mirror of https://github.com/Desuuuu/klipper.git
homing: Move homing logic from manual_stepper.py to homing.py
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
38719c1359
commit
37a263c0b9
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@ -195,10 +195,11 @@ class BLTouchEndstopWrapper:
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for s, mcu_pos in self.start_mcu_pos:
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if s.get_mcu_position() == mcu_pos:
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raise self.printer.command_error("BLTouch failed to deploy")
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def home_start(self, print_time, sample_time, sample_count, rest_time):
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def home_start(self, print_time, sample_time, sample_count, rest_time,
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triggered=True):
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rest_time = min(rest_time, ENDSTOP_REST_TIME)
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return self.mcu_endstop.home_start(print_time, sample_time,
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sample_count, rest_time)
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sample_count, rest_time, triggered)
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def get_position_endstop(self):
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return self.position_endstop
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def set_output_mode(self, mode):
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@ -18,9 +18,12 @@ def multi_complete(printer, completions):
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# Implementation of homing/probing moves
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class HomingMove:
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def __init__(self, printer):
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def __init__(self, printer, endstops, toolhead=None):
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self.printer = printer
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self.toolhead = printer.lookup_object('toolhead')
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self.endstops = endstops
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if toolhead is None:
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toolhead = printer.lookup_object('toolhead')
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self.toolhead = toolhead
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self.end_mcu_pos = []
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def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
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startpos = self.toolhead.get_position()
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@ -34,24 +37,27 @@ class HomingMove:
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if max_steps <= 0.:
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return .001
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return move_t / max_steps
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def homing_move(self, movepos, endstops, speed, probe_pos=False):
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def homing_move(self, movepos, speed, probe_pos=False,
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triggered=True, check_triggered=True):
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# Notify start of homing/probing move
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self.printer.send_event("homing:homing_move_begin",
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[es for es, name in endstops])
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[es for es, name in self.endstops])
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# Note start location
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self.toolhead.flush_step_generation()
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kin = self.toolhead.get_kinematics()
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for s in kin.get_steppers():
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s.set_tag_position(s.get_commanded_position())
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start_mcu_pos = [(s, name, s.get_mcu_position())
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for es, name in endstops for s in es.get_steppers()]
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for es, name in self.endstops
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for s in es.get_steppers()]
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# Start endstop checking
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print_time = self.toolhead.get_last_move_time()
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endstop_triggers = []
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for mcu_endstop, name in endstops:
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for mcu_endstop, name in self.endstops:
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rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
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wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
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ENDSTOP_SAMPLE_COUNT, rest_time)
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ENDSTOP_SAMPLE_COUNT, rest_time,
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triggered=triggered)
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endstop_triggers.append(wait)
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all_endstop_trigger = multi_complete(self.printer, endstop_triggers)
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self.toolhead.dwell(HOMING_START_DELAY)
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@ -63,9 +69,9 @@ class HomingMove:
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error = "Error during homing move: %s" % (str(e),)
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# Wait for endstops to trigger
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move_end_print_time = self.toolhead.get_last_move_time()
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for mcu_endstop, name in endstops:
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for mcu_endstop, name in self.endstops:
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did_trigger = mcu_endstop.home_wait(move_end_print_time)
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if not did_trigger and error is None:
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if not did_trigger and check_triggered and error is None:
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error = "Failed to home %s: Timeout during homing" % (name,)
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# Determine stepper halt positions
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self.toolhead.flush_step_generation()
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@ -80,7 +86,7 @@ class HomingMove:
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# Signal homing/probing move complete
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try:
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self.printer.send_event("homing:homing_move_end",
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[es for es, name in endstops])
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[es for es, name in self.endstops])
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except self.printer.command_error as e:
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if error is None:
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error = str(e)
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@ -125,8 +131,8 @@ class Homing:
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# Perform first home
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endstops = [es for rail in rails for es in rail.get_endstops()]
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hi = rails[0].get_homing_info()
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hmove = HomingMove(self.printer)
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hmove.homing_move(movepos, endstops, hi.speed)
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hmove = HomingMove(self.printer, endstops)
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hmove.homing_move(movepos, hi.speed)
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# Perform second home
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if hi.retract_dist:
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# Retract
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@ -140,8 +146,8 @@ class Homing:
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forcepos = [rp - ad * retract_r
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for rp, ad in zip(retractpos, axes_d)]
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self.toolhead.set_position(forcepos)
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hmove = HomingMove(self.printer)
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hmove.homing_move(movepos, endstops, hi.second_homing_speed)
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hmove = HomingMove(self.printer, endstops)
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hmove.homing_move(movepos, hi.second_homing_speed)
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if hmove.check_no_movement() is not None:
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raise self.printer.command_error(
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"Endstop %s still triggered after retract"
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@ -165,10 +171,15 @@ class PrinterHoming:
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# Register g-code commands
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command('G28', self.cmd_G28)
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def manual_home(self, toolhead, endstops, pos, speed,
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triggered, check_triggered):
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hmove = HomingMove(self.printer, endstops, toolhead)
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hmove.homing_move(pos, speed, triggered=triggered,
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check_triggered=check_triggered)
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def probing_move(self, mcu_probe, pos, speed):
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hmove = HomingMove(self.printer)
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endstops = [(mcu_probe, "probe")]
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epos = hmove.homing_move(pos, endstops, speed, probe_pos=True)
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hmove = HomingMove(self.printer, endstops)
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epos = hmove.homing_move(pos, speed, probe_pos=True)
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if hmove.check_no_movement() is not None:
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raise self.printer.command_error(
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"Probe triggered prior to movement")
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@ -1,14 +1,11 @@
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# Support for a manual controlled stepper
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#
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# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2019-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import stepper, chelper
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from . import force_move
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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class ManualStepper:
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def __init__(self, config):
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self.printer = config.get_printer()
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@ -22,7 +19,7 @@ class ManualStepper:
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self.rail = stepper.PrinterStepper(config)
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self.steppers = [self.rail]
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self.velocity = config.getfloat('velocity', 5., above=0.)
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self.accel = config.getfloat('accel', 0., minval=0.)
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self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.)
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self.next_cmd_time = 0.
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# Setup iterative solver
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ffi_main, ffi_lib = chelper.get_ffi()
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@ -80,37 +77,12 @@ class ManualStepper:
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if not self.can_home:
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raise self.printer.command_error(
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"No endstop for this manual stepper")
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# Notify start of homing/probing move
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self.homing_accel = accel
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pos = [movepos, 0., 0., 0.]
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endstops = self.rail.get_endstops()
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self.printer.send_event("homing:homing_move_begin",
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[es for es, name in endstops])
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# Start endstop checking
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self.sync_print_time()
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endstops = self.rail.get_endstops()
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for mcu_endstop, name in endstops:
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min_step_dist = min([s.get_step_dist()
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for s in mcu_endstop.get_steppers()])
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mcu_endstop.home_start(
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self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
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min_step_dist / speed, triggered=triggered)
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# Issue move
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self.do_move(movepos, speed, accel)
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# Wait for endstops to trigger
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error = None
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for mcu_endstop, name in endstops:
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did_trigger = mcu_endstop.home_wait(self.next_cmd_time)
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if not did_trigger and check_trigger and error is None:
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error = "Failed to home %s: Timeout during homing" % (name,)
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# Signal homing/probing move complete
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try:
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self.printer.send_event("homing:homing_move_end",
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[es for es, name in endstops])
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except CommandError as e:
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if error is None:
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error = str(e)
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self.sync_print_time()
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if error is not None:
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raise self.printer.command_error(error)
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phoming = self.printer.lookup_object('homing')
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phoming.manual_home(self, endstops, pos, speed,
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triggered, check_trigger)
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cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
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def cmd_MANUAL_STEPPER(self, gcmd):
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enable = gcmd.get_int('ENABLE', None)
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@ -132,6 +104,24 @@ class ManualStepper:
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self.do_move(movepos, speed, accel, sync)
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elif gcmd.get_int('SYNC', 0):
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self.sync_print_time()
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# Toolhead wrappers to support homing
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def flush_step_generation(self):
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self.sync_print_time()
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def get_position(self):
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return [self.rail.get_commanded_position(), 0., 0., 0.]
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def set_position(self, newpos, homing_axes=()):
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self.do_set_position(newpos[0])
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def get_last_move_time(self):
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self.sync_print_time()
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return self.next_cmd_time
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def dwell(self, delay):
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self.next_cmd_time += max(0., delay)
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def drip_move(self, newpos, speed, drip_completion):
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self.do_move(newpos[0], speed, self.homing_accel)
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def get_kinematics(self):
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return self
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def get_steppers(self):
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return self.steppers
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def load_config_prefix(config):
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return ManualStepper(config)
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