diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 5040ce9e..6e75413b 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -86,6 +86,20 @@ class PrinterHomingStepper(PrinterStepper): self.homing_endstop_phase = config.getint( 'homing_endstop_phase', None, minval=0 , maxval=self.homing_stepper_phases-1) + if self.homing_endstop_phase is not None: + # Adjust the endstop position so 0.0 is always at a full step + micro_steps = self.homing_stepper_phases // 4 + phase_offset = ( + ((self.homing_endstop_phase + micro_steps // 2) % micro_steps) + - micro_steps // 2) * self.step_dist + full_step = micro_steps * self.step_dist + es_pos = (int(self.position_endstop / full_step + .5) * full_step + + phase_offset) + if es_pos != self.position_endstop: + logging.info("Changing %s endstop position to %.3f" + " (from %.3f)", self.name, es_pos, + self.position_endstop) + self.position_endstop = es_pos if endstop_accuracy is None: self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1 elif self.homing_endstop_phase is not None: |