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toolhead: Add a move.move_error() helper
Move the EndstopMoveError() code from homing.py to a new method in the toolhead Move class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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9 changed files with 21 additions and 26 deletions
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@ -94,18 +94,17 @@ class PolarKinematics:
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xy2 = end_pos[0]**2 + end_pos[1]**2
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if xy2 > self.limit_xy2:
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if self.limit_xy2 < 0.:
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raise homing.EndstopMoveError(end_pos, "Must home axis first")
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raise homing.EndstopMoveError(end_pos)
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raise move.move_error("Must home axis first")
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raise move.move_error()
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if move.axes_d[2]:
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if end_pos[2] < self.limit_z[0] or end_pos[2] > self.limit_z[1]:
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if self.limit_z[0] > self.limit_z[1]:
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raise homing.EndstopMoveError(
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end_pos, "Must home axis first")
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raise homing.EndstopMoveError(end_pos)
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raise move.move_error("Must home axis first")
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raise move.move_error()
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# Move with Z - update velocity and accel for slower Z axis
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z_ratio = move.move_d / abs(move.axes_d[2])
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move.limit_speed(
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self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
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move.limit_speed(self.max_z_velocity * z_ratio,
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self.max_z_accel * z_ratio)
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def get_status(self, eventtime):
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xy_home = "xy" if self.limit_xy2 >= 0. else ""
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z_home = "z" if self.limit_z[0] <= self.limit_z[1] else ""
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