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Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 159 |
1 files changed, 0 insertions, 159 deletions
diff --git a/klippy/homing.py b/klippy/homing.py deleted file mode 100644 index 49f5a8dc..00000000 --- a/klippy/homing.py +++ /dev/null @@ -1,159 +0,0 @@ -# Code for state tracking during homing operations -# -# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net> -# -# This file may be distributed under the terms of the GNU GPLv3 license. -import logging, math, collections - -HOMING_START_DELAY = 0.001 -ENDSTOP_SAMPLE_TIME = .000015 -ENDSTOP_SAMPLE_COUNT = 4 - -class Homing: - def __init__(self, printer): - self.printer = printer - self.toolhead = printer.lookup_object('toolhead') - self.changed_axes = [] - self.verify_retract = True - if self.printer.get_start_args().get("debuginput"): - self.verify_retract = False - def set_axes(self, axes): - self.changed_axes = axes - def get_axes(self): - return self.changed_axes - def _fill_coord(self, coord): - # Fill in any None entries in 'coord' with current toolhead position - thcoord = list(self.toolhead.get_position()) - for i in range(len(coord)): - if coord[i] is not None: - thcoord[i] = coord[i] - return thcoord - def set_homed_position(self, pos): - self.toolhead.set_position(self._fill_coord(pos)) - def _calc_endstop_rate(self, mcu_endstop, movepos, speed): - startpos = self.toolhead.get_position() - axes_d = [mp - sp for mp, sp in zip(movepos, startpos)] - move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) - move_t = move_d / speed - max_steps = max([(abs(s.calc_position_from_coord(startpos) - - s.calc_position_from_coord(movepos)) - / s.get_step_dist()) - for s in mcu_endstop.get_steppers()]) - if max_steps <= 0.: - return .001 - return move_t / max_steps - def homing_move(self, movepos, endstops, speed, - probe_pos=False, verify_movement=False): - # Notify start of homing/probing move - self.printer.send_event("homing:homing_move_begin", - [es for es, name in endstops]) - # Note start location - self.toolhead.flush_step_generation() - kin = self.toolhead.get_kinematics() - for s in kin.get_steppers(): - s.set_tag_position(s.get_commanded_position()) - start_mcu_pos = [(s, name, s.get_mcu_position()) - for es, name in endstops for s in es.get_steppers()] - # Start endstop checking - print_time = self.toolhead.get_last_move_time() - endstop_triggers = [] - for mcu_endstop, name in endstops: - rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed) - wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME, - ENDSTOP_SAMPLE_COUNT, rest_time) - endstop_triggers.append(wait) - all_endstop_trigger = multi_complete(self.printer, endstop_triggers) - self.toolhead.dwell(HOMING_START_DELAY) - # Issue move - error = None - try: - self.toolhead.drip_move(movepos, speed, all_endstop_trigger) - 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() - for mcu_endstop, name in endstops: - did_trigger = mcu_endstop.home_wait(move_end_print_time) - if not did_trigger and error is None: - error = "Failed to home %s: Timeout during homing" % (name,) - # Determine stepper halt positions - self.toolhead.flush_step_generation() - end_mcu_pos = [(s, name, spos, s.get_mcu_position()) - for s, name, spos in start_mcu_pos] - if probe_pos: - for s, name, spos, epos in end_mcu_pos: - md = (epos - spos) * s.get_step_dist() - s.set_tag_position(s.get_tag_position() + md) - self.set_homed_position(kin.calc_tag_position()) - else: - self.toolhead.set_position(movepos) - # Signal homing/probing move complete - try: - self.printer.send_event("homing:homing_move_end", - [es for es, name in endstops]) - except CommandError as e: - if error is None: - error = str(e) - if error is not None: - raise CommandError(error) - # Check if some movement occurred - if verify_movement: - for s, name, spos, epos in end_mcu_pos: - if spos == epos: - if probe_pos: - raise CommandError("Probe triggered prior to movement") - raise CommandError( - "Endstop %s still triggered after retract" % (name,)) - def home_rails(self, rails, forcepos, movepos): - # Notify of upcoming homing operation - self.printer.send_event("homing:home_rails_begin", rails) - # Alter kinematics class to think printer is at forcepos - homing_axes = [axis for axis in range(3) if forcepos[axis] is not None] - forcepos = self._fill_coord(forcepos) - movepos = self._fill_coord(movepos) - self.toolhead.set_position(forcepos, homing_axes=homing_axes) - # Perform first home - endstops = [es for rail in rails for es in rail.get_endstops()] - hi = rails[0].get_homing_info() - self.homing_move(movepos, endstops, hi.speed) - # Perform second home - if hi.retract_dist: - # Retract - axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)] - move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) - retract_r = min(1., hi.retract_dist / move_d) - retractpos = [mp - ad * retract_r - for mp, ad in zip(movepos, axes_d)] - self.toolhead.move(retractpos, hi.retract_speed) - # Home again - forcepos = [rp - ad * retract_r - for rp, ad in zip(retractpos, axes_d)] - self.toolhead.set_position(forcepos) - self.homing_move(movepos, endstops, hi.second_homing_speed, - verify_movement=self.verify_retract) - # Signal home operation complete - self.toolhead.flush_step_generation() - kin = self.toolhead.get_kinematics() - for s in kin.get_steppers(): - s.set_tag_position(s.get_commanded_position()) - ret = self.printer.send_event("homing:home_rails_end", rails) - if any(ret): - # Apply any homing offsets - adjustpos = kin.calc_tag_position() - for axis in homing_axes: - movepos[axis] = adjustpos[axis] - self.toolhead.set_position(movepos) - def home_axes(self, axes): - self.changed_axes = axes - try: - self.toolhead.get_kinematics().home(self) - except CommandError: - self.printer.lookup_object('stepper_enable').motor_off() - raise - -# Return a completion that completes when all completions in a list complete -def multi_complete(printer, completions): - if len(completions) == 1: - return completions[0] - cb = (lambda e: all([c.wait() for c in completions])) - return printer.get_reactor().register_callback(cb) |