3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-23 14:44:20 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 4

stepper: Support stepper phase adjustments when homing

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

2
klippy/cartesian.py
View file

@ -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)