3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-07 15:07:33 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

endstop_phase: Move endstop phase homing code to new "extras" module

Browse source 
Move the endstop phase tracking code from stepper.py to a new
extras/endstop_phase.py module.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-10-09 21:36:02 -04:00
parent 216905ceca
commit a2df01b88e
5 changed files with 114 additions and 89 deletions
Download patch file Download diff file Expand all files Collapse all files

57
klippy/stepper.py
View file

@ -162,63 +162,6 @@ class PrinterRail:
raise config.error(
"Unable to infer homing_positive_dir in section '%s'" % (
config.get_name(),))
# Endstop stepper phase position tracking
self.homing_stepper_phases = config.getint(
'homing_stepper_phases', None, minval=0)
endstop_accuracy = config.getfloat(
'homing_endstop_accuracy', None, above=0.)
self.homing_endstop_accuracy = self.homing_endstop_phase = None
if self.homing_stepper_phases:
self.homing_step_dist = step_dist = stepper.get_step_dist()
self.homing_endstop_phase = config.getint(
'homing_endstop_phase', None, minval=0
, maxval=self.homing_stepper_phases-1)
if (self.homing_endstop_phase is not None
and config.getboolean('homing_endstop_align_zero', False)):
# Adjust the endstop position so 0.0 is always at a full step
micro_steps = self.homing_stepper_phases // 4
phase_offset = (
((self.homing_endstop_phase + micro_steps // 2)
% micro_steps) - micro_steps // 2) * step_dist
full_step = micro_steps * step_dist
es_pos = (int(self.position_endstop / full_step + .5)
* full_step + phase_offset)
if es_pos != self.position_endstop:
logging.info("Changing %s endstop position to %.3f"
" (from %.3f)", self.name,
es_pos, self.position_endstop)
self.position_endstop = es_pos
if endstop_accuracy is None:
self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
elif self.homing_endstop_phase is not None:
self.homing_endstop_accuracy = int(math.ceil(
endstop_accuracy * .5 / step_dist))
else:
self.homing_endstop_accuracy = int(math.ceil(
endstop_accuracy / step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
logging.info("Endstop for %s is not accurate enough for stepper"
" phase adjustment", self.name)
self.homing_stepper_phases = None
if mcu_endstop.get_mcu().is_fileoutput():
self.homing_endstop_accuracy = self.homing_stepper_phases
def get_homed_offset(self):
if not self.homing_stepper_phases:
return 0.
pos = self.steppers[0].get_mcu_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d", self.name, pos)
self.homing_endstop_phase = pos
return 0.
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
delta -= self.homing_stepper_phases
elif delta > self.homing_endstop_accuracy:
raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" % (
self.name, pos, self.homing_endstop_phase))
return delta * self.homing_step_dist
def get_range(self):
return self.position_min, self.position_max
def get_homing_info(self):