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stepper: Add a get_homing_info() method to PrinterHomingStepper

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-21 18:48:33 -04:00
parent 968ed58b61
commit 93d0526a77
4 changed files with 43 additions and 32 deletions
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25
klippy/corexy.py
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@ -59,22 +59,23 @@ class CoreXYKinematics:
s = self.steppers[axis]
# Determine moves
position_min, position_max = s.get_range()
if s.homing_positive_dir:
pos = s.position_endstop - 1.5*(
s.position_endstop - position_min)
rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist
hi = s.get_homing_info()
if hi.positive_dir:
pos = hi.position_endstop - 1.5*(
hi.position_endstop - position_min)
rpos = hi.position_endstop - hi.retract_dist
r2pos = rpos - hi.retract_dist
else:
pos = s.position_endstop + 1.5*(
position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
pos = hi.position_endstop + 1.5*(
position_max - hi.position_endstop)
rpos = hi.position_endstop + hi.retract_dist
r2pos = rpos + hi.retract_dist
# Initial homing
homing_speed = s.homing_speed
homing_speed = hi.speed
if axis == 2:
homing_speed = min(homing_speed, self.max_z_velocity)
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
homepos[axis] = hi.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
@ -87,7 +88,7 @@ class CoreXYKinematics:
homing_speed/2.0, second_home=True)
if axis == 2:
# Support endstop phase detection on Z axis
coord[axis] = s.position_endstop + s.get_homed_offset()
coord[axis] = hi.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3