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homing: Implement second home from homing.py

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Move the logic for performing the second home from the kinematics
classes to the generic homing code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-10-08 21:49:56 -04:00
parent 3db483e270
commit d4bf51231a
5 changed files with 75 additions and 102 deletions
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71
klippy/homing.py
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@ -27,21 +27,23 @@ class Homing:
if coord[i] is not None:
thcoord[i] = coord[i]
return thcoord
def retract(self, newpos, speed):
self.toolhead.move(self._fill_coord(newpos), speed)
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
def _get_homing_speed(self, speed, endstops):
# Round the requested homing speed so that it is an even
# number of ticks per step.
speed = min(speed, self.toolhead.get_max_velocity()[0])
mcu_stepper = endstops[0][0].get_steppers()[0]
adjusted_freq = mcu_stepper.get_mcu().get_adjusted_freq()
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,
probe_pos=False, verify_movement=False):
def homing_move(self, movepos, endstops, speed, dwell_t=0.,
probe_pos=False, verify_movement=False):
# Notify endstops of upcoming home
for mcu_endstop, name in endstops:
mcu_endstop.home_prepare()
if dwell_t:
self.toolhead.dwell(dwell_t, check_stall=False)
# Start endstop checking
print_time = self.toolhead.get_last_move_time()
start_mcu_pos = [(s, name, s.get_mcu_position())
@ -53,7 +55,6 @@ 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(movepos, speed)
@ -85,31 +86,43 @@ class Homing:
raise EndstopError("Probe triggered prior to movement")
raise EndstopError(
"Endstop %s still triggered after retract" % (name,))
def probing_move(self, movepos, mcu_probe, speed):
mcu_probe.home_prepare()
self._homing_move(movepos, [(mcu_probe, "probe")], speed,
probe_pos=True, verify_movement=True)
def home(self, forcepos, movepos, endstops, speed, second_home=False):
if second_home and forcepos == movepos:
return
def home_rails(self, rails, forcepos, movepos, limit_speed=None):
# Alter kinematics class to think printer is at forcepos
homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
self.toolhead.set_position(
self._fill_coord(forcepos), homing_axes=homing_axes)
# Notify endstops of upcoming home
for mcu_endstop, name in endstops:
mcu_endstop.home_prepare()
# Add a CPU delay when homing a large axis
if not second_home:
est_move_d = sum([abs(forcepos[i]-movepos[i])
for i in range(3) if movepos[i] is not None])
est_steps = sum([est_move_d / s.get_step_dist()
for es, n in endstops for s in es.get_steppers()])
self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
speed = self._get_homing_speed(speed, endstops)
# Issue homing move
self._homing_move(movepos, endstops, speed,
verify_movement=second_home and self.verify_retract)
forcepos = self._fill_coord(forcepos)
movepos = self._fill_coord(movepos)
self.toolhead.set_position(forcepos, homing_axes=homing_axes)
# Determine homing speed
endstops = [es for rail in rails for es in rail.get_endstops()]
hi = rails[0].get_homing_info()
max_velocity = self.toolhead.get_max_velocity()[0]
if limit_speed is not None and limit_speed < max_velocity:
max_velocity = limit_speed
homing_speed = min(hi.speed, max_velocity)
homing_speed = self._get_homing_speed(homing_speed, endstops)
second_homing_speed = min(hi.second_homing_speed, max_velocity)
# Calculate a CPU delay when homing a large axis
axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)]
est_move_d = abs(axes_d[0]) + abs(axes_d[1]) + abs(axes_d[2])
est_steps = sum([est_move_d / s.get_step_dist()
for es, n in endstops for s in es.get_steppers()])
dwell_t = est_steps * HOMING_STEP_DELAY
# Perform first home
self.homing_move(movepos, endstops, homing_speed, dwell_t=dwell_t)
# Perform second home
if hi.retract_dist:
# Retract
move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
retract_r = min(1., hi.retract_dist / move_d)
retractpos = [mp - ad * retract_r
for mp, ad in zip(movepos, axes_d)]
self.toolhead.move(retractpos, homing_speed)
# Home again
forcepos = [rp - ad * retract_r
for rp, ad in zip(retractpos, axes_d)]
self.toolhead.set_position(forcepos)
self.homing_move(movepos, endstops, second_homing_speed,
verify_movement=self.verify_retract)
def home_axes(self, axes):
self.changed_axes = axes
try: