diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 42 |
1 files changed, 24 insertions, 18 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index c4092fff..a8ad2e70 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -38,41 +38,47 @@ class Homing: print_time = self.toolhead.get_last_move_time() endstops = [] for s in steppers: - s.mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME, - ENDSTOP_SAMPLE_COUNT, s.step_dist / speed) - endstops.append((s, s.mcu_stepper.get_mcu_position())) + for mcu_endstop, mcu_stepper, name in s.get_endstops(): + mcu_endstop.home_start( + print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, + mcu_stepper.get_step_dist() / speed) + endstops.append((mcu_endstop, mcu_stepper, name, + mcu_stepper.get_mcu_position())) self.toolhead.move(self._fill_coord(movepos), speed) move_end_print_time = self.toolhead.get_last_move_time() self.toolhead.reset_print_time(print_time) - for s, last_pos in endstops: - s.mcu_endstop.home_finalize(move_end_print_time) + for mcu_endstop, mcu_stepper, name, last_pos in endstops: + mcu_endstop.home_finalize(move_end_print_time) # Wait for endstops to trigger - for s, last_pos in endstops: + for mcu_endstop, mcu_stepper, name, last_pos in endstops: try: - s.mcu_endstop.home_wait() - except s.mcu_endstop.error as e: + mcu_endstop.home_wait() + except mcu_endstop.error as e: raise EndstopError("Failed to home stepper %s: %s" % ( - s.name, str(e))) - post_home_pos = s.mcu_stepper.get_mcu_position() + name, str(e))) + post_home_pos = mcu_stepper.get_mcu_position() if second_home and self.verify_retract and last_pos == post_home_pos: raise EndstopError("Endstop %s still triggered after retract" % ( - s.name,)) + name,)) def set_homed_position(self, pos): self.toolhead.set_position(self._fill_coord(pos)) def query_endstops(print_time, query_flags, steppers): if query_flags == "get_mcu_position": # Only the commanded position is requested - return [(s.name.upper(), s.mcu_stepper.get_mcu_position()) - for s in steppers] + return [(name.upper(), mcu_stepper.get_mcu_position()) + for s in steppers + for mcu_endstop, mcu_stepper, name in s.get_endstops()] for s in steppers: - s.mcu_endstop.query_endstop(print_time) + for mcu_endstop, mcu_stepper, name in s.get_endstops(): + mcu_endstop.query_endstop(print_time) out = [] for s in steppers: - try: - out.append((s.name, s.mcu_endstop.query_endstop_wait())) - except s.mcu_endstop.error as e: - raise EndstopError(str(e)) + for mcu_endstop, mcu_stepper, name in s.get_endstops(): + try: + out.append((name, mcu_endstop.query_endstop_wait())) + except mcu_endstop.error as e: + raise EndstopError(str(e)) return out class EndstopError(Exception): |