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homing: Fix error in retract move causing "must home axis" errors 

It's possible for the original homing move of an axis to alter the
position of other axes.  Make sure those other axes are not requested
to move on a subsequent second home retract move, as that could cause
an error if those other axes have not been homed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-08-28 12:59:01 -04:00
parent 8d4d16d51a
commit 2e131497ca
1 changed files with 15 additions and 12 deletions
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27
klippy/extras/homing.py
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@ -174,29 +174,31 @@ class Homing:
self.printer.send_event("homing:home_rails_begin", self, rails)
# Alter kinematics class to think printer is at forcepos
homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
forcepos = self._fill_coord(forcepos)
movepos = self._fill_coord(movepos)
self.toolhead.set_position(forcepos, homing_axes=homing_axes)
startpos = self._fill_coord(forcepos)
homepos = self._fill_coord(movepos)
self.toolhead.set_position(startpos, homing_axes=homing_axes)
# Perform first home
endstops = [es for rail in rails for es in rail.get_endstops()]
hi = rails[0].get_homing_info()
hmove = HomingMove(self.printer, endstops)
hmove.homing_move(movepos, hi.speed)
hmove.homing_move(homepos, hi.speed)
# Perform second home
if hi.retract_dist:
# Retract
axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)]
startpos = self._fill_coord(forcepos)
homepos = self._fill_coord(movepos)
axes_d = [hp - sp for hp, sp in zip(homepos, startpos)]
move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
retract_r = min(1., hi.retract_dist / move_d)
retractpos = [mp - ad * retract_r
for mp, ad in zip(movepos, axes_d)]
retractpos = [hp - ad * retract_r
for hp, ad in zip(homepos, axes_d)]
self.toolhead.move(retractpos, hi.retract_speed)
# Home again
forcepos = [rp - ad * retract_r
startpos = [rp - ad * retract_r
for rp, ad in zip(retractpos, axes_d)]
self.toolhead.set_position(forcepos)
self.toolhead.set_position(startpos)
hmove = HomingMove(self.printer, endstops)
hmove.homing_move(movepos, hi.second_homing_speed)
hmove.homing_move(homepos, hi.second_homing_speed)
if hmove.check_no_movement() is not None:
raise self.printer.command_error(
"Endstop %s still triggered after retract"
@ -210,13 +212,14 @@ class Homing:
if any(self.adjust_pos.values()):
# Apply any homing offsets
kin = self.toolhead.get_kinematics()
homepos = self.toolhead.get_position()
kin_spos = {s.get_name(): (s.get_commanded_position()
+ self.adjust_pos.get(s.get_name(), 0.))
for s in kin.get_steppers()}
newpos = kin.calc_position(kin_spos)
for axis in homing_axes:
movepos[axis] = newpos[axis]
self.toolhead.set_position(movepos)
homepos[axis] = newpos[axis]
self.toolhead.set_position(homepos)
class PrinterHoming:
def __init__(self, config):