bltouch: Raise probe on startup

Send a pin_up command during startup and try to verify that the probe
actually raises.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-01-04 20:37:42 -05:00
parent e36122797b
commit 56141c21d7
1 changed files with 16 additions and 6 deletions

View File

@ -23,6 +23,8 @@ Commands = {
class BLTouchEndstopWrapper:
def __init__(self, config):
self.printer = config.get_printer()
self.printer.register_event_handler("klippy:connect",
self.handle_connect)
self.position_endstop = config.getfloat('z_offset')
# Create a pwm object to handle the control pin
ppins = self.printer.lookup_object('pins')
@ -61,6 +63,12 @@ class BLTouchEndstopWrapper:
kin = self.printer.lookup_object('toolhead').get_kinematics()
for stepper in kin.get_steppers('Z'):
stepper.add_to_endstop(self)
def handle_connect(self):
self.sync_mcu_print_time()
try:
self.raise_probe()
except homing.EndstopError as e:
raise self.printer.config_error(str(e))
def sync_mcu_print_time(self):
curtime = self.printer.get_reactor().monotonic()
est_time = self.mcu_pwm.get_mcu().estimated_print_time(curtime)
@ -89,6 +97,13 @@ class BLTouchEndstopWrapper:
raise homing.EndstopError("BLTouch failed to %s" % (msg,))
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos)
def raise_probe(self):
self.send_cmd('reset')
check_start_time = self.send_cmd('pin_up', duration=self.pin_move_time)
check_end_time = self.send_cmd(None)
if self.pin_up_not_triggered:
self.verify_state(check_start_time, check_end_time,
False, "raise probe")
def test_sensor(self):
if not self.test_sensor_pin:
return
@ -118,12 +133,7 @@ class BLTouchEndstopWrapper:
for s in self.mcu_endstop.get_steppers()]
def home_finalize(self):
self.sync_mcu_print_time()
self.send_cmd('reset')
check_start_time = self.send_cmd('pin_up', duration=self.pin_move_time)
check_end_time = self.send_cmd(None)
if self.pin_up_not_triggered:
self.verify_state(check_start_time, check_end_time,
False, "raise probe")
self.raise_probe()
self.sync_print_time()
# Verify the probe actually deployed during the attempt
for s, mcu_pos in self.start_mcu_pos: