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toolhead: Make sure input_shaper movement starts after endstop checking 

Add a dwell() to the start of drip_move() to ensure that input_shaper
movements scheduled in advance of the nominal move time aren't
scheduled prior to the homing start.  (Otherwise the stepper may move
prior to endstop checking, which can corrupt the "no movement"
checks.)

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-29 21:06:36 -04:00
parent 34bf8a04c7
commit da735ab312
1 changed files with 1 additions and 0 deletions
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klippy/toolhead.py
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@ -460,6 +460,7 @@ class ToolHead:
npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time) npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
self._update_move_time(npt) self._update_move_time(npt)
def drip_move(self, newpos, speed, drip_completion): def drip_move(self, newpos, speed, drip_completion):
self.dwell(self.kin_flush_delay)
# Transition from "Flushed"/"Priming"/main state to "Drip" state # Transition from "Flushed"/"Priming"/main state to "Drip" state
self.move_queue.flush() self.move_queue.flush()
self.special_queuing_state = "Drip" self.special_queuing_state = "Drip"