diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/homing.py | 20 |
1 files changed, 14 insertions, 6 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index 50e3176e..48dadaf5 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -40,10 +40,14 @@ class Homing: # Notify endstops of upcoming home for mcu_endstop, name in endstops: mcu_endstop.home_prepare() - # Start endstop checking + # Note start location print_time = self.toolhead.get_last_move_time() + 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()] + # Start endstop checking self.endstops_pending = len(endstops) for mcu_endstop, name in endstops: min_step_dist = min([s.get_step_dist() @@ -66,13 +70,17 @@ class Homing: except mcu_endstop.TimeoutError as e: if error is None: error = "Failed to home %s: %s" % (name, str(e)) + # Determine stepper halt positions + end_mcu_pos = [(s, name, spos, s.get_mcu_position()) + for s, name, spos in start_mcu_pos] if probe_pos: - kin = self.toolhead.get_kinematics() - for s in kin.get_steppers(): - s.set_tag_position(s.get_commanded_position()) + for s, name, spos, epos in end_mcu_pos: + md = (epos - spos) * s.get_step_dist() + s.set_tag_position(s.get_tag_position() + md) self.set_homed_position(kin.calc_tag_position()) else: self.toolhead.set_position(movepos) + # Signal homing complete for mcu_endstop, name in endstops: try: mcu_endstop.home_finalize() @@ -83,8 +91,8 @@ class Homing: raise CommandError(error) # Check if some movement occurred if verify_movement: - for s, name, pos in start_mcu_pos: - if s.get_mcu_position() == pos: + for s, name, spos, epos in end_mcu_pos: + if spos == epos: if probe_pos: raise EndstopError("Probe triggered prior to movement") raise EndstopError( |