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stepper: Support stepper phase adjustments when homing

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Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-26 22:06:14 -04:00
parent 170389ef14
commit 654546e338
6 changed files with 81 additions and 2 deletions
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klippy/cartesian.py
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@ -33,6 +33,8 @@ class CartKinematics:
accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
for i in StepList if axes_d[i]])
return velocity_factor * move_d, accel_factor * move_d
def get_homed_position(self):
return [s.get_homed_position() for s in self.steppers]
def home(self, toolhead, axes):
# Each axis is homed independently and in order
homing_state = homing.Homing(toolhead, axes)