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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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75
klippy/homing.py
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@ -7,36 +7,19 @@
import logging
class Homing:
def __init__(self, toolhead, steppers):
def __init__(self, toolhead, changed_axes):
self.toolhead = toolhead
self.steppers = steppers
self.changed_axes = changed_axes
self.states = []
self.endstops = []
self.changed_axis = []
def plan_home(self, axis, precise=False):
s = self.steppers[axis]
state = self.states
self.changed_axis.append(axis)
speed = s.homing_speed
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
state.append((self.do_home, ({axis: pos}, speed)))
state.append((self.do_wait_endstop, ({axis: 1},)))
# Retract
state.append((self.do_move, ({axis: rpos}, speed)))
# Home again
state.append((self.do_home, ({axis: r2pos}, speed/2.0)))
state.append((self.do_wait_endstop, ({axis: 1},)))
def plan_axis_update(self, callback):
self.states.append((callback, (self.changed_axis,)))
def plan_home(self, forcepos, movepos, steppers, speed):
self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
self.states.append((self.do_wait_endstop, ()))
def plan_move(self, newpos, speed):
self.states.append((self.do_move, (newpos, speed)))
def plan_axes_update(self, callback):
self.states.append((callback, (self.changed_axes,)))
def check_busy(self, eventtime):
while self.states:
first = self.states[0]
@ -46,34 +29,34 @@ class Homing:
self.states.pop(0)
return False
def do_move(self, axis_pos, speed):
# Issue a move command to axis_pos
newpos = self.toolhead.get_position()
for axis, pos in axis_pos.items():
newpos[axis] = pos
self.toolhead.move(newpos, speed)
def fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = self.toolhead.get_position()
coord = list(coord)
for i in range(len(coord)):
if coord[i] is None:
coord[i] = thcoord[i]
return coord
def do_move(self, newpos, speed):
# Issue a move command
self.toolhead.move(self.fill_coord(newpos), speed)
return False
def do_home(self, axis_pos, speed):
# Alter kinematics class to think printer is at axis_pos
newpos = self.toolhead.get_position()
forcepos = list(newpos)
for axis, pos in axis_pos.items():
newpos[axis] = self.steppers[axis].position_endstop
forcepos[axis] = pos
self.toolhead.set_position(forcepos)
def do_home(self, forcepos, movepos, steppers, speed):
# Alter kinematics class to think printer is at forcepos
self.toolhead.set_position(self.fill_coord(forcepos))
# Start homing and issue move
print_time = self.toolhead.get_last_move_time()
for axis in axis_pos:
hz = speed * self.steppers[axis].inv_step_dist
es = self.steppers[axis].enable_endstop_checking(print_time, hz)
for s in steppers:
hz = speed * s.inv_step_dist
es = s.enable_endstop_checking(print_time, hz)
self.endstops.append(es)
self.toolhead.move(newpos, speed)
self.toolhead.move(self.fill_coord(movepos), speed)
self.toolhead.reset_print_time()
for es in self.endstops:
es.home_finalize()
return False
def do_wait_endstop(self, axis_wait):
# Check if axis_wait endstops have triggered
def do_wait_endstop(self):
# Check if endstops have triggered
for es in self.endstops:
if es.is_homing():
return True