diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 34 |
1 files changed, 18 insertions, 16 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index 48144001..b65c3124 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -40,9 +40,12 @@ 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 _homing_move(self, movepos, endstops, speed, probe_pos=False): + def _homing_move(self, movepos, endstops, speed, + probe_pos=False, verify_movement=False): # Start endstop checking 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()] for mcu_endstop, name in endstops: min_step_dist = min([s.get_step_dist() for s in mcu_endstop.get_steppers()]) @@ -74,10 +77,18 @@ class Homing: mcu_endstop.home_finalize() if error is not None: raise EndstopError(error) - def homing_move(self, movepos, endstops, speed, probe_pos=False): - for mcu_endstop, name in endstops: - mcu_endstop.home_prepare() - self._homing_move(movepos, endstops, speed, probe_pos) + # Check if some movement occurred + if verify_movement: + for s, name, pos in start_mcu_pos: + if s.get_mcu_position() == pos: + if probe_pos: + raise EndstopError("Probe triggered prior to movement") + raise EndstopError( + "Endstop %s still triggered after retract" % (name,)) + def probing_move(self, movepos, mcu_probe, speed): + mcu_probe.home_prepare() + self._homing_move(movepos, [(mcu_probe, "probe")], speed, + probe_pos=True, verify_movement=True) def home(self, forcepos, movepos, endstops, speed, second_home=False): if second_home and forcepos == movepos: return @@ -96,18 +107,9 @@ class Homing: for es, n in endstops for s in es.get_steppers()]) self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False) speed = self._get_homing_speed(speed, endstops) - # Setup for retract verification - 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()] # Issue homing move - self._homing_move(movepos, endstops, speed) - # Verify retract led to some movement on second home - if second_home and self.verify_retract: - for s, name, pos in start_mcu_pos: - if s.get_mcu_position() == pos: - raise EndstopError( - "Endstop %s still triggered after retract" % (name,)) + self._homing_move(movepos, endstops, speed, + verify_movement=second_home and self.verify_retract) def home_axes(self, axes): self.changed_axes = axes try: |