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homing: Don't assume homing occurs with a constant step rate 

Some kinematics do not result in a constant step rate during homing
operations.  Calculate the endstop checking rate using the total
distance traveled on the axis divided by the axis step distance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-12-01 21:57:38 -05:00
parent e43ad4c953
commit 2b6cf5b007
1 changed files with 12 additions and 3 deletions
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15
klippy/homing.py
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@ -31,6 +31,16 @@ class Homing:
return thcoord
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
startpos = self.toolhead.get_position()
axes_d = [mp - sp for mp, sp in zip(movepos, startpos)]
move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
move_t = move_d / speed
max_steps = max([(abs(s.calc_position_from_coord(startpos)
- s.calc_position_from_coord(movepos))
/ s.get_step_dist())
for s in mcu_endstop.get_steppers()])
return move_t / max_steps
def _endstop_notify(self):
self.endstops_pending -= 1
if not self.endstops_pending:
@ -51,11 +61,10 @@ class Homing:
print_time = self.toolhead.get_last_move_time()
self.endstops_pending = len(endstops)
for mcu_endstop, name in endstops:
min_step_dist = min([s.get_step_dist()
for s in mcu_endstop.get_steppers()])
rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
mcu_endstop.home_start(
print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
min_step_dist / speed, notify=self._endstop_notify)
rest_time, notify=self._endstop_notify)
self.toolhead.dwell(HOMING_START_DELAY)
# Issue move
error = None