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* mcu: Pass print_time directly to MCU callsKevin O'Connor2017-09-191-1/+1
| | | | | | | | | Now that the print_time is always synchronized with the mcu_time, there is no longer a need to track mcu_time as a separate quantity. Eliminate references to mcu_time from the code and pass print_time directly in its place. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Add a small delay before each homing operationKevin O'Connor2017-08-291-1/+5
| | | | | | | | | | | The homing operation can be cpu intensive for the host software. Add a small (250ms) delay before homing so that the host has additional time to process the command before it is due on the mcu. This is intended to work around some reports of "timer too close" errors during Z homing on RPi2 hosts and printers with high precision Z positioning. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Add get_mcu() call to the mcu oid objectsKevin O'Connor2017-08-291-1/+1
| | | | | | | | | Allow external code to obtain the mcu object that controls a pin setup with setup_pin(). Also, don't bother defining print_to_mcu_time() and system_to_mcu_time() on each pin object as they can be obtained via the new get_mcu() method. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Use newer "except XYZError as e" python syntaxKevin O'Connor2017-06-101-1/+1
| | | | | | Use the newer syntax for python exceptions. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* gcode: Rework homing to use greenletsKevin O'Connor2016-12-091-56/+19
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* gcode: Rework endstop query to use greenletsKevin O'Connor2016-12-091-34/+0
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: No need to define __str__ and __init__ methods on exception classesKevin O'Connor2016-11-291-6/+3
| | | | | | The base Exception class already defines these methods. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Check homing distance to verify endstop trigger after retractKevin O'Connor2016-11-281-26/+15
| | | | | | | | | Instead of checking the endstop trigger directly after a retract move, verify some distance is traveled during the following homing operation. This reduces the amount of synchronization between mcu and host during homing. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Verify the endstops are no longer triggered after retract moveKevin O'Connor2016-11-181-6/+26
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Check for timeout during homing operationKevin O'Connor2016-11-181-12/+24
| | | | | | | | Should a homing move complete without hitting the endstop, then disable motors, disable the endstop checking, and report the error to the user. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Add EndstopMoveError wrapper around EndstopErrorKevin O'Connor2016-11-181-5/+7
| | | | | | | | Allow an EndstopError to be raised without a destination position. Introduce EndstopMoveError wrapper so that current callers can continue to pass in a move destination. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Direct stepper phase detection from kinematic classesKevin O'Connor2016-11-181-5/+8
| | | | | | | | Change the scheduling of the final homed position (which takes into account the stepper phases) so that it is scheduled from the kinematic classes instead of from the toolhead class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Create Homing class from gcodeKevin O'Connor2016-11-181-1/+5
| | | | | | | | Create the Homing class in the gcode handler instead of in the kinematic classes. This will make it easier to pass error messages back to the user. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Create QueryEndstops class from gcodeKevin O'Connor2016-11-181-7/+12
| | | | | | | | | | | Create the QueryEndstops in the gcode handler instead of in the kinematic classes. This simplifies the gcode handler as it can directly register its response callback. Also, store the stepper name in the stepper class. Also, propagate the print_time of the query request to the mcu_endstop class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* cartesian: Enforce endstop min and max boundariesKevin O'Connor2016-09-301-0/+8
| | | | | | | Verify that each move command is within range of the configured minimum and maximum for each axis. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Support querying the current status of endstopsKevin O'Connor2016-09-221-1/+29
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: convert stepper, endstop, and digital_out to take mcu_timeKevin O'Connor2016-08-241-2/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Move low-level coordinate manipulation to kinematic classKevin O'Connor2016-07-251-46/+29
| | | | | | | Rework the code so that the kinematic class (currently just cartesian.py) has more control over the homing process. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* cartesian: Rename CartKinematics class to ToolHeadKevin O'Connor2016-07-101-9/+9
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* Initial commit of source code.Kevin O'Connor2016-05-251-0/+82
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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