homing: Move low-level coordinate manipulation to kinematic class
Rework the code so that the kinematic class (currently just cartesian.py) has more control over the homing process. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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92f81d51f4
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@ -33,11 +33,34 @@ class CartKinematics:
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accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
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for i in StepList if axes_d[i]])
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return velocity_factor * move_d, accel_factor * move_d
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def home(self, toolhead, axis):
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def home(self, toolhead, axes):
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# Each axis is homed independently and in order
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homing_state = homing.Homing(toolhead, self.steppers) # XXX
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for a in axis:
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homing_state.plan_home(a)
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homing_state = homing.Homing(toolhead, axes)
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for axis in axes:
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s = self.steppers[axis]
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# Determine moves
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if s.homing_positive_dir:
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pos = s.position_endstop + 1.5*(
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s.position_min - s.position_endstop)
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rpos = s.position_endstop - s.homing_retract_dist
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r2pos = rpos - s.homing_retract_dist
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else:
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pos = s.position_endstop + 1.5*(
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s.position_max - s.position_endstop)
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rpos = s.position_endstop + s.homing_retract_dist
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r2pos = rpos + s.homing_retract_dist
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# Initial homing
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homepos = [None, None, None, None]
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homepos[axis] = s.position_endstop
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coord = [None, None, None, None]
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coord[axis] = pos
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homing_state.plan_home(list(coord), homepos, [s], s.homing_speed)
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# Retract
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coord[axis] = rpos
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homing_state.plan_move(list(coord), s.homing_speed)
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# Home again
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coord[axis] = r2pos
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homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
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return homing_state
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def motor_off(self, move_time):
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for stepper in self.steppers:
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@ -227,19 +227,19 @@ class GCodeParser:
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pass
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def cmd_G28(self, params):
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# Move to origin
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axis = []
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for a in 'XYZ':
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if a in params:
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axis.append(self.axis2pos[a])
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if not axis:
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axis = [0, 1, 2]
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busy_handler = self.toolhead.home(axis)
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def axis_update(axis):
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axes = []
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for axis in 'XYZ':
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if axis in params:
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axes.append(self.axis2pos[axis])
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if not axes:
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axes = [0, 1, 2]
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busy_handler = self.toolhead.home(axes)
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def axes_update(axes):
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newpos = self.toolhead.get_position()
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for a in axis:
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self.last_position[a] = newpos[a]
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self.base_position[a] = -self.homing_add[a]
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busy_handler.plan_axis_update(axis_update)
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for axis in axes:
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self.last_position[axis] = newpos[axis]
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self.base_position[axis] = -self.homing_add[axis]
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busy_handler.plan_axes_update(axes_update)
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self.set_busy(busy_handler)
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def cmd_G90(self, params):
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# Use absolute coordinates
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@ -7,36 +7,19 @@
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import logging
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class Homing:
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def __init__(self, toolhead, steppers):
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def __init__(self, toolhead, changed_axes):
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self.toolhead = toolhead
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self.steppers = steppers
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self.changed_axes = changed_axes
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self.states = []
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self.endstops = []
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self.changed_axis = []
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def plan_home(self, axis, precise=False):
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s = self.steppers[axis]
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state = self.states
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self.changed_axis.append(axis)
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speed = s.homing_speed
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if s.homing_positive_dir:
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pos = s.position_endstop + 1.5*(s.position_min - s.position_endstop)
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rpos = s.position_endstop - s.homing_retract_dist
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r2pos = rpos - s.homing_retract_dist
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else:
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pos = s.position_endstop + 1.5*(s.position_max - s.position_endstop)
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rpos = s.position_endstop + s.homing_retract_dist
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r2pos = rpos + s.homing_retract_dist
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# Initial homing
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state.append((self.do_home, ({axis: pos}, speed)))
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state.append((self.do_wait_endstop, ({axis: 1},)))
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# Retract
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state.append((self.do_move, ({axis: rpos}, speed)))
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# Home again
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state.append((self.do_home, ({axis: r2pos}, speed/2.0)))
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state.append((self.do_wait_endstop, ({axis: 1},)))
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def plan_axis_update(self, callback):
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self.states.append((callback, (self.changed_axis,)))
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def plan_home(self, forcepos, movepos, steppers, speed):
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self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
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self.states.append((self.do_wait_endstop, ()))
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def plan_move(self, newpos, speed):
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self.states.append((self.do_move, (newpos, speed)))
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def plan_axes_update(self, callback):
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self.states.append((callback, (self.changed_axes,)))
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def check_busy(self, eventtime):
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while self.states:
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first = self.states[0]
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@ -46,34 +29,34 @@ class Homing:
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self.states.pop(0)
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return False
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def do_move(self, axis_pos, speed):
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# Issue a move command to axis_pos
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newpos = self.toolhead.get_position()
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for axis, pos in axis_pos.items():
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newpos[axis] = pos
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self.toolhead.move(newpos, speed)
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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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thcoord = self.toolhead.get_position()
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coord = list(coord)
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for i in range(len(coord)):
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if coord[i] is None:
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coord[i] = thcoord[i]
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return coord
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def do_move(self, newpos, speed):
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# Issue a move command
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self.toolhead.move(self.fill_coord(newpos), speed)
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return False
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def do_home(self, axis_pos, speed):
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# Alter kinematics class to think printer is at axis_pos
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newpos = self.toolhead.get_position()
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forcepos = list(newpos)
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for axis, pos in axis_pos.items():
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newpos[axis] = self.steppers[axis].position_endstop
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forcepos[axis] = pos
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self.toolhead.set_position(forcepos)
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def do_home(self, forcepos, movepos, steppers, speed):
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# Alter kinematics class to think printer is at forcepos
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self.toolhead.set_position(self.fill_coord(forcepos))
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# Start homing and issue move
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print_time = self.toolhead.get_last_move_time()
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for axis in axis_pos:
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hz = speed * self.steppers[axis].inv_step_dist
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es = self.steppers[axis].enable_endstop_checking(print_time, hz)
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for s in steppers:
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hz = speed * s.inv_step_dist
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es = s.enable_endstop_checking(print_time, hz)
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self.endstops.append(es)
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self.toolhead.move(newpos, speed)
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self.toolhead.move(self.fill_coord(movepos), speed)
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self.toolhead.reset_print_time()
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for es in self.endstops:
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es.home_finalize()
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return False
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def do_wait_endstop(self, axis_wait):
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# Check if axis_wait endstops have triggered
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def do_wait_endstop(self):
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# Check if endstops have triggered
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for es in self.endstops:
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if es.is_homing():
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return True
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@ -253,8 +253,8 @@ class ToolHead:
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speed = min(speed, self.max_xy_speed)
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move = Move(self, newpos, move_d, axes_d, speed, self.max_xy_accel)
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self.move_queue.add_move(move)
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def home(self, axis):
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return self.kin.home(self, axis)
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def home(self, axes):
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return self.kin.home(self, axes)
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def dwell(self, delay):
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self.get_last_move_time()
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self.update_move_time(delay)
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