bltouch: Verify probe always deploys during a homing operation
Verify that there is always some movement during a probing operation. This is normally done by the homing.py code (via its verify_movement check), but that check may not be enabled when z_virtual_endstop is used. So, always enable the check in the bltouch.py code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -38,6 +38,7 @@ class BLTouchEndstopWrapper:
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# Setup for sensor test
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self.next_test_time = 0.
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self.test_sensor_pin = config.getboolean('test_sensor_pin', True)
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self.start_mcu_pos = []
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# Calculate pin move time
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pmt = max(config.getfloat('pin_move_time', 0.200), MIN_CMD_TIME)
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self.pin_move_time = math.ceil(pmt / SIGNAL_PERIOD) * SIGNAL_PERIOD
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@ -94,6 +95,8 @@ class BLTouchEndstopWrapper:
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self.send_cmd(print_time + self.pin_move_time, 'touch_mode')
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toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
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self.mcu_endstop.home_prepare()
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self.start_mcu_pos = [(s, s.get_mcu_position())
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for s in self.mcu_endstop.get_steppers()]
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def home_finalize(self):
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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@ -101,6 +104,10 @@ class BLTouchEndstopWrapper:
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self.send_cmd(print_time + MIN_CMD_TIME, 'pin_up')
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self.send_cmd(print_time + MIN_CMD_TIME + self.pin_move_time, None)
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toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
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# Verify the probe actually deployed during the attempt
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for s, mcu_pos in self.start_mcu_pos:
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if s.get_mcu_position() == mcu_pos:
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raise homing.EndstopError("BLTouch failed to deploy")
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self.mcu_endstop.home_finalize()
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def home_start(self, print_time, sample_time, sample_count, rest_time):
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rest_time = min(rest_time, ENDSTOP_REST_TIME)
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@ -78,7 +78,11 @@ class Homing:
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else:
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self.toolhead.set_position(movepos)
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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 EndstopError 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 EndstopError(error)
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# Check if some movement occurred
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