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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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19
klippy/kinematics/delta.py
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@ -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)]