mirror of https://github.com/Desuuuu/klipper.git
stepper: Use a sane default for homing_positive_dir
Use the endstop position to determine a sane default for homing_positive_dir. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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143b7cccf4
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981c53682f
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@ -15,9 +15,9 @@ dir_pin: ar55
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enable_pin: !ar38
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step_distance: .01
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endstop_pin: ^ar3
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homing_speed: 50.0
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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# The stepper_y section is used to describe the Y axis as well as the
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# stepper controlling the X-Y movement.
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@ -27,9 +27,9 @@ dir_pin: ar61
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enable_pin: !ar56
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step_distance: .01
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endstop_pin: ^ar14
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homing_speed: 50.0
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_z]
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step_pin: ar46
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@ -16,12 +16,12 @@ dir_pin: ar55
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enable_pin: !ar38
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step_distance: .01
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endstop_pin: ^ar2
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homing_speed: 50.0
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position_endstop: 297.05
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#angle:
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# This option specifies the angle (in degrees) that the tower is
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# at. The default is 210 for stepper_a, 330 for stepper_b, and 90
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# for stepper_c.
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homing_speed: 50
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# The stepper_b section describes the stepper controlling the front
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# right tower (at 330 degrees).
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@ -35,15 +35,27 @@ step_distance: .0225
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endstop_pin: ^ar3
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# Endstop switch detection pin. This parameter must be provided for
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# the X, Y, and Z steppers on cartesian style printers.
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#position_min: 0
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# Minimum valid distance (in mm) the user may command the stepper to
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# move to. The default is 0mm.
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position_endstop: 0
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# Location of the endstop (in mm). This parameter must be provided
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# for the X, Y, and Z steppers on cartesian style printers.
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position_max: 200
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# Maximum valid distance (in mm) the user may command the stepper to
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# move to. This parameter must be provided for the X, Y, and Z
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# steppers on cartesian style printers.
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#homing_speed: 5.0
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# Maximum velocity (in mm/s) of the stepper when homing. The default
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# is 5mm/s.
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#homing_retract_dist: 5.0
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# Distance to backoff (in mm) before homing a second time during
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# homing. The default is 5mm.
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#homing_positive_dir: False
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# If true, homes in a positive direction (away from zero). The
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# default is False.
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#homing_positive_dir:
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# If true, homing will cause the stepper to move in a positive
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# direction (away from zero); if false, home towards zero. The
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# default is true if position_endstop is near position_max and false
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# if near position_min.
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#homing_stepper_phases: 0
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# One may optionally set this to the number of phases of the stepper
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# motor driver (which is the number of micro-steps multiplied by
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@ -64,16 +76,6 @@ endstop_pin: ^ar3
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# reset. If this is not set, but homing_stepper_phases is set, then
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# the stepper phase will be detected on the first home and that
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# phase will be used on all subsequent homes.
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#position_min: 0
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# Minimum valid distance (in mm) the user may command the stepper to
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# move to. The default is 0mm.
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position_endstop: 0
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# Location of the endstop (in mm). This parameter must be provided
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# for the X, Y, and Z steppers on cartesian style printers.
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position_max: 200
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# Maximum valid distance (in mm) the user may command the stepper to
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# move to. This parameter must be provided for the X, Y, and Z
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# steppers on cartesian style printers.
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# The stepper_y section is used to describe the stepper controlling
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# the Y axis in a cartesian robot. It has the same settings as the
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@ -11,9 +11,9 @@ dir_pin: P8_12
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enable_pin: !P9_14
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step_distance: .0125
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endstop_pin: ^P8_8
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_y]
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step_pin: P8_15
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@ -21,9 +21,9 @@ dir_pin: P8_14
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enable_pin: !P9_14
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step_distance: .0125
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endstop_pin: ^P8_10
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_z]
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step_pin: P8_19
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@ -31,7 +31,6 @@ dir_pin: P8_18
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enable_pin: !P9_14
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step_distance: 0.00025
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endstop_pin: ^P9_13
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homing_speed: 5
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position_endstop: 0
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position_max: 200
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@ -10,9 +10,9 @@ enable_pin: !PA7
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step_distance: .0125
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endstop_pin: ^PB6
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#endstop_pin: ^PA2
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_y]
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step_pin: PC1
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@ -21,9 +21,9 @@ enable_pin: !PA6
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step_distance: .0125
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endstop_pin: ^PB5
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#endstop_pin: ^PA1
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_z]
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step_pin: PC2
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@ -32,7 +32,6 @@ enable_pin: !PA5
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step_distance: 0.00025
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endstop_pin: ^PB4
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#endstop_pin: ^PC7
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homing_speed: 5
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position_endstop: 0.5
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position_max: 200
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@ -11,9 +11,9 @@ enable_pin: !ar38
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step_distance: .0125
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endstop_pin: ^ar3
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#endstop_pin: ^ar2
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_y]
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step_pin: ar60
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@ -22,9 +22,9 @@ enable_pin: !ar56
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step_distance: .0125
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endstop_pin: ^ar14
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#endstop_pin: ^ar15
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_z]
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step_pin: ar46
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@ -33,7 +33,6 @@ enable_pin: !ar62
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step_distance: 0.00025
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endstop_pin: ^ar18
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#endstop_pin: ^ar19
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homing_speed: 5
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position_endstop: 0.5
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position_max: 200
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@ -11,9 +11,9 @@ dir_pin: P8_26
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enable_pin: !P9_41
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step_distance: .0125
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endstop_pin: ^P9_25
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_y]
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step_pin: P8_12
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@ -21,9 +21,9 @@ dir_pin: P8_19
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enable_pin: !P9_41
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step_distance: .0125
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endstop_pin: ^P9_23
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_z]
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step_pin: P8_13
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@ -31,7 +31,6 @@ dir_pin: P8_14
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enable_pin: !P9_41
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step_distance: 0.00025
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endstop_pin: ^P9_13
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homing_speed: 5
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position_endstop: 0
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position_max: 200
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@ -9,12 +9,11 @@ dir_pin: !PL1
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enable_pin: !PA7
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step_distance: .0225
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endstop_pin: ^!PB6
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homing_speed: 50.0
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homing_stepper_phases: 32
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homing_endstop_accuracy: .200
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position_min: -0.25
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position_endstop: 0.0
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position_max: 200
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homing_speed: 50
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homing_stepper_phases: 32
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homing_endstop_accuracy: .200
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[stepper_y]
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step_pin: PC1
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@ -22,12 +21,11 @@ dir_pin: PL0
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enable_pin: !PA6
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step_distance: .0225
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endstop_pin: ^!PB5
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homing_speed: 50.0
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homing_stepper_phases: 32
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homing_endstop_accuracy: .200
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position_min: -0.25
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position_endstop: 0.0
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position_max: 250
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homing_speed: 50
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homing_stepper_phases: 32
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homing_endstop_accuracy: .200
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[stepper_z]
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step_pin: PC2
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@ -35,13 +33,12 @@ dir_pin: !PL2
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enable_pin: !PA5
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step_distance: .005
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endstop_pin: ^!PB4
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homing_speed: 4.0
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homing_retract_dist: 2.0
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homing_stepper_phases: 32
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homing_endstop_accuracy: .050
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position_min: 0.1
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position_endstop: 0.7
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position_max: 200
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homing_retract_dist: 2.0
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homing_stepper_phases: 32
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homing_endstop_accuracy: .070
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[extruder]
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step_pin: PC3
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@ -57,8 +57,17 @@ class PrinterHomingStepper(PrinterStepper):
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self.position_endstop = config.getfloat('position_endstop')
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self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
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self.homing_positive_dir = config.getboolean(
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'homing_positive_dir', False)
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self.homing_positive_dir = config.getboolean('homing_positive_dir', None)
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if self.homing_positive_dir is None:
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axis_len = self.position_max - self.position_min
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if self.position_endstop <= self.position_min + axis_len / 4.:
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self.homing_positive_dir = False
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elif self.position_endstop >= self.position_max - axis_len / 4.:
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self.homing_positive_dir = True
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else:
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raise config.error(
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"Unable to infer homing_positive_dir in section '%s'" % (
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config.section,))
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self.homing_retract_dist = config.getfloat(
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'homing_retract_dist', 5., above=0.)
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self.homing_stepper_phases = config.getint(
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