mirror of https://github.com/Desuuuu/klipper.git
167 lines
6.9 KiB
Python
167 lines
6.9 KiB
Python
# Code for state tracking during homing operations
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#
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# Copyright (C) 2016-2019 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, math, collections
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HOMING_START_DELAY = 0.001
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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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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self.verify_retract = True
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self.endstops_pending = -1
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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 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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startpos = self.toolhead.get_position()
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axes_d = [mp - sp for mp, sp in zip(movepos, startpos)]
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move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
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move_t = move_d / speed
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max_steps = max([(abs(s.calc_position_from_coord(startpos)
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- s.calc_position_from_coord(movepos))
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/ s.get_step_dist())
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for s in mcu_endstop.get_steppers()])
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return move_t / max_steps
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def _endstop_notify(self):
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self.endstops_pending -= 1
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if not self.endstops_pending:
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self.toolhead.signal_drip_mode_end()
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def homing_move(self, movepos, endstops, speed,
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probe_pos=False, verify_movement=False):
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# Notify endstops of upcoming home
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for mcu_endstop, name in endstops:
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mcu_endstop.home_prepare()
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# Note start location
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self.toolhead.flush_step_generation()
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kin = self.toolhead.get_kinematics()
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for s in kin.get_steppers():
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s.set_tag_position(s.get_commanded_position())
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start_mcu_pos = [(s, name, s.get_mcu_position())
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for es, name in endstops for s in es.get_steppers()]
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# Start endstop checking
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print_time = self.toolhead.get_last_move_time()
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self.endstops_pending = len(endstops)
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for mcu_endstop, name in endstops:
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rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
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mcu_endstop.home_start(
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print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
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rest_time, notify=self._endstop_notify)
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self.toolhead.dwell(HOMING_START_DELAY)
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# Issue move
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error = None
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try:
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self.toolhead.drip_move(movepos, speed)
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except CommandError as e:
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error = "Error during homing move: %s" % (str(e),)
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# Wait for endstops to trigger
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move_end_print_time = self.toolhead.get_last_move_time()
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for mcu_endstop, name in endstops:
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try:
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mcu_endstop.home_wait(move_end_print_time)
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except mcu_endstop.TimeoutError as e:
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if error is None:
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error = "Failed to home %s: %s" % (name, str(e))
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# Determine stepper halt positions
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self.toolhead.flush_step_generation()
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end_mcu_pos = [(s, name, spos, s.get_mcu_position())
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for s, name, spos in start_mcu_pos]
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if probe_pos:
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for s, name, spos, epos in end_mcu_pos:
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md = (epos - spos) * s.get_step_dist()
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s.set_tag_position(s.get_tag_position() + md)
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self.set_homed_position(kin.calc_tag_position())
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else:
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self.toolhead.set_position(movepos)
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# Signal homing complete
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for mcu_endstop, name in endstops:
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try:
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mcu_endstop.home_finalize()
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except CommandError as e:
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if error is None:
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error = str(e)
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if error is not None:
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raise CommandError(error)
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# Check if some movement occurred
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if verify_movement:
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for s, name, spos, epos in end_mcu_pos:
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if spos == epos:
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if probe_pos:
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raise EndstopError("Probe triggered prior to movement")
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raise EndstopError(
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"Endstop %s still triggered after retract" % (name,))
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def home_rails(self, rails, forcepos, movepos):
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# Alter kinematics class to think printer is at forcepos
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homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
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forcepos = self._fill_coord(forcepos)
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movepos = self._fill_coord(movepos)
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self.toolhead.set_position(forcepos, homing_axes=homing_axes)
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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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hi = rails[0].get_homing_info()
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self.homing_move(movepos, endstops, hi.speed)
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# Perform second home
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if hi.retract_dist:
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# Retract
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axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)]
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move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
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retract_r = min(1., hi.retract_dist / move_d)
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retractpos = [mp - ad * retract_r
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for mp, ad in zip(movepos, axes_d)]
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self.toolhead.move(retractpos, hi.speed)
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# Home again
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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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self.toolhead.set_position(forcepos)
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self.homing_move(movepos, endstops, hi.second_homing_speed,
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verify_movement=self.verify_retract)
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# Signal home operation complete
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self.toolhead.flush_step_generation()
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kin = self.toolhead.get_kinematics()
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for s in kin.get_steppers():
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s.set_tag_position(s.get_commanded_position())
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ret = self.printer.send_event("homing:homed_rails", self, rails)
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if any(ret):
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# Apply any homing offsets
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adjustpos = kin.calc_tag_position()
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for axis in homing_axes:
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movepos[axis] = adjustpos[axis]
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self.toolhead.set_position(movepos)
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def home_axes(self, axes):
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self.changed_axes = axes
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try:
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self.toolhead.get_kinematics().home(self)
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except CommandError:
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self.printer.lookup_object('stepper_enable').motor_off()
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raise
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class CommandError(Exception):
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pass
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class EndstopError(CommandError):
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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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Coord = collections.namedtuple('Coord', ('x', 'y', 'z', 'e'))
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