mirror of https://github.com/Desuuuu/klipper.git
homing: Base homing cpu delay on estimated number of steps needed
Instead of adding 250ms to each homing operation add a time relative to the number of estimated steps that are to be generated. This scales the delay to really large axes without adding a delay for normal users. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -5,7 +5,7 @@
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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HOMING_DELAY = 0.250
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HOMING_STEP_DELAY = 0.00000025
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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@ -34,7 +34,13 @@ class Homing:
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self.toolhead.set_position(self._fill_coord(forcepos))
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# Start homing and issue move
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if not second_home:
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self.toolhead.dwell(HOMING_DELAY)
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est_move_d = sum([abs(forcepos[i]-movepos[i])
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for i in range(3) if movepos[i] is not None])
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est_steps = sum(
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[est_move_d / mcu_stepper.get_step_dist()
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for s in steppers
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for mcu_endstop, mcu_stepper, name in s.get_endstops()])
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self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
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print_time = self.toolhead.get_last_move_time()
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endstops = []
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for s in steppers:
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@ -329,9 +329,10 @@ class ToolHead:
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self._check_stall()
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def home(self, homing_state):
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self.kin.home(homing_state)
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def dwell(self, delay):
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def dwell(self, delay, check_stall=True):
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self.get_last_move_time()
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self.update_move_time(delay)
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if check_stall:
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self._check_stall()
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def motor_off(self):
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self.dwell(STALL_TIME)
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