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homing: Move low-level coordinate manipulation to kinematic class

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Rework the code so that the kinematic class (currently just
cartesian.py) has more control over the homing process.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-25 23:47:30 -04:00
parent e9c03f2e4a
commit 92f81d51f4
4 changed files with 70 additions and 64 deletions
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31
klippy/cartesian.py
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@ -33,11 +33,34 @@ 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 home(self, toolhead, axis):
def home(self, toolhead, axes):
# Each axis is homed independently and in order
homing_state = homing.Homing(toolhead, self.steppers) # XXX
for a in axis:
homing_state.plan_home(a)
homing_state = homing.Homing(toolhead, axes)
for axis in axes:
s = self.steppers[axis]
# Determine moves
if s.homing_positive_dir:
pos = s.position_endstop + 1.5*(
s.position_min - s.position_endstop)
rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist
else:
pos = s.position_endstop + 1.5*(
s.position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
# Initial homing
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.plan_home(list(coord), homepos, [s], s.homing_speed)
# Retract
coord[axis] = rpos
homing_state.plan_move(list(coord), s.homing_speed)
# Home again
coord[axis] = r2pos
homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
return homing_state
def motor_off(self, move_time):
for stepper in self.steppers: