endstop_phase: Calculate phase based on trigger position
Update the endstop_phase code to use the phase of the stepper motor at the endstop trigger time. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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3814a13251
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@ -32,8 +32,7 @@ class PhaseCalc:
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def convert_phase(self, driver_phase, driver_phases):
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def convert_phase(self, driver_phase, driver_phases):
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phases = self.phases
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phases = self.phases
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return (int(float(driver_phase) / driver_phases * phases + .5) % phases)
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return (int(float(driver_phase) / driver_phases * phases + .5) % phases)
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def calc_phase(self, stepper):
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def calc_phase(self, stepper, trig_mcu_pos):
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mcu_pos = stepper.get_mcu_position()
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mcu_phase_offset = 0
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mcu_phase_offset = 0
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if self.tmc_module is not None:
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if self.tmc_module is not None:
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mcu_phase_offset, phases = self.tmc_module.get_phase_offset()
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mcu_phase_offset, phases = self.tmc_module.get_phase_offset()
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@ -42,10 +41,10 @@ class PhaseCalc:
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raise self.printer.command_error("Stepper %s phase unknown"
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raise self.printer.command_error("Stepper %s phase unknown"
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% (self.name,))
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% (self.name,))
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mcu_phase_offset = 0
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mcu_phase_offset = 0
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phase = (mcu_pos + mcu_phase_offset) % self.phases
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phase = (trig_mcu_pos + mcu_phase_offset) % self.phases
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self.phase_history[phase] += 1
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self.phase_history[phase] += 1
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self.last_phase = phase
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self.last_phase = phase
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self.last_mcu_position = mcu_pos
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self.last_mcu_position = trig_mcu_pos
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return phase
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return phase
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# Adjusted endstop trigger positions
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# Adjusted endstop trigger positions
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@ -94,18 +93,19 @@ class EndstopPhase:
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" stepper phase adjustment" % (self.name,))
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" stepper phase adjustment" % (self.name,))
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if self.printer.get_start_args().get('debugoutput') is not None:
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if self.printer.get_start_args().get('debugoutput') is not None:
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self.endstop_phase_accuracy = self.phases
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self.endstop_phase_accuracy = self.phases
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def align_endstop(self, pos):
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def align_endstop(self, rail):
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if not self.endstop_align_zero or self.endstop_phase is None:
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if not self.endstop_align_zero or self.endstop_phase is None:
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return pos
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return 0.
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# Adjust the endstop position so 0.0 is always at a full step
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# Adjust the endstop position so 0.0 is always at a full step
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microsteps = self.phases // 4
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microsteps = self.phases // 4
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half_microsteps = microsteps // 2
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half_microsteps = microsteps // 2
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phase_offset = (((self.endstop_phase + half_microsteps) % microsteps)
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phase_offset = (((self.endstop_phase + half_microsteps) % microsteps)
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- half_microsteps) * self.step_dist
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- half_microsteps) * self.step_dist
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full_step = microsteps * self.step_dist
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full_step = microsteps * self.step_dist
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return int(pos / full_step + .5) * full_step + phase_offset
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pe = rail.get_homing_info().position_endstop
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def get_homed_offset(self, stepper):
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return int(pe / full_step + .5) * full_step - pe + phase_offset
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phase = self.phase_calc.calc_phase(stepper)
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def get_homed_offset(self, stepper, trig_mcu_pos):
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phase = self.phase_calc.calc_phase(stepper, trig_mcu_pos)
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if self.endstop_phase is None:
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if self.endstop_phase is None:
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logging.info("Setting %s endstop phase to %d", self.name, phase)
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logging.info("Setting %s endstop phase to %d", self.name, phase)
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self.endstop_phase = phase
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self.endstop_phase = phase
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@ -119,15 +119,13 @@ class EndstopPhase:
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self.name, phase, self.endstop_phase))
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self.name, phase, self.endstop_phase))
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return delta * self.step_dist
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return delta * self.step_dist
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def handle_home_rails_end(self, homing_state, rails):
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def handle_home_rails_end(self, homing_state, rails):
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kin_spos = homing_state.get_stepper_trigger_positions()
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orig_pos = kin_spos.get(self.name)
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if orig_pos is None:
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return
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for rail in rails:
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for rail in rails:
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stepper = rail.get_steppers()[0]
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stepper = rail.get_steppers()[0]
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if stepper.get_name() == self.name:
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if stepper.get_name() == self.name:
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offset = self.get_homed_offset(stepper)
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trig_mcu_pos = homing_state.get_trigger_position(self.name)
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kin_spos[self.name] = self.align_endstop(orig_pos) + offset
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align = self.align_endstop(rail)
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offset = self.get_homed_offset(stepper, trig_mcu_pos)
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homing_state.set_stepper_adjustment(self.name, align + offset)
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return
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return
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# Support for ENDSTOP_PHASE_CALIBRATE command
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# Support for ENDSTOP_PHASE_CALIBRATE command
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@ -142,7 +140,7 @@ class EndstopPhases:
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self.gcode.register_command("ENDSTOP_PHASE_CALIBRATE",
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self.gcode.register_command("ENDSTOP_PHASE_CALIBRATE",
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self.cmd_ENDSTOP_PHASE_CALIBRATE,
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self.cmd_ENDSTOP_PHASE_CALIBRATE,
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desc=self.cmd_ENDSTOP_PHASE_CALIBRATE_help)
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desc=self.cmd_ENDSTOP_PHASE_CALIBRATE_help)
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def update_stepper(self, stepper, is_primary):
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def update_stepper(self, stepper, trig_mcu_pos, is_primary):
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stepper_name = stepper.get_name()
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stepper_name = stepper.get_name()
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phase_calc = self.tracking.get(stepper_name)
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phase_calc = self.tracking.get(stepper_name)
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if phase_calc is None:
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if phase_calc is None:
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@ -162,12 +160,14 @@ class EndstopPhases:
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if is_primary:
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if is_primary:
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phase_calc.is_primary = True
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phase_calc.is_primary = True
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if phase_calc.stats_only:
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if phase_calc.stats_only:
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phase_calc.calc_phase(stepper)
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phase_calc.calc_phase(stepper, trig_mcu_pos)
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def handle_home_rails_end(self, homing_state, rails):
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def handle_home_rails_end(self, homing_state, rails):
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for rail in rails:
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for rail in rails:
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is_primary = True
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is_primary = True
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for stepper in rail.get_steppers():
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for stepper in rail.get_steppers():
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self.update_stepper(stepper, is_primary)
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sname = stepper.get_name()
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trig_mcu_pos = homing_state.get_trigger_position(sname)
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self.update_stepper(stepper, trig_mcu_pos, is_primary)
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is_primary = False
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is_primary = False
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cmd_ENDSTOP_PHASE_CALIBRATE_help = "Calibrate stepper phase"
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cmd_ENDSTOP_PHASE_CALIBRATE_help = "Calibrate stepper phase"
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def cmd_ENDSTOP_PHASE_CALIBRATE(self, gcmd):
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def cmd_ENDSTOP_PHASE_CALIBRATE(self, gcmd):
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@ -150,13 +150,16 @@ class Homing:
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self.printer = printer
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self.printer = printer
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self.toolhead = printer.lookup_object('toolhead')
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self.toolhead = printer.lookup_object('toolhead')
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self.changed_axes = []
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self.changed_axes = []
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self.kin_spos = {}
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self.trigger_mcu_pos = {}
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self.adjust_pos = {}
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def set_axes(self, axes):
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def set_axes(self, axes):
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self.changed_axes = axes
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self.changed_axes = axes
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def get_axes(self):
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def get_axes(self):
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return self.changed_axes
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return self.changed_axes
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def get_stepper_trigger_positions(self):
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def get_trigger_position(self, stepper_name):
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return self.kin_spos
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return self.trigger_mcu_pos[stepper_name]
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def set_stepper_adjustment(self, stepper_name, adjustment):
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self.adjust_pos[stepper_name] = adjustment
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def _fill_coord(self, coord):
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def _fill_coord(self, coord):
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# Fill in any None entries in 'coord' with current toolhead position
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# Fill in any None entries in 'coord' with current toolhead position
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thcoord = list(self.toolhead.get_position())
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thcoord = list(self.toolhead.get_position())
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@ -200,16 +203,19 @@ class Homing:
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% (hmove.check_no_movement(),))
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% (hmove.check_no_movement(),))
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# Signal home operation complete
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# Signal home operation complete
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self.toolhead.flush_step_generation()
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self.toolhead.flush_step_generation()
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kin = self.toolhead.get_kinematics()
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self.trigger_mcu_pos = {sp.stepper_name: sp.trig_pos
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kin_spos = {s.get_name(): s.get_commanded_position()
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for sp in hmove.stepper_positions}
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for s in kin.get_steppers()}
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self.adjust_pos = {}
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self.kin_spos = dict(kin_spos)
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self.printer.send_event("homing:home_rails_end", self, rails)
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self.printer.send_event("homing:home_rails_end", self, rails)
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if kin_spos != self.kin_spos:
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if any(self.adjust_pos.values()):
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# Apply any homing offsets
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# Apply any homing offsets
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adjustpos = kin.calc_position(self.kin_spos)
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kin = self.toolhead.get_kinematics()
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kin_spos = {s.get_name(): (s.get_commanded_position()
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+ self.adjust_pos.get(s.get_name(), 0.))
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for s in kin.get_steppers()}
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newpos = kin.calc_position(kin_spos)
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for axis in homing_axes:
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for axis in homing_axes:
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movepos[axis] = adjustpos[axis]
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movepos[axis] = newpos[axis]
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self.toolhead.set_position(movepos)
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self.toolhead.set_position(movepos)
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class PrinterHoming:
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class PrinterHoming:
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