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endstop_phase: Calculate phase based on trigger position

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Update the endstop_phase code to use the phase of the stepper motor at
the endstop trigger time.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-06-09 23:34:47 -04:00
parent 3814a13251
commit 65ed55a43b
2 changed files with 34 additions and 28 deletions
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26
klippy/extras/homing.py
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@ -150,13 +150,16 @@ class Homing:
self.printer = printer
self.toolhead = printer.lookup_object('toolhead')
self.changed_axes = []
self.kin_spos = {}
self.trigger_mcu_pos = {}
self.adjust_pos = {}
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
def get_stepper_trigger_positions(self):
return self.kin_spos
def get_trigger_position(self, stepper_name):
return self.trigger_mcu_pos[stepper_name]
def set_stepper_adjustment(self, stepper_name, adjustment):
self.adjust_pos[stepper_name] = adjustment
def _fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = list(self.toolhead.get_position())
@ -200,16 +203,19 @@ class Homing:
% (hmove.check_no_movement(),))
# Signal home operation complete
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
self.kin_spos = dict(kin_spos)
self.trigger_mcu_pos = {sp.stepper_name: sp.trig_pos
for sp in hmove.stepper_positions}
self.adjust_pos = {}
self.printer.send_event("homing:home_rails_end", self, rails)
if kin_spos != self.kin_spos:
if any(self.adjust_pos.values()):
# Apply any homing offsets
adjustpos = kin.calc_position(self.kin_spos)
kin = self.toolhead.get_kinematics()
kin_spos = {s.get_name(): (s.get_commanded_position()
+ self.adjust_pos.get(s.get_name(), 0.))
for s in kin.get_steppers()}
newpos = kin.calc_position(kin_spos)
for axis in homing_axes:
movepos[axis] = adjustpos[axis]
movepos[axis] = newpos[axis]
self.toolhead.set_position(movepos)
class PrinterHoming: