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stepper: Add a get_range() method to PrinterHomingStepper 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-21 18:34:33 -04:00
parent b96542f0e5
commit 968ed58b61
3 changed files with 11 additions and 10 deletions
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12
klippy/cartesian.py
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@ -59,18 +59,17 @@ class CartKinematics:
s = self.steppers[i] s = self.steppers[i]
s.set_position(newpos[i]) s.set_position(newpos[i])
if i in homing_axes: if i in homing_axes:
self.limits[i] = (s.position_min, s.position_max) self.limits[i] = s.get_range()
def _home_axis(self, homing_state, axis, stepper): def _home_axis(self, homing_state, axis, stepper):
s = stepper s = stepper
# Determine moves # Determine moves
position_min, position_max = s.get_range()
if s.homing_positive_dir: if s.homing_positive_dir:
pos = s.position_endstop - 1.5*( pos = s.position_endstop - 1.5*(s.position_endstop - position_min)
s.position_endstop - s.position_min)
rpos = s.position_endstop - s.homing_retract_dist rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist r2pos = rpos - s.homing_retract_dist
else: else:
pos = s.position_endstop + 1.5*( pos = s.position_endstop + 1.5*(position_max - s.position_endstop)
s.position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist r2pos = rpos + s.homing_retract_dist
# Initial homing # Initial homing
@ -165,8 +164,7 @@ class CartKinematics:
extruder_pos = toolhead.get_position()[3] extruder_pos = toolhead.get_position()[3]
toolhead.set_position(self.get_position() + [extruder_pos]) toolhead.set_position(self.get_position() + [extruder_pos])
if self.limits[dc_axis][0] <= self.limits[dc_axis][1]: if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
self.limits[dc_axis] = ( self.limits[dc_axis] = dc_stepper.get_range()
dc_stepper.position_min, dc_stepper.position_max)
self.need_motor_enable = True self.need_motor_enable = True
cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active" cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
def cmd_SET_DUAL_CARRIAGE(self, params): def cmd_SET_DUAL_CARRIAGE(self, params):

7
klippy/corexy.py
View File

@ -52,20 +52,21 @@ class CoreXYKinematics:
s = self.steppers[i] s = self.steppers[i]
s.set_position(pos[i]) s.set_position(pos[i])
if i in homing_axes: if i in homing_axes:
self.limits[i] = (s.position_min, s.position_max) self.limits[i] = s.get_range()
def home(self, homing_state): def home(self, homing_state):
# Each axis is homed independently and in order # Each axis is homed independently and in order
for axis in homing_state.get_axes(): for axis in homing_state.get_axes():
s = self.steppers[axis] s = self.steppers[axis]
# Determine moves # Determine moves
position_min, position_max = s.get_range()
if s.homing_positive_dir: if s.homing_positive_dir:
pos = s.position_endstop - 1.5*( pos = s.position_endstop - 1.5*(
s.position_endstop - s.position_min) s.position_endstop - position_min)
rpos = s.position_endstop - s.homing_retract_dist rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist r2pos = rpos - s.homing_retract_dist
else: else:
pos = s.position_endstop + 1.5*( pos = s.position_endstop + 1.5*(
s.position_max - s.position_endstop) position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist r2pos = rpos + s.homing_retract_dist
# Initial homing # Initial homing

2
klippy/stepper.py
View File

@ -170,6 +170,8 @@ class PrinterHomingStepper(PrinterStepper):
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self.setup_itersolve(ffi_main.gc( self.setup_itersolve(ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free)) ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
def get_range(self):
return self.position_min, self.position_max
def get_endstops(self): def get_endstops(self):
return [(self.mcu_endstop, self.get_name(short=True))] return [(self.mcu_endstop, self.get_name(short=True))]
def get_homed_offset(self): def get_homed_offset(self):