diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 41 |
1 files changed, 15 insertions, 26 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index 1beebd57..4d5ab505 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -10,20 +10,25 @@ 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, ())) + 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))) - self.states.append((self.do_verify_retract, ())) def plan_calc_position(self, callback): self.states.append((self.do_calc_position, (callback,))) def plan_axes_update(self, callback): @@ -50,13 +55,7 @@ class Homing: thcoord[i] = coord[i] return thcoord def do_retract(self, newpos, steppers, speed): - # Issue a move command self.toolhead.move(self.fill_coord(newpos), speed) - # Query endstops - print_time = self.toolhead.get_last_move_time() - for s in steppers: - es = s.query_endstop(print_time) - self.endstops.append((s.name, es)) return False def do_home(self, forcepos, movepos, steppers, speed): # Alter kinematics class to think printer is at forcepos @@ -65,37 +64,27 @@ class Homing: print_time = self.toolhead.get_last_move_time() for s in steppers: es = s.enable_endstop_checking(print_time, s.step_dist / speed) - self.endstops.append((s.name, es)) + self.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 name, es in self.endstops: + for s, es, last_pos in self.endstops: es.home_finalize(es.print_to_mcu_time(move_end_print_time)) return False - def do_wait_endstop(self): + def do_wait_endstop(self, verify_retract): # Check if endstops have triggered while self.endstops: - name, es = self.endstops[0] + stepper, es, last_pos = self.endstops[0] try: if es.check_busy(self.eventtime): return True except mcu.MCUError, e: raise EndstopError("Failed to home stepper %s: %s" % ( - name, str(e))) - self.endstops.pop(0) - return False - def do_verify_retract(self): - while self.endstops: - name, es = self.endstops[0] - try: - if es.check_busy(self.eventtime): - return True - except mcu.MCUError, e: - raise EndstopError("Failed to retract stepper %s: %s" % ( - name, str(e))) - if es.get_last_triggered(): + stepper.name, str(e))) + post_home_pos = stepper.mcu_stepper.get_mcu_position() + if verify_retract and last_pos == post_home_pos: raise EndstopError("Endstop %s still triggered after retract" % ( - name,)) + stepper.name,)) self.endstops.pop(0) return False def do_calc_position(self, callback): |