diff options
Diffstat (limited to 'klippy/extras/homing.py')
| -rw-r--r-- | klippy/extras/homing.py | 43 |
1 files changed, 27 insertions, 16 deletions
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index 75607141..ffcd5a20 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -18,9 +18,12 @@ def multi_complete(printer, completions): # Implementation of homing/probing moves class HomingMove: - def __init__(self, printer): + def __init__(self, printer, endstops, toolhead=None): self.printer = printer - self.toolhead = printer.lookup_object('toolhead') + self.endstops = endstops + if toolhead is None: + toolhead = printer.lookup_object('toolhead') + self.toolhead = toolhead self.end_mcu_pos = [] def _calc_endstop_rate(self, mcu_endstop, movepos, speed): startpos = self.toolhead.get_position() @@ -34,24 +37,27 @@ class HomingMove: if max_steps <= 0.: return .001 return move_t / max_steps - def homing_move(self, movepos, endstops, speed, probe_pos=False): + def homing_move(self, movepos, speed, probe_pos=False, + triggered=True, check_triggered=True): # Notify start of homing/probing move self.printer.send_event("homing:homing_move_begin", - [es for es, name in endstops]) + [es for es, name in self.endstops]) # Note start location self.toolhead.flush_step_generation() kin = self.toolhead.get_kinematics() for s in kin.get_steppers(): s.set_tag_position(s.get_commanded_position()) start_mcu_pos = [(s, name, s.get_mcu_position()) - for es, name in endstops for s in es.get_steppers()] + for es, name in self.endstops + for s in es.get_steppers()] # Start endstop checking print_time = self.toolhead.get_last_move_time() endstop_triggers = [] - for mcu_endstop, name in endstops: + for mcu_endstop, name in self.endstops: rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed) wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME, - ENDSTOP_SAMPLE_COUNT, rest_time) + ENDSTOP_SAMPLE_COUNT, rest_time, + triggered=triggered) endstop_triggers.append(wait) all_endstop_trigger = multi_complete(self.printer, endstop_triggers) self.toolhead.dwell(HOMING_START_DELAY) @@ -63,9 +69,9 @@ class HomingMove: error = "Error during homing move: %s" % (str(e),) # Wait for endstops to trigger move_end_print_time = self.toolhead.get_last_move_time() - for mcu_endstop, name in endstops: + for mcu_endstop, name in self.endstops: did_trigger = mcu_endstop.home_wait(move_end_print_time) - if not did_trigger and error is None: + if not did_trigger and check_triggered and error is None: error = "Failed to home %s: Timeout during homing" % (name,) # Determine stepper halt positions self.toolhead.flush_step_generation() @@ -80,7 +86,7 @@ class HomingMove: # Signal homing/probing move complete try: self.printer.send_event("homing:homing_move_end", - [es for es, name in endstops]) + [es for es, name in self.endstops]) except self.printer.command_error as e: if error is None: error = str(e) @@ -125,8 +131,8 @@ class Homing: # 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) - hmove.homing_move(movepos, endstops, hi.speed) + hmove = HomingMove(self.printer, endstops) + hmove.homing_move(movepos, hi.speed) # Perform second home if hi.retract_dist: # Retract @@ -140,8 +146,8 @@ class Homing: forcepos = [rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)] self.toolhead.set_position(forcepos) - hmove = HomingMove(self.printer) - hmove.homing_move(movepos, endstops, hi.second_homing_speed) + hmove = HomingMove(self.printer, endstops) + hmove.homing_move(movepos, hi.second_homing_speed) if hmove.check_no_movement() is not None: raise self.printer.command_error( "Endstop %s still triggered after retract" @@ -165,10 +171,15 @@ class PrinterHoming: # Register g-code commands gcode = self.printer.lookup_object('gcode') gcode.register_command('G28', self.cmd_G28) + def manual_home(self, toolhead, endstops, pos, speed, + triggered, check_triggered): + hmove = HomingMove(self.printer, endstops, toolhead) + hmove.homing_move(pos, speed, triggered=triggered, + check_triggered=check_triggered) def probing_move(self, mcu_probe, pos, speed): - hmove = HomingMove(self.printer) endstops = [(mcu_probe, "probe")] - epos = hmove.homing_move(pos, endstops, speed, probe_pos=True) + hmove = HomingMove(self.printer, endstops) + epos = hmove.homing_move(pos, speed, probe_pos=True) if hmove.check_no_movement() is not None: raise self.printer.command_error( "Probe triggered prior to movement") |