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homing: Verify the endstops are no longer triggered after retract move

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-11-18 13:39:48 -05:00
parent e0aa067cc9
commit ab1972d1cf
4 changed files with 28 additions and 10 deletions
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32
klippy/homing.py
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@@ -21,8 +21,9 @@ class Homing:
def plan_home(self, forcepos, movepos, steppers, speed):
self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
self.states.append((self.do_wait_endstop, ()))
def plan_move(self, newpos, speed):
self.states.append((self.do_move, (newpos, speed)))
def plan_retract(self, newpos, steppers, speed):
self.states.append((self.do_retract, (newpos, steppers, speed)))
self.states.append((self.do_verify_retract, ()))
def plan_calc_position(self, callback):
self.states.append((self.do_calc_position, (callback,)))
def plan_axes_update(self, callback):
@@ -48,9 +49,14 @@ class Homing:
if coord[i] is not None:
thcoord[i] = coord[i]
return thcoord
def do_move(self, newpos, speed):
def do_retract(self, newpos, steppers, speed):
# Issue a move command
self.toolhead.move(self.fill_coord(newpos), speed)
# Query endstops
print_time = self.toolhead.get_last_move_time()
for s in steppers:
es = s.query_endstop(print_time)
self.endstops.append((s.name, es))
return False
def do_home(self, forcepos, movepos, steppers, speed):
# Alter kinematics class to think printer is at forcepos
@@ -68,15 +74,29 @@ class Homing:
return False
def do_wait_endstop(self):
# Check if endstops have triggered
for name, es in self.endstops:
while self.endstops:
name, es = self.endstops[0]
try:
if es.check_busy(self.eventtime):
return True
except mcu.MCUError, e:
raise EndstopError("Failed to home stepper %s: %s" % (
name, str(e)))
# Finished
del self.endstops[:]
self.endstops.pop(0)
return False
def do_verify_retract(self):
while self.endstops:
name, es = self.endstops[0]
try:
if es.check_busy(self.eventtime):
return True
except mcu.MCUError, e:
raise EndstopError("Failed to retract stepper %s: %s" % (
name, str(e)))
if es.get_last_triggered():
raise EndstopError("Endstop %s still triggered after retract" % (
name,))
self.endstops.pop(0)
return False
def do_calc_position(self, callback):
self.toolhead.set_position(self.fill_coord(callback(self)))