diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 75 |
1 files changed, 19 insertions, 56 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index b1126b57..1e06f0b9 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -4,91 +4,54 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging -import mcu class Homing: def __init__(self, toolhead, changed_axes): self.toolhead = toolhead self.changed_axes = changed_axes self.verify_retract = True - - self.eventtime = 0. - self.states = [] - self.endstops = [] def set_no_verify_retract(self): self.verify_retract = False def set_axes(self, axes): self.changed_axes = axes def get_axes(self): return self.changed_axes - def plan_home(self, forcepos, movepos, steppers, speed): - self.states.append((self.do_home, (forcepos, movepos, steppers, speed))) - self.states.append((self.do_wait_endstop, (False,))) - def plan_second_home(self, forcepos, movepos, steppers, speed): - self.states.append((self.do_home, (forcepos, movepos, steppers, speed))) - self.states.append((self.do_wait_endstop, (self.verify_retract,))) - def plan_retract(self, newpos, steppers, speed): - self.states.append((self.do_retract, (newpos, steppers, speed))) - def plan_calc_position(self, callback): - self.states.append((self.do_calc_position, (callback,))) - def plan_axes_update(self, callback): - self.states.append((callback, (self,))) - def check_busy(self, eventtime): - self.eventtime = eventtime - while self.states: - first = self.states[0] - try: - ret = first[0](*first[1]) - except EndstopError, e: - self.toolhead.motor_off() - raise - if ret: - return True - self.states.pop(0) - return False - - def fill_coord(self, coord): + 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 do_retract(self, newpos, steppers, speed): - self.toolhead.move(self.fill_coord(newpos), speed) - return False - def do_home(self, forcepos, movepos, steppers, speed): + def retract(self, newpos, speed): + self.toolhead.move(self._fill_coord(newpos), speed) + def home(self, forcepos, movepos, steppers, speed, second_home=False): # Alter kinematics class to think printer is at forcepos - self.toolhead.set_position(self.fill_coord(forcepos)) + self.toolhead.set_position(self._fill_coord(forcepos)) # Start homing and issue move print_time = self.toolhead.get_last_move_time() + endstops = [] for s in steppers: es = s.enable_endstop_checking(print_time, s.step_dist / speed) - self.endstops.append((s, es, s.mcu_stepper.get_mcu_position())) - self.toolhead.move(self.fill_coord(movepos), speed) + endstops.append((s, es, s.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() - for s, es, last_pos in self.endstops: + for s, es, last_pos in endstops: es.home_finalize(es.print_to_mcu_time(move_end_print_time)) - return False - def do_wait_endstop(self, verify_retract): - # Check if endstops have triggered - while self.endstops: - stepper, es, last_pos = self.endstops[0] + # Wait for endstops to trigger + for s, es, last_pos in endstops: try: - if es.check_busy(self.eventtime): - return True - except mcu.error, e: + es.home_wait() + except es.error, e: raise EndstopError("Failed to home stepper %s: %s" % ( - stepper.name, str(e))) - post_home_pos = stepper.mcu_stepper.get_mcu_position() - if verify_retract and last_pos == post_home_pos: + s.name, str(e))) + post_home_pos = s.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" % ( - stepper.name,)) - self.endstops.pop(0) - return False - def do_calc_position(self, callback): - self.toolhead.set_position(self.fill_coord(callback(self))) + s.name,)) + def set_homed_position(self, pos): + self.toolhead.set_position(self._fill_coord(pos)) class EndstopError(Exception): pass |