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stepper: Add a get_homing_info() method to PrinterHomingStepper 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-21 18:48:33 -04:00
parent 968ed58b61
commit 93d0526a77
4 changed files with 43 additions and 32 deletions
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21
klippy/cartesian.py
View File

@ -64,20 +64,21 @@ class CartKinematics:
s = stepper
# Determine moves
position_min, position_max = s.get_range()
if s.homing_positive_dir:
pos = s.position_endstop - 1.5*(s.position_endstop - position_min)
rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist
hi = s.get_homing_info()
if hi.positive_dir:
pos = hi.position_endstop - 1.5*(hi.position_endstop - position_min)
rpos = hi.position_endstop - hi.retract_dist
r2pos = rpos - hi.retract_dist
else:
pos = s.position_endstop + 1.5*(position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
pos = hi.position_endstop + 1.5*(position_max - hi.position_endstop)
rpos = hi.position_endstop + hi.retract_dist
r2pos = rpos + hi.retract_dist
# Initial homing
homing_speed = s.homing_speed
homing_speed = hi.speed
if axis == 2:
homing_speed = min(homing_speed, self.max_z_velocity)
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
homepos[axis] = hi.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
@ -89,7 +90,7 @@ class CartKinematics:
homing_state.home(coord, homepos, s.get_endstops(),
homing_speed/2.0, second_home=True)
# Set final homed position
coord[axis] = s.position_endstop + s.get_homed_offset()
coord[axis] = hi.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def home(self, homing_state):
# Each axis is homed independently and in order

25
klippy/corexy.py
View File

@ -59,22 +59,23 @@ class CoreXYKinematics:
s = self.steppers[axis]
# Determine moves
position_min, position_max = s.get_range()
if s.homing_positive_dir:
pos = s.position_endstop - 1.5*(
s.position_endstop - position_min)
rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist
hi = s.get_homing_info()
if hi.positive_dir:
pos = hi.position_endstop - 1.5*(
hi.position_endstop - position_min)
rpos = hi.position_endstop - hi.retract_dist
r2pos = rpos - hi.retract_dist
else:
pos = s.position_endstop + 1.5*(
position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
pos = hi.position_endstop + 1.5*(
position_max - hi.position_endstop)
rpos = hi.position_endstop + hi.retract_dist
r2pos = rpos + hi.retract_dist
# Initial homing
homing_speed = s.homing_speed
homing_speed = hi.speed
if axis == 2:
homing_speed = min(homing_speed, self.max_z_velocity)
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
homepos[axis] = hi.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
@ -87,7 +88,7 @@ class CoreXYKinematics:
homing_speed/2.0, second_home=True)
if axis == 2:
# Support endstop phase detection on Z axis
coord[axis] = s.position_endstop + s.get_homed_offset()
coord[axis] = hi.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3

21
klippy/delta.py
View File

@ -17,12 +17,13 @@ class DeltaKinematics:
for n in ['a', 'b', 'c']]
stepper_a = stepper.PrinterHomingStepper(
stepper_configs[0], need_position_minmax = False)
a_endstop = stepper_a.get_homing_info().position_endstop
stepper_b = stepper.PrinterHomingStepper(
stepper_configs[1], need_position_minmax = False,
default_position_endstop=stepper_a.position_endstop)
default_position_endstop=a_endstop)
stepper_c = stepper.PrinterHomingStepper(
stepper_configs[2], need_position_minmax = False,
default_position_endstop=stepper_a.position_endstop)
default_position_endstop=a_endstop)
self.steppers = [stepper_a, stepper_b, stepper_c]
self.need_motor_enable = self.need_home = True
self.radius = radius = config.getfloat('delta_radius', above=0.)
@ -31,10 +32,12 @@ class DeltaKinematics:
sconfig.getfloat('arm_length', arm_length_a, above=radius)
for sconfig in stepper_configs]
self.arm2 = [arm**2 for arm in arm_lengths]
self.endstops = [s.position_endstop + math.sqrt(arm2 - radius**2)
self.endstops = [(s.get_homing_info().position_endstop
+ math.sqrt(arm2 - radius**2))
for s, arm2 in zip(self.steppers, self.arm2)]
self.limit_xy2 = -1.
self.max_z = min([s.position_endstop for s in self.steppers])
self.max_z = min([s.get_homing_info().position_endstop
for s in self.steppers])
self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
self.limit_z = min([ep - arm
for ep, arm in zip(self.endstops, arm_lengths)])
@ -103,18 +106,18 @@ class DeltaKinematics:
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
endstops = [es for s in self.steppers for es in s.get_endstops()]
s = self.steppers[0] # Assume homing speed same for all steppers
# Initial homing
homing_speed = min(s.homing_speed, self.max_z_velocity)
# Initial homing - assume homing speed same for all steppers
hi = self.steppers[0].get_homing_info()
homing_speed = min(hi.speed, self.max_z_velocity)
homepos = [0., 0., self.max_z, None]
coord = list(homepos)
coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
homing_state.home(coord, homepos, endstops, homing_speed)
# Retract
coord[2] = homepos[2] - s.homing_retract_dist
coord[2] = homepos[2] - hi.retract_dist
homing_state.retract(coord, homing_speed)
# Home again
coord[2] -= s.homing_retract_dist
coord[2] -= hi.retract_dist
homing_state.home(coord, homepos, endstops,
homing_speed/2.0, second_home=True)
# Set final homed position

8
klippy/stepper.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import math, logging, collections
import homing, chelper
# Tracking of shared stepper enable pins
@ -172,6 +172,12 @@ class PrinterHomingStepper(PrinterStepper):
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
def get_range(self):
return self.position_min, self.position_max
def get_homing_info(self):
homing_info = collections.namedtuple('homing_info', [
'speed', 'position_endstop', 'retract_dist', 'positive_dir'])(
self.homing_speed, self.position_endstop,
self.homing_retract_dist, self.homing_positive_dir)
return homing_info
def get_endstops(self):
return [(self.mcu_endstop, self.get_name(short=True))]
def get_homed_offset(self):