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homing: Extract out movement verification to new check_no_movement() 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-29 12:32:30 -04:00
parent d39f849203
commit 38719c1359
1 changed files with 22 additions and 19 deletions
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41
klippy/extras/homing.py
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@ -21,6 +21,7 @@ class HomingMove:
def __init__(self, printer): def __init__(self, printer):
self.printer = printer self.printer = printer
self.toolhead = printer.lookup_object('toolhead') self.toolhead = printer.lookup_object('toolhead')
self.end_mcu_pos = []
def _calc_endstop_rate(self, mcu_endstop, movepos, speed): def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
startpos = self.toolhead.get_position() startpos = self.toolhead.get_position()
axes_d = [mp - sp for mp, sp in zip(movepos, startpos)] axes_d = [mp - sp for mp, sp in zip(movepos, startpos)]
@ -33,8 +34,7 @@ class HomingMove:
if max_steps <= 0.: if max_steps <= 0.:
return .001 return .001
return move_t / max_steps return move_t / max_steps
def homing_move(self, movepos, endstops, speed, def homing_move(self, movepos, endstops, speed, probe_pos=False):
probe_pos=False, verify_movement=False):
# Notify start of homing/probing move # Notify start of homing/probing move
self.printer.send_event("homing:homing_move_begin", self.printer.send_event("homing:homing_move_begin",
[es for es, name in endstops]) [es for es, name in endstops])
@ -69,10 +69,10 @@ class HomingMove:
error = "Failed to home %s: Timeout during homing" % (name,) error = "Failed to home %s: Timeout during homing" % (name,)
# Determine stepper halt positions # Determine stepper halt positions
self.toolhead.flush_step_generation() self.toolhead.flush_step_generation()
end_mcu_pos = [(s, name, spos, s.get_mcu_position()) self.end_mcu_pos = [(s, name, spos, s.get_mcu_position())
for s, name, spos in start_mcu_pos] for s, name, spos in start_mcu_pos]
if probe_pos: if probe_pos:
for s, name, spos, epos in end_mcu_pos: for s, name, spos, epos in self.end_mcu_pos:
md = (epos - spos) * s.get_step_dist() md = (epos - spos) * s.get_step_dist()
s.set_tag_position(s.get_tag_position() + md) s.set_tag_position(s.get_tag_position() + md)
movepos = list(kin.calc_tag_position())[:3] + movepos[3:] movepos = list(kin.calc_tag_position())[:3] + movepos[3:]
@ -86,17 +86,14 @@ class HomingMove:
error = str(e) error = str(e)
if error is not None: if error is not None:
raise self.printer.command_error(error) raise self.printer.command_error(error)
# Check if some movement occurred
can_verify = self.printer.get_start_args().get('debuginput') is None
if verify_movement and can_verify:
for s, name, spos, epos in end_mcu_pos:
if spos == epos:
if probe_pos:
raise self.printer.command_error(
"Probe triggered prior to movement")
raise self.printer.command_error(
"Endstop %s still triggered after retract" % (name,))
return movepos return movepos
def check_no_movement(self):
if self.printer.get_start_args().get('debuginput') is not None:
return None
for s, name, spos, epos in self.end_mcu_pos:
if spos == epos:
return name
return None
# State tracking of homing requests # State tracking of homing requests
class Homing: class Homing:
@ -144,8 +141,11 @@ class Homing:
for rp, ad in zip(retractpos, axes_d)] for rp, ad in zip(retractpos, axes_d)]
self.toolhead.set_position(forcepos) self.toolhead.set_position(forcepos)
hmove = HomingMove(self.printer) hmove = HomingMove(self.printer)
hmove.homing_move(movepos, endstops, hi.second_homing_speed, hmove.homing_move(movepos, endstops, hi.second_homing_speed)
verify_movement=True) if hmove.check_no_movement() is not None:
raise self.printer.command_error(
"Endstop %s still triggered after retract"
% (hmove.check_no_movement(),))
# Signal home operation complete # Signal home operation complete
self.toolhead.flush_step_generation() self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics() kin = self.toolhead.get_kinematics()
@ -168,8 +168,11 @@ class PrinterHoming:
def probing_move(self, mcu_probe, pos, speed): def probing_move(self, mcu_probe, pos, speed):
hmove = HomingMove(self.printer) hmove = HomingMove(self.printer)
endstops = [(mcu_probe, "probe")] endstops = [(mcu_probe, "probe")]
return hmove.homing_move(pos, endstops, speed, epos = hmove.homing_move(pos, endstops, speed, probe_pos=True)
probe_pos=True, verify_movement=True) if hmove.check_no_movement() is not None:
raise self.printer.command_error(
"Probe triggered prior to movement")
return epos
def cmd_G28(self, gcmd): def cmd_G28(self, gcmd):
# Move to origin # Move to origin
axes = [] axes = []