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probe: Initial support for Z-Probe hardware

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-06 01:00:33 -05:00
parent 6c252d30f5
commit ce9db609ad
7 changed files with 91 additions and 6 deletions
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10
klippy/homing.py
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@ -40,7 +40,7 @@ class Homing:
dist_ticks = adjusted_freq * mcu_stepper.get_step_dist()
ticks_per_step = math.ceil(dist_ticks / speed)
return dist_ticks / ticks_per_step
def homing_move(self, movepos, endstops, speed):
def homing_move(self, movepos, endstops, speed, probe_pos=False):
# Start endstop checking
print_time = self.toolhead.get_last_move_time()
for mcu_endstop, name in endstops:
@ -50,9 +50,10 @@ class Homing:
print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
min_step_dist / speed)
# Issue move
movepos = self._fill_coord(movepos)
error = None
try:
self.toolhead.move(self._fill_coord(movepos), speed)
self.toolhead.move(movepos, speed)
except EndstopError as e:
error = "Error during homing move: %s" % (str(e),)
# Wait for endstops to trigger
@ -64,6 +65,11 @@ class Homing:
except mcu_endstop.TimeoutError as e:
if error is None:
error = "Failed to home %s: %s" % (name, str(e))
if probe_pos:
self.set_homed_position(
list(self.toolhead.get_kinematics().get_position()) + [None])
else:
self.toolhead.set_position(movepos)
if error is not None:
raise EndstopError(error)
def home(self, forcepos, movepos, endstops, speed, second_home=False):