mirror of https://github.com/Desuuuu/klipper.git
62 lines
2.5 KiB
Python
62 lines
2.5 KiB
Python
# Code for state tracking during homing operations
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#
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# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
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#
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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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class Homing:
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def __init__(self, toolhead, changed_axes):
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self.toolhead = toolhead
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self.changed_axes = changed_axes
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self.verify_retract = True
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def set_no_verify_retract(self):
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self.verify_retract = False
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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 retract(self, newpos, speed):
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self.toolhead.move(self._fill_coord(newpos), speed)
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def home(self, forcepos, movepos, steppers, speed, second_home=False):
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# Alter kinematics class to think printer is at forcepos
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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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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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es = s.enable_endstop_checking(print_time, s.step_dist / speed)
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endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
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self.toolhead.move(self._fill_coord(movepos), speed)
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move_end_print_time = self.toolhead.get_last_move_time()
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self.toolhead.reset_print_time()
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for s, es, last_pos in endstops:
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es.home_finalize(es.print_to_mcu_time(move_end_print_time))
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# Wait for endstops to trigger
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for s, es, last_pos in endstops:
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try:
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es.home_wait()
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except es.error, e:
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raise EndstopError("Failed to home stepper %s: %s" % (
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s.name, str(e)))
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post_home_pos = s.mcu_stepper.get_mcu_position()
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if second_home and self.verify_retract and last_pos == post_home_pos:
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raise EndstopError("Endstop %s still triggered after retract" % (
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s.name,))
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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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class EndstopError(Exception):
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pass
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def EndstopMoveError(pos, msg="Move out of range"):
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return EndstopError("%s: %.3f %.3f %.3f [%.3f]" % (
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msg, pos[0], pos[1], pos[2], pos[3]))
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