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homing: Base homing cpu delay on estimated number of steps needed 

Instead of adding 250ms to each homing operation add a time relative
to the number of estimated steps that are to be generated.  This
scales the delay to really large axes without adding a delay for
normal users.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-11-29 19:53:16 -05:00
parent 6bbb84326d
commit 6930a7de8d
2 changed files with 11 additions and 4 deletions
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10
klippy/homing.py
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@ -5,7 +5,7 @@
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import logging import logging
HOMING_DELAY = 0.250 HOMING_STEP_DELAY = 0.00000025
ENDSTOP_SAMPLE_TIME = .000015 ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4 ENDSTOP_SAMPLE_COUNT = 4
@ -34,7 +34,13 @@ class Homing:
self.toolhead.set_position(self._fill_coord(forcepos)) self.toolhead.set_position(self._fill_coord(forcepos))
# Start homing and issue move # Start homing and issue move
if not second_home: if not second_home:
self.toolhead.dwell(HOMING_DELAY) est_move_d = sum([abs(forcepos[i]-movepos[i])
for i in range(3) if movepos[i] is not None])
est_steps = sum(
[est_move_d / mcu_stepper.get_step_dist()
for s in steppers
for mcu_endstop, mcu_stepper, name in s.get_endstops()])
self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
print_time = self.toolhead.get_last_move_time() print_time = self.toolhead.get_last_move_time()
endstops = [] endstops = []
for s in steppers: for s in steppers:

5
klippy/toolhead.py
View File

@ -329,10 +329,11 @@ class ToolHead:
self._check_stall() self._check_stall()
def home(self, homing_state): def home(self, homing_state):
self.kin.home(homing_state) self.kin.home(homing_state)
def dwell(self, delay): def dwell(self, delay, check_stall=True):
self.get_last_move_time() self.get_last_move_time()
self.update_move_time(delay) self.update_move_time(delay)
self._check_stall() if check_stall:
self._check_stall()
def motor_off(self): def motor_off(self):
self.dwell(STALL_TIME) self.dwell(STALL_TIME)
last_move_time = self.get_last_move_time() last_move_time = self.get_last_move_time()