shinys000114/klipper
1
0
Fork 0
mirror of git://soft.sys114.com/klipper synced 2026-02-11 07:50:27 +09:00
Code Issues Packages Projects Releases Wiki Activity

homing: Move homing logic from manual_stepper.py to homing.py

Browse Source 
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-03-29 13:34:25 -04:00
parent 38719c1359
commit 37a263c0b9
3 changed files with 55 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

60
klippy/extras/manual_stepper.py
View File

@@ -1,14 +1,11 @@
# Support for a manual controlled stepper
#
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2019-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import stepper, chelper
from . import force_move
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
class ManualStepper:
def __init__(self, config):
self.printer = config.get_printer()
@@ -22,7 +19,7 @@ class ManualStepper:
self.rail = stepper.PrinterStepper(config)
self.steppers = [self.rail]
self.velocity = config.getfloat('velocity', 5., above=0.)
self.accel = config.getfloat('accel', 0., minval=0.)
self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.)
self.next_cmd_time = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
@@ -80,37 +77,12 @@ class ManualStepper:
if not self.can_home:
raise self.printer.command_error(
"No endstop for this manual stepper")
# Notify start of homing/probing move
self.homing_accel = accel
pos = [movepos, 0., 0., 0.]
endstops = self.rail.get_endstops()
self.printer.send_event("homing:homing_move_begin",
[es for es, name in endstops])
# Start endstop checking
self.sync_print_time()
endstops = self.rail.get_endstops()
for mcu_endstop, name in endstops:
min_step_dist = min([s.get_step_dist()
for s in mcu_endstop.get_steppers()])
mcu_endstop.home_start(
self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
min_step_dist / speed, triggered=triggered)
# Issue move
self.do_move(movepos, speed, accel)
# Wait for endstops to trigger
error = None
for mcu_endstop, name in endstops:
did_trigger = mcu_endstop.home_wait(self.next_cmd_time)
if not did_trigger and check_trigger and error is None:
error = "Failed to home %s: Timeout during homing" % (name,)
# Signal homing/probing move complete
try:
self.printer.send_event("homing:homing_move_end",
[es for es, name in endstops])
except CommandError as e:
if error is None:
error = str(e)
self.sync_print_time()
if error is not None:
raise self.printer.command_error(error)
phoming = self.printer.lookup_object('homing')
phoming.manual_home(self, endstops, pos, speed,
triggered, check_trigger)
cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
def cmd_MANUAL_STEPPER(self, gcmd):
enable = gcmd.get_int('ENABLE', None)
@@ -132,6 +104,24 @@ class ManualStepper:
self.do_move(movepos, speed, accel, sync)
elif gcmd.get_int('SYNC', 0):
self.sync_print_time()
# Toolhead wrappers to support homing
def flush_step_generation(self):
self.sync_print_time()
def get_position(self):
return [self.rail.get_commanded_position(), 0., 0., 0.]
def set_position(self, newpos, homing_axes=()):
self.do_set_position(newpos[0])
def get_last_move_time(self):
self.sync_print_time()
return self.next_cmd_time
def dwell(self, delay):
self.next_cmd_time += max(0., delay)
def drip_move(self, newpos, speed, drip_completion):
self.do_move(newpos[0], speed, self.homing_accel)
def get_kinematics(self):
return self
def get_steppers(self):
return self.steppers
def load_config_prefix(config):
return ManualStepper(config)