diff options
Diffstat (limited to 'klippy/extras/homing.py')
| -rw-r--r-- | klippy/extras/homing.py | 26 |
1 files changed, 16 insertions, 10 deletions
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index 220877e1..951f63ae 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -150,13 +150,16 @@ class Homing: self.printer = printer self.toolhead = printer.lookup_object('toolhead') self.changed_axes = [] - self.kin_spos = {} + self.trigger_mcu_pos = {} + self.adjust_pos = {} def set_axes(self, axes): self.changed_axes = axes def get_axes(self): return self.changed_axes - def get_stepper_trigger_positions(self): - return self.kin_spos + def get_trigger_position(self, stepper_name): + return self.trigger_mcu_pos[stepper_name] + def set_stepper_adjustment(self, stepper_name, adjustment): + self.adjust_pos[stepper_name] = adjustment def _fill_coord(self, coord): # Fill in any None entries in 'coord' with current toolhead position thcoord = list(self.toolhead.get_position()) @@ -200,16 +203,19 @@ class Homing: % (hmove.check_no_movement(),)) # Signal home operation complete self.toolhead.flush_step_generation() - kin = self.toolhead.get_kinematics() - kin_spos = {s.get_name(): s.get_commanded_position() - for s in kin.get_steppers()} - self.kin_spos = dict(kin_spos) + self.trigger_mcu_pos = {sp.stepper_name: sp.trig_pos + for sp in hmove.stepper_positions} + self.adjust_pos = {} self.printer.send_event("homing:home_rails_end", self, rails) - if kin_spos != self.kin_spos: + if any(self.adjust_pos.values()): # Apply any homing offsets - adjustpos = kin.calc_position(self.kin_spos) + kin = self.toolhead.get_kinematics() + 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] = adjustpos[axis] + movepos[axis] = newpos[axis] self.toolhead.set_position(movepos) class PrinterHoming: |