolhead.move(retractpos, hi.retract_speed) # Home again - forcepos = [rp - ad * retract_r + startpos = [rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)] - self.toolhead.set_position(forcepos) + self.toolhead.set_position(startpos) hmove = HomingMove(self.printer, endstops) - hmove.homing_move(movepos, hi.second_homing_speed) + hmove.homing_move(homepos, hi.second_homing_speed) if hmove.check_no_movement() is not None: raise self.printer.command_error( "Endstop %s still triggered after retract" @@ -210,13 +212,14 @@ class Homing: if any(self.adjust_pos.values()): # Apply any homing offsets kin = self.toolhead.get_kinematics() + homepos = self.toolhead.get_position() kin_spos = {s.get_name(): (s.get_commanded_position() + self.adjust_pos.get(s.get_name(), 0.)) for s in kin.get_steppers()} newpos = kin.calc_position(kin_spos) for axis in homing_axes: - movepos[axis] = newpos[axis] - self.toolhead.set_position(movepos) + homepos[axis] = newpos[axis] + self.toolhead.set_position(homepos) class PrinterHoming: def __init__(self, config): |