diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 57 |
1 files changed, 0 insertions, 57 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index dcbc9484..786ea2ee 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -162,63 +162,6 @@ class PrinterRail: raise config.error( "Unable to infer homing_positive_dir in section '%s'" % ( config.get_name(),)) - # Endstop stepper phase position tracking - self.homing_stepper_phases = config.getint( - 'homing_stepper_phases', None, minval=0) - endstop_accuracy = config.getfloat( - 'homing_endstop_accuracy', None, above=0.) - self.homing_endstop_accuracy = self.homing_endstop_phase = None - if self.homing_stepper_phases: - self.homing_step_dist = step_dist = stepper.get_step_dist() - 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 - and config.getboolean('homing_endstop_align_zero', False)): - # 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) * step_dist - full_step = micro_steps * 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: - self.homing_endstop_accuracy = int(math.ceil( - endstop_accuracy * .5 / step_dist)) - else: - self.homing_endstop_accuracy = int(math.ceil( - endstop_accuracy / step_dist)) - if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2: - logging.info("Endstop for %s is not accurate enough for stepper" - " phase adjustment", self.name) - self.homing_stepper_phases = None - if mcu_endstop.get_mcu().is_fileoutput(): - self.homing_endstop_accuracy = self.homing_stepper_phases - def get_homed_offset(self): - if not self.homing_stepper_phases: - return 0. - pos = self.steppers[0].get_mcu_position() - pos %= self.homing_stepper_phases - if self.homing_endstop_phase is None: - logging.info("Setting %s endstop phase to %d", self.name, pos) - self.homing_endstop_phase = pos - return 0. - delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases - if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy: - delta -= self.homing_stepper_phases - elif delta > self.homing_endstop_accuracy: - raise homing.EndstopError( - "Endstop %s incorrect phase (got %d vs %d)" % ( - self.name, pos, self.homing_endstop_phase)) - return delta * self.homing_step_dist def get_range(self): return self.position_min, self.position_max def get_homing_info(self): |