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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/toolhead.py
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@ -254,7 +254,15 @@ class ToolHead:
move = Move(self, newpos, move_d, axes_d, speed, self.max_xy_accel)
self.move_queue.add_move(move)
def home(self, axes):
return self.kin.home(self, axes)
homing = self.kin.home(self, axes)
def axes_update(axes):
pos = self.get_position()
homepos = self.kin.get_homed_position()
for axis in axes:
pos[axis] = homepos[axis]
self.set_position(pos)
homing.plan_axes_update(axes_update)
return homing
def dwell(self, delay):
self.get_last_move_time()
self.update_move_time(delay)