diff options
Diffstat (limited to 'klippy/extras/homing.py')
| -rw-r--r-- | klippy/extras/homing.py | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index add209ec..723648c1 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -45,7 +45,7 @@ class StepperPosition: class HomingMove: def __init__(self, printer, endstops, toolhead=None): self.printer = printer - self.endstops = endstops + self.endstops = [es for es in endstops if es[0].get_steppers()] if toolhead is None: toolhead = printer.lookup_object('toolhead') self.toolhead = toolhead @@ -71,7 +71,9 @@ class HomingMove: sname = stepper.get_name() kin_spos[sname] += offsets.get(sname, 0) * stepper.get_step_dist() thpos = self.toolhead.get_position() - return list(kin.calc_position(kin_spos))[:3] + thpos[3:] + cpos = kin.calc_position(kin_spos) + return [cp if cp is not None else tp + for cp, tp in zip(cpos, thpos[:3])] + thpos[3:] def homing_move(self, movepos, speed, probe_pos=False, triggered=True, check_triggered=True): # Notify start of homing/probing move @@ -233,6 +235,10 @@ class Homing: for s in kin.get_steppers()} newpos = kin.calc_position(kin_spos) for axis in force_axes: + if newpos[axis] is None: + raise self.printer.command_error( + "Cannot determine position of toolhead on " + "axis %s after homing" % "xyz"[axis]) homepos[axis] = newpos[axis] self.toolhead.set_position(homepos) |