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# Code for state tracking during homing operations
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
HOMING_DELAY = 0.250
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
class Homing:
def __init__(self, toolhead, changed_axes):
self.toolhead = toolhead
self.changed_axes = changed_axes
self.verify_retract = True
def set_no_verify_retract(self):
self.verify_retract = False
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
def _fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = list(self.toolhead.get_position())
for i in range(len(coord)):
if coord[i] is not None:
thcoord[i] = coord[i]
return thcoord
def retract(self, newpos, speed):
self.toolhead.move(self._fill_coord(newpos), speed)
def home(self, forcepos, movepos, steppers, speed, second_home=False):
# Alter kinematics class to think printer is at forcepos
self.toolhead.set_position(self._fill_coord(forcepos))
# Start homing and issue move
if not second_home:
self.toolhead.dwell(HOMING_DELAY)
print_time = self.toolhead.get_last_move_time()
endstops = []
for s in steppers:
for mcu_endstop, mcu_stepper, name in s.get_endstops():
mcu_endstop.home_start(
print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
mcu_stepper.get_step_dist() / speed)
endstops.append((mcu_endstop, mcu_stepper, name,
mcu_stepper.get_mcu_position()))
self.toolhead.move(self._fill_coord(movepos), speed)
move_end_print_time = self.toolhead.get_last_move_time()
self.toolhead.reset_print_time(print_time)
for mcu_endstop, mcu_stepper, name, last_pos in endstops:
mcu_endstop.home_finalize(move_end_print_time)
# Wait for endstops to trigger
for mcu_endstop, mcu_stepper, name, last_pos in endstops:
try:
mcu_endstop.home_wait()
except mcu_endstop.error as e:
raise EndstopError("Failed to home stepper %s: %s" % (
name, str(e)))
post_home_pos = mcu_stepper.get_mcu_position()
if second_home and self.verify_retract and last_pos == post_home_pos:
raise EndstopError("Endstop %s still triggered after retract" % (
name,))
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
def query_endstops(print_time, query_flags, steppers):
if query_flags == "get_mcu_position":
# Only the commanded position is requested
return [(name.upper(), mcu_stepper.get_mcu_position())
for s in steppers
for mcu_endstop, mcu_stepper, name in s.get_endstops()]
for s in steppers:
for mcu_endstop, mcu_stepper, name in s.get_endstops():
mcu_endstop.query_endstop(print_time)
out = []
for s in steppers:
for mcu_endstop, mcu_stepper, name in s.get_endstops():
try:
out.append((name, mcu_endstop.query_endstop_wait()))
except mcu_endstop.error as e:
raise EndstopError(str(e))
return out
class EndstopError(Exception):
pass
def EndstopMoveError(pos, msg="Move out of range"):
return EndstopError("%s: %.3f %.3f %.3f [%.3f]" % (
msg, pos[0], pos[1], pos[2], pos[3]))
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