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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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21
klippy/delta.py
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@ -17,12 +17,13 @@ class DeltaKinematics:
for n in ['a', 'b', 'c']]
stepper_a = stepper.PrinterHomingStepper(
stepper_configs[0], need_position_minmax = False)
a_endstop = stepper_a.get_homing_info().position_endstop
stepper_b = stepper.PrinterHomingStepper(
stepper_configs[1], need_position_minmax = False,
default_position_endstop=stepper_a.position_endstop)
default_position_endstop=a_endstop)
stepper_c = stepper.PrinterHomingStepper(
stepper_configs[2], need_position_minmax = False,
default_position_endstop=stepper_a.position_endstop)
default_position_endstop=a_endstop)
self.steppers = [stepper_a, stepper_b, stepper_c]
self.need_motor_enable = self.need_home = True
self.radius = radius = config.getfloat('delta_radius', above=0.)
@ -31,10 +32,12 @@ class DeltaKinematics:
sconfig.getfloat('arm_length', arm_length_a, above=radius)
for sconfig in stepper_configs]
self.arm2 = [arm**2 for arm in arm_lengths]
self.endstops = [s.position_endstop + math.sqrt(arm2 - radius**2)
self.endstops = [(s.get_homing_info().position_endstop
+ math.sqrt(arm2 - radius**2))
for s, arm2 in zip(self.steppers, self.arm2)]
self.limit_xy2 = -1.
self.max_z = min([s.position_endstop for s in self.steppers])
self.max_z = min([s.get_homing_info().position_endstop
for s in self.steppers])
self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
self.limit_z = min([ep - arm
for ep, arm in zip(self.endstops, arm_lengths)])
@ -103,18 +106,18 @@ class DeltaKinematics:
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
endstops = [es for s in self.steppers for es in s.get_endstops()]
s = self.steppers[0] # Assume homing speed same for all steppers
# Initial homing
homing_speed = min(s.homing_speed, self.max_z_velocity)
# Initial homing - assume homing speed same for all steppers
hi = self.steppers[0].get_homing_info()
homing_speed = min(hi.speed, self.max_z_velocity)
homepos = [0., 0., self.max_z, None]
coord = list(homepos)
coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
homing_state.home(coord, homepos, endstops, homing_speed)
# Retract
coord[2] = homepos[2] - s.homing_retract_dist
coord[2] = homepos[2] - hi.retract_dist
homing_state.retract(coord, homing_speed)
# Home again
coord[2] -= s.homing_retract_dist
coord[2] -= hi.retract_dist
homing_state.home(coord, homepos, endstops,
homing_speed/2.0, second_home=True)
# Set final homed position