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stepper: Only align the stepper motor to a full step when requested 

Add a new config option 'homing_endstop_align_zero' to enable the
alignment of the endstop to a stepper full step.  It's possible one
may wish to specify a homing_endstop_phase while not aligning the
endstop.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-07 17:35:19 -05:00
parent ef09ac5a7f
commit 3ffab763c0
2 changed files with 8 additions and 1 deletions
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6
config/example.cfg
View File

@ -77,6 +77,12 @@ position_max: 200
# reset. If this is not set, but homing_stepper_phases is set, then
# the stepper phase will be detected on the first home and that
# phase will be used on all subsequent homes.
#homing_endstop_align_zero: False
# If homing_endstop_phase is set and this field is true then the
# code will arrange for the zero position on the axis to occur at a
# full step on the stepper motor. (If used on the Z axis and the
# print layer height is a multiple of a full step distance then
# every layer will occur on a full step.) The default is False.
# The stepper_y section is used to describe the stepper controlling
# the Y axis in a cartesian robot. It has the same settings as the

3
klippy/stepper.py
View File

@ -87,7 +87,8 @@ class PrinterHomingStepper(PrinterStepper):
self.homing_endstop_phase = config.getint(
'homing_endstop_phase', None, minval=0
, maxval=self.homing_stepper_phases-1)
if self.homing_endstop_phase is not None:
if (self.homing_endstop_phase is not None
and config.getboolean('homing_endstop_align_zero', False)):
# Adjust the endstop position so 0.0 is always at a full step
micro_steps = self.homing_stepper_phases // 4
phase_offset = (