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bltouch: Verify probe always deploys during a homing operation 

Verify that there is always some movement during a probing operation.
This is normally done by the homing.py code (via its verify_movement
check), but that check may not be enabled when z_virtual_endstop is
used.  So, always enable the check in the bltouch.py code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-01-04 19:12:50 -05:00
parent 293366d033
commit 26e818d900
2 changed files with 12 additions and 1 deletions
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7
klippy/extras/bltouch.py
View File

@ -38,6 +38,7 @@ class BLTouchEndstopWrapper:
# Setup for sensor test # Setup for sensor test
self.next_test_time = 0. self.next_test_time = 0.
self.test_sensor_pin = config.getboolean('test_sensor_pin', True) self.test_sensor_pin = config.getboolean('test_sensor_pin', True)
self.start_mcu_pos = []
# Calculate pin move time # Calculate pin move time
pmt = max(config.getfloat('pin_move_time', 0.200), MIN_CMD_TIME) pmt = max(config.getfloat('pin_move_time', 0.200), MIN_CMD_TIME)
self.pin_move_time = math.ceil(pmt / SIGNAL_PERIOD) * SIGNAL_PERIOD self.pin_move_time = math.ceil(pmt / SIGNAL_PERIOD) * SIGNAL_PERIOD
@ -94,6 +95,8 @@ class BLTouchEndstopWrapper:
self.send_cmd(print_time + self.pin_move_time, 'touch_mode') self.send_cmd(print_time + self.pin_move_time, 'touch_mode')
toolhead.dwell(self.pin_move_time + MIN_CMD_TIME) toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
self.mcu_endstop.home_prepare() self.mcu_endstop.home_prepare()
self.start_mcu_pos = [(s, s.get_mcu_position())
for s in self.mcu_endstop.get_steppers()]
def home_finalize(self): def home_finalize(self):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time() print_time = toolhead.get_last_move_time()
@ -101,6 +104,10 @@ class BLTouchEndstopWrapper:
self.send_cmd(print_time + MIN_CMD_TIME, 'pin_up') self.send_cmd(print_time + MIN_CMD_TIME, 'pin_up')
self.send_cmd(print_time + MIN_CMD_TIME + self.pin_move_time, None) self.send_cmd(print_time + MIN_CMD_TIME + self.pin_move_time, None)
toolhead.dwell(self.pin_move_time + MIN_CMD_TIME) toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
# Verify the probe actually deployed during the attempt
for s, mcu_pos in self.start_mcu_pos:
if s.get_mcu_position() == mcu_pos:
raise homing.EndstopError("BLTouch failed to deploy")
self.mcu_endstop.home_finalize() self.mcu_endstop.home_finalize()
def home_start(self, print_time, sample_time, sample_count, rest_time): def home_start(self, print_time, sample_time, sample_count, rest_time):
rest_time = min(rest_time, ENDSTOP_REST_TIME) rest_time = min(rest_time, ENDSTOP_REST_TIME)

4
klippy/homing.py
View File

@ -78,7 +78,11 @@ class Homing:
else: else:
self.toolhead.set_position(movepos) self.toolhead.set_position(movepos)
for mcu_endstop, name in endstops: for mcu_endstop, name in endstops:
try:
mcu_endstop.home_finalize() mcu_endstop.home_finalize()
except EndstopError as e:
if error is None:
error = str(e)
if error is not None: if error is not None:
raise EndstopError(error) raise EndstopError(error)
# Check if some movement occurred # Check if some movement occurred