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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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40
klippy/kinematics/cartesian.py
View file

@ -55,38 +55,24 @@ class CartKinematics:
if i in homing_axes:
self.limits[i] = rail.get_range()
def _home_axis(self, homing_state, axis, rail):
# Determine moves
# Determine movement
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
if hi.positive_dir:
pos = hi.position_endstop - 1.5*(hi.position_endstop - position_min)
rpos = hi.position_endstop - hi.retract_dist
r2pos = rpos - hi.retract_dist
else:
pos = hi.position_endstop + 1.5*(position_max - hi.position_endstop)
rpos = hi.position_endstop + hi.retract_dist
r2pos = rpos + hi.retract_dist
# Initial homing
homing_speed = hi.speed
second_homing_speed = hi.second_homing_speed
if axis == 2:
homing_speed = min(homing_speed, self.max_z_velocity)
second_homing_speed = min(second_homing_speed, self.max_z_velocity)
homepos = [None, None, None, None]
homepos[axis] = hi.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
# Retract
coord[axis] = rpos
homing_state.retract(coord, homing_speed)
# Home again
coord[axis] = r2pos
homing_state.home(coord, homepos, rail.get_endstops(),
second_homing_speed, second_home=True)
forcepos = list(homepos)
if hi.positive_dir:
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
else:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
limit_speed = None
if axis == 2:
limit_speed = self.max_z_velocity
homing_state.home_rails([rail], forcepos, homepos, limit_speed)
# Set final homed position
coord[axis] = hi.position_endstop + rail.get_homed_offset()
homing_state.set_homed_position(coord)
forcepos[axis] = hi.position_endstop + rail.get_homed_offset()
homing_state.set_homed_position(forcepos)
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():

43
klippy/kinematics/corexy.py
View file

@ -48,42 +48,25 @@ class CoreXYKinematics:
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
rail = self.rails[axis]
# Determine moves
# Determine movement
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
if hi.positive_dir:
pos = hi.position_endstop - 1.5*(
hi.position_endstop - position_min)
rpos = hi.position_endstop - hi.retract_dist
r2pos = rpos - hi.retract_dist
else:
pos = hi.position_endstop + 1.5*(
position_max - hi.position_endstop)
rpos = hi.position_endstop + hi.retract_dist
r2pos = rpos + hi.retract_dist
# Initial homing
homing_speed = hi.speed
second_homing_speed = hi.second_homing_speed
if axis == 2:
homing_speed = min(homing_speed, self.max_z_velocity)
second_homing_speed = min(second_homing_speed,
self.max_z_velocity)
homepos = [None, None, None, None]
homepos[axis] = hi.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
# Retract
coord[axis] = rpos
homing_state.retract(coord, homing_speed)
# Home again
coord[axis] = r2pos
homing_state.home(coord, homepos, rail.get_endstops(),
second_homing_speed, second_home=True)
forcepos = list(homepos)
if hi.positive_dir:
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
else:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
limit_speed = None
if axis == 2:
limit_speed = self.max_z_velocity
homing_state.home_rails([rail], forcepos, homepos, limit_speed)
if axis == 2:
# Support endstop phase detection on Z axis
coord[axis] = hi.position_endstop + rail.get_homed_offset()
homing_state.set_homed_position(coord)
forcepos[axis] = hi.position_endstop + rail.get_homed_offset()
homing_state.set_homed_position(forcepos)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for rail in self.rails:

19
klippy/kinematics/delta.py
View file

@ -97,22 +97,11 @@ class DeltaKinematics:
def home(self, homing_state):
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
endstops = [es for rail in self.rails for es in rail.get_endstops()]
# Initial homing - assume homing speed same for all steppers
hi = self.rails[0].get_homing_info()
homing_speed = min(hi.speed, self.max_z_velocity)
second_homing_speed = min(hi.second_homing_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] - hi.retract_dist
homing_state.retract(coord, homing_speed)
# Home again
coord[2] -= hi.retract_dist
homing_state.home(coord, homepos, endstops,
second_homing_speed, second_home=True)
forcepos = list(homepos)
forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
homing_state.home_rails(self.rails, forcepos, homepos,
limit_speed=self.max_z_velocity)
# Set final homed position
spos = [ep + rail.get_homed_offset()
for ep, rail in zip(self.abs_endstops, self.rails)]