diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/bltouch.py | 5 | ||||
| -rw-r--r-- | klippy/extras/homing.py | 43 | ||||
| -rw-r--r-- | klippy/extras/manual_stepper.py | 60 |
3 files changed, 55 insertions, 53 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index e754f93f..c8deee4b 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -195,10 +195,11 @@ class BLTouchEndstopWrapper: for s, mcu_pos in self.start_mcu_pos: if s.get_mcu_position() == mcu_pos: raise self.printer.command_error("BLTouch failed to deploy") - def home_start(self, print_time, sample_time, sample_count, rest_time): + def home_start(self, print_time, sample_time, sample_count, rest_time, + triggered=True): rest_time = min(rest_time, ENDSTOP_REST_TIME) return self.mcu_endstop.home_start(print_time, sample_time, - sample_count, rest_time) + sample_count, rest_time, triggered) def get_position_endstop(self): return self.position_endstop def set_output_mode(self, mode): diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index 75607141..ffcd5a20 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -18,9 +18,12 @@ def multi_complete(printer, completions): # Implementation of homing/probing moves class HomingMove: - def __init__(self, printer): + def __init__(self, printer, endstops, toolhead=None): self.printer = printer - self.toolhead = printer.lookup_object('toolhead') + self.endstops = endstops + if toolhead is None: + toolhead = printer.lookup_object('toolhead') + self.toolhead = toolhead self.end_mcu_pos = [] def _calc_endstop_rate(self, mcu_endstop, movepos, speed): startpos = self.toolhead.get_position() @@ -34,24 +37,27 @@ class HomingMove: if max_steps <= 0.: return .001 return move_t / max_steps - def homing_move(self, movepos, endstops, speed, probe_pos=False): + def homing_move(self, movepos, speed, probe_pos=False, + triggered=True, check_triggered=True): # Notify start of homing/probing move self.printer.send_event("homing:homing_move_begin", - [es for es, name in endstops]) + [es for es, name in self.endstops]) # Note start location self.toolhead.flush_step_generation() kin = self.toolhead.get_kinematics() for s in kin.get_steppers(): s.set_tag_position(s.get_commanded_position()) start_mcu_pos = [(s, name, s.get_mcu_position()) - for es, name in endstops for s in es.get_steppers()] + for es, name in self.endstops + for s in es.get_steppers()] # Start endstop checking print_time = self.toolhead.get_last_move_time() endstop_triggers = [] - for mcu_endstop, name in endstops: + for mcu_endstop, name in self.endstops: rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed) wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME, - ENDSTOP_SAMPLE_COUNT, rest_time) + ENDSTOP_SAMPLE_COUNT, rest_time, + triggered=triggered) endstop_triggers.append(wait) all_endstop_trigger = multi_complete(self.printer, endstop_triggers) self.toolhead.dwell(HOMING_START_DELAY) @@ -63,9 +69,9 @@ class HomingMove: error = "Error during homing move: %s" % (str(e),) # Wait for endstops to trigger move_end_print_time = self.toolhead.get_last_move_time() - for mcu_endstop, name in endstops: + for mcu_endstop, name in self.endstops: did_trigger = mcu_endstop.home_wait(move_end_print_time) - if not did_trigger and error is None: + if not did_trigger and check_triggered and error is None: error = "Failed to home %s: Timeout during homing" % (name,) # Determine stepper halt positions self.toolhead.flush_step_generation() @@ -80,7 +86,7 @@ class HomingMove: # Signal homing/probing move complete try: self.printer.send_event("homing:homing_move_end", - [es for es, name in endstops]) + [es for es, name in self.endstops]) except self.printer.command_error as e: if error is None: error = str(e) @@ -125,8 +131,8 @@ class Homing: # Perform first home endstops = [es for rail in rails for es in rail.get_endstops()] hi = rails[0].get_homing_info() - hmove = HomingMove(self.printer) - hmove.homing_move(movepos, endstops, hi.speed) + hmove = HomingMove(self.printer, endstops) + hmove.homing_move(movepos, hi.speed) # Perform second home if hi.retract_dist: # Retract @@ -140,8 +146,8 @@ class Homing: forcepos = [rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)] self.toolhead.set_position(forcepos) - hmove = HomingMove(self.printer) - hmove.homing_move(movepos, endstops, hi.second_homing_speed) + hmove = HomingMove(self.printer, endstops) + hmove.homing_move(movepos, hi.second_homing_speed) if hmove.check_no_movement() is not None: raise self.printer.command_error( "Endstop %s still triggered after retract" @@ -165,10 +171,15 @@ class PrinterHoming: # Register g-code commands gcode = self.printer.lookup_object('gcode') gcode.register_command('G28', self.cmd_G28) + def manual_home(self, toolhead, endstops, pos, speed, + triggered, check_triggered): + hmove = HomingMove(self.printer, endstops, toolhead) + hmove.homing_move(pos, speed, triggered=triggered, + check_triggered=check_triggered) def probing_move(self, mcu_probe, pos, speed): - hmove = HomingMove(self.printer) endstops = [(mcu_probe, "probe")] - epos = hmove.homing_move(pos, endstops, speed, probe_pos=True) + hmove = HomingMove(self.printer, endstops) + epos = hmove.homing_move(pos, speed, probe_pos=True) if hmove.check_no_movement() is not None: raise self.printer.command_error( "Probe triggered prior to movement") diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index fba23f6a..47f2795e 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -1,14 +1,11 @@ # Support for a manual controlled stepper # -# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2019-2021 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import stepper, chelper from . import force_move -ENDSTOP_SAMPLE_TIME = .000015 -ENDSTOP_SAMPLE_COUNT = 4 - class ManualStepper: def __init__(self, config): self.printer = config.get_printer() @@ -22,7 +19,7 @@ class ManualStepper: self.rail = stepper.PrinterStepper(config) self.steppers = [self.rail] self.velocity = config.getfloat('velocity', 5., above=0.) - self.accel = config.getfloat('accel', 0., minval=0.) + self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.) self.next_cmd_time = 0. # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() @@ -80,37 +77,12 @@ class ManualStepper: if not self.can_home: raise self.printer.command_error( "No endstop for this manual stepper") - # Notify start of homing/probing move - endstops = self.rail.get_endstops() - self.printer.send_event("homing:homing_move_begin", - [es for es, name in endstops]) - # Start endstop checking - self.sync_print_time() + self.homing_accel = accel + pos = [movepos, 0., 0., 0.] endstops = self.rail.get_endstops() - for mcu_endstop, name in endstops: - min_step_dist = min([s.get_step_dist() - for s in mcu_endstop.get_steppers()]) - mcu_endstop.home_start( - self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, - min_step_dist / speed, triggered=triggered) - # Issue move - self.do_move(movepos, speed, accel) - # Wait for endstops to trigger - error = None - for mcu_endstop, name in endstops: - did_trigger = mcu_endstop.home_wait(self.next_cmd_time) - if not did_trigger and check_trigger and error is None: - error = "Failed to home %s: Timeout during homing" % (name,) - # Signal homing/probing move complete - try: - self.printer.send_event("homing:homing_move_end", - [es for es, name in endstops]) - except CommandError as e: - if error is None: - error = str(e) - self.sync_print_time() - if error is not None: - raise self.printer.command_error(error) + phoming = self.printer.lookup_object('homing') + phoming.manual_home(self, endstops, pos, speed, + triggered, check_trigger) cmd_MANUAL_STEPPER_help = "Command a manually configured stepper" def cmd_MANUAL_STEPPER(self, gcmd): enable = gcmd.get_int('ENABLE', None) @@ -132,6 +104,24 @@ class ManualStepper: self.do_move(movepos, speed, accel, sync) elif gcmd.get_int('SYNC', 0): self.sync_print_time() + # Toolhead wrappers to support homing + def flush_step_generation(self): + self.sync_print_time() + def get_position(self): + return [self.rail.get_commanded_position(), 0., 0., 0.] + def set_position(self, newpos, homing_axes=()): + self.do_set_position(newpos[0]) + def get_last_move_time(self): + self.sync_print_time() + return self.next_cmd_time + def dwell(self, delay): + self.next_cmd_time += max(0., delay) + def drip_move(self, newpos, speed, drip_completion): + self.do_move(newpos[0], speed, self.homing_accel) + def get_kinematics(self): + return self + def get_steppers(self): + return self.steppers def load_config_prefix(config): return ManualStepper(config) |