diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 13 |
1 files changed, 9 insertions, 4 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index c6e1ba83..efb44070 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -16,6 +16,7 @@ class Homing: self.toolhead = printer.lookup_object('toolhead') self.changed_axes = [] self.verify_retract = True + self.endstops_pending = -1 def set_no_verify_retract(self): self.verify_retract = False def set_axes(self, axes): @@ -39,6 +40,10 @@ class Homing: dist_ticks = adjusted_freq * mcu_stepper.get_step_dist() ticks_per_step = math.ceil(dist_ticks / speed) return dist_ticks / ticks_per_step + def _endstop_notify(self): + self.endstops_pending -= 1 + if not self.endstops_pending: + self.toolhead.signal_drip_mode_end() def homing_move(self, movepos, endstops, speed, dwell_t=0., probe_pos=False, verify_movement=False): # Notify endstops of upcoming home @@ -50,22 +55,22 @@ class Homing: print_time = self.toolhead.get_last_move_time() start_mcu_pos = [(s, name, s.get_mcu_position()) for es, name in endstops for s in es.get_steppers()] + self.endstops_pending = len(endstops) for mcu_endstop, name in endstops: min_step_dist = min([s.get_step_dist() for s in mcu_endstop.get_steppers()]) mcu_endstop.home_start( print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, - min_step_dist / speed) - self.toolhead.dwell(HOMING_START_DELAY, check_stall=False) + min_step_dist / speed, notify=self._endstop_notify) + self.toolhead.dwell(HOMING_START_DELAY) # Issue move error = None try: - self.toolhead.move(movepos, speed) + self.toolhead.drip_move(movepos, speed) except CommandError as e: error = "Error during homing move: %s" % (str(e),) # Wait for endstops to trigger move_end_print_time = self.toolhead.get_last_move_time() - self.toolhead.reset_print_time(print_time) for mcu_endstop, name in endstops: try: mcu_endstop.home_wait(move_end_print_time) |