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bltouch: Fix bug - must restore stepper position after homing

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-12-01 22:09:06 -05:00
parent 6df7356baa
commit aac92ffb91
3 changed files with 9 additions and 2 deletions
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7
klippy/extras/bltouch.py
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@ -57,16 +57,23 @@ class BLTouchEndstopWrapper:
if print_time < self.next_test_time:
self.next_test_time = print_time + TEST_TIME
return
# Raise the bltouch probe and test if probe is raised
self.send_cmd(print_time, CMD_RESET)
home_time = print_time + PIN_MOVE_TIME
self.send_cmd(home_time, CMD_TOUCH_MODE)
self.send_cmd(home_time + MIN_CMD_TIME, 0.)
# Perform endstop check to verify bltouch reports probe raised
prev_positions = [s.get_commanded_position()
for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start(
home_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, .001)
try:
self.mcu_endstop.home_wait(home_time + MIN_CMD_TIME)
except self.mcu_endstop.TimeoutError as e:
raise homing.EndstopError("BLTouch sensor test failed")
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos)
# Test was successful
self.next_test_time = home_time + TEST_TIME
toolhead.reset_print_time(home_time + 2. * MIN_CMD_TIME)
def home_prepare(self):