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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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35
klippy/stepper.py
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@ -21,6 +21,23 @@ class PrinterStepper:
self.homing_positive_dir = config.getboolean(
'homing_positive_dir', False)
self.homing_retract_dist = config.getfloat('homing_retract_dist', 5.)
self.homing_stepper_phases = config.getint('homing_stepper_phases')
self.homing_endstop_phase = config.getint('homing_endstop_phase')
endstop_accuracy = config.getfloat('homing_endstop_accuracy')
self.homing_endstop_accuracy = None
if self.homing_stepper_phases:
if endstop_accuracy is None:
self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
elif self.homing_endstop_phase is not None:
self.homing_endstop_accuracy = int(math.ceil(
endstop_accuracy * self.inv_step_dist / 2.))
else:
self.homing_endstop_accuracy = int(math.ceil(
endstop_accuracy * self.inv_step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases/2:
logging.info("Endstop for %s is not accurate enough for stepper"
" phase adjustment" % (self.config.section,))
self.homing_stepper_phases = None
self.position_min = config.getfloat('position_min', 0.)
self.position_endstop = config.getfloat('position_endstop')
self.position_max = config.getfloat('position_max')
@ -68,3 +85,21 @@ class PrinterStepper:
move_clock = int(self.mcu_endstop.get_print_clock(move_time))
self.mcu_endstop.home(move_clock, int(self.clock_ticks / hz))
return self.mcu_endstop
def get_homed_position(self):
if not self.homing_stepper_phases:
return self.position_endstop
pos = self.mcu_endstop.get_last_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d" % (
self.config.section, pos))
self.homing_endstop_phase = pos
return self.position_endstop
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
delta -= self.homing_stepper_phases
elif delta > self.homing_endstop_accuracy:
logging.error("Endstop %s incorrect phase (got %d vs %d)" % (
self.config.section, pos, self.homing_endstop_phase))
return self.position_endstop
return self.position_endstop + delta * self.step_dist