diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index 9f56a6e9..3a926083 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -3,7 +3,7 @@ # Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import logging +import logging, math HOMING_STEP_DELAY = 0.00000025 ENDSTOP_SAMPLE_TIME = .000015 @@ -31,6 +31,15 @@ class Homing: self.toolhead.move(self._fill_coord(newpos), speed) 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. + speed = min(speed, self.toolhead.get_max_velocity()[0]) + 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 homing_move(self, movepos, endstops, speed): # Start endstop checking print_time = self.toolhead.get_last_move_time() @@ -67,6 +76,7 @@ class Homing: est_steps = sum([est_move_d / s.get_step_dist() for es, n in endstops for s in es.get_steppers()]) self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False) + speed = self._get_homing_speed(speed, endstops) # Setup for retract verification self.toolhead.get_last_move_time() start_mcu_pos = [(s, name, s.get_mcu_position()) |