mirror of https://github.com/Desuuuu/klipper.git
homing: Separate homing/probing movement logic to its own class
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -9,25 +9,18 @@ HOMING_START_DELAY = 0.001
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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ENDSTOP_SAMPLE_COUNT = 4
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# State tracking during toolhead homing/probing operations
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# Return a completion that completes when all completions in a list complete
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class Homing:
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def multi_complete(printer, completions):
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if len(completions) == 1:
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return completions[0]
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cb = (lambda e: all([c.wait() for c in completions]))
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return printer.get_reactor().register_callback(cb)
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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):
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self.printer = printer
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self.printer = printer
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self.toolhead = printer.lookup_object('toolhead')
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self.toolhead = printer.lookup_object('toolhead')
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self.changed_axes = []
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def set_axes(self, axes):
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self.changed_axes = axes
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def get_axes(self):
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return self.changed_axes
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def _fill_coord(self, coord):
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# Fill in any None entries in 'coord' with current toolhead position
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thcoord = list(self.toolhead.get_position())
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for i in range(len(coord)):
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if coord[i] is not None:
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thcoord[i] = coord[i]
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return thcoord
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def set_homed_position(self, pos):
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self.toolhead.set_position(self._fill_coord(pos))
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def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
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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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startpos = self.toolhead.get_position()
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axes_d = [mp - sp for mp, sp in zip(movepos, startpos)]
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axes_d = [mp - sp for mp, sp in zip(movepos, startpos)]
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@ -104,6 +97,26 @@ class Homing:
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raise self.printer.command_error(
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raise self.printer.command_error(
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"Endstop %s still triggered after retract" % (name,))
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"Endstop %s still triggered after retract" % (name,))
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return movepos
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return movepos
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# State tracking of homing requests
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class Homing:
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def __init__(self, printer):
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self.printer = printer
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self.toolhead = printer.lookup_object('toolhead')
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self.changed_axes = []
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def set_axes(self, axes):
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self.changed_axes = axes
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def get_axes(self):
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return self.changed_axes
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def _fill_coord(self, coord):
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# Fill in any None entries in 'coord' with current toolhead position
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thcoord = list(self.toolhead.get_position())
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for i in range(len(coord)):
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if coord[i] is not None:
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thcoord[i] = coord[i]
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return thcoord
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def set_homed_position(self, pos):
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self.toolhead.set_position(self._fill_coord(pos))
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def home_rails(self, rails, forcepos, movepos):
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def home_rails(self, rails, forcepos, movepos):
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# Notify of upcoming homing operation
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# Notify of upcoming homing operation
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self.printer.send_event("homing:home_rails_begin", self, rails)
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self.printer.send_event("homing:home_rails_begin", self, rails)
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@ -115,7 +128,8 @@ class Homing:
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# Perform first home
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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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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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hi = rails[0].get_homing_info()
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self.homing_move(movepos, endstops, hi.speed)
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hmove = HomingMove(self.printer)
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hmove.homing_move(movepos, endstops, hi.speed)
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# Perform second home
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# Perform second home
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if hi.retract_dist:
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if hi.retract_dist:
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# Retract
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# Retract
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@ -129,8 +143,9 @@ class Homing:
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forcepos = [rp - ad * retract_r
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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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for rp, ad in zip(retractpos, axes_d)]
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self.toolhead.set_position(forcepos)
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self.toolhead.set_position(forcepos)
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self.homing_move(movepos, endstops, hi.second_homing_speed,
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hmove = HomingMove(self.printer)
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verify_movement=True)
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hmove.homing_move(movepos, endstops, hi.second_homing_speed,
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verify_movement=True)
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# Signal home operation complete
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# Signal home operation complete
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self.toolhead.flush_step_generation()
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self.toolhead.flush_step_generation()
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kin = self.toolhead.get_kinematics()
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kin = self.toolhead.get_kinematics()
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@ -144,13 +159,6 @@ class Homing:
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movepos[axis] = adjustpos[axis]
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movepos[axis] = adjustpos[axis]
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self.toolhead.set_position(movepos)
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self.toolhead.set_position(movepos)
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# Return a completion that completes when all completions in a list complete
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def multi_complete(printer, completions):
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if len(completions) == 1:
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return completions[0]
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cb = (lambda e: all([c.wait() for c in completions]))
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return printer.get_reactor().register_callback(cb)
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class PrinterHoming:
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class PrinterHoming:
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def __init__(self, config):
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def __init__(self, config):
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self.printer = config.get_printer()
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self.printer = config.get_printer()
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@ -158,10 +166,10 @@ class PrinterHoming:
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gcode = self.printer.lookup_object('gcode')
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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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gcode.register_command('G28', self.cmd_G28)
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def probing_move(self, mcu_probe, pos, speed):
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def probing_move(self, mcu_probe, pos, speed):
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homing_state = Homing(self.printer)
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hmove = HomingMove(self.printer)
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endstops = [(mcu_probe, "probe")]
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endstops = [(mcu_probe, "probe")]
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return homing_state.homing_move(pos, endstops, speed,
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return hmove.homing_move(pos, endstops, speed,
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probe_pos=True, verify_movement=True)
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probe_pos=True, verify_movement=True)
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def cmd_G28(self, gcmd):
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def cmd_G28(self, gcmd):
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# Move to origin
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# Move to origin
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axes = []
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axes = []
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