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homing: Check homing distance to verify endstop trigger after retract 

Instead of checking the endstop trigger directly after a retract move,
verify some distance is traveled during the following homing
operation.  This reduces the amount of synchronization between mcu and
host during homing.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-28 11:23:26 -05:00
parent a5637bb9d4
commit 9755182adf
4 changed files with 21 additions and 29 deletions
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3
klippy/cartesian.py
View File

@ -61,7 +61,8 @@ class CartKinematics:
homing_state.plan_retract(list(coord), [s], s.homing_speed)
# Home again
coord[axis] = r2pos
homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
homing_state.plan_second_home(
list(coord), homepos, [s], s.homing_speed/2.0)
homing_state.plan_calc_position(self.get_homed_position)
def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3

4
klippy/delta.py
View File

@ -101,8 +101,8 @@ class DeltaKinematics:
homing_state.plan_retract(list(coord), self.steppers, s.homing_speed)
# Home again
coord[2] -= s.homing_retract_dist
homing_state.plan_home(list(coord), homepos, self.steppers
, s.homing_speed/2.0)
homing_state.plan_second_home(list(coord), homepos, self.steppers
, s.homing_speed/2.0)
homing_state.plan_calc_position(self.get_homed_position)
def motor_off(self, move_time):
self.limit_xy2 = -1.

2
klippy/gcode.py
View File

@ -254,6 +254,8 @@ class GCodeParser:
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.toolhead, axes)
if self.inputfile:
homing_state.set_no_verify_retract()
self.toolhead.home(homing_state)
def axes_update(homing_state):
newpos = self.toolhead.get_position()

41
klippy/homing.py
View File

@ -10,20 +10,25 @@ class Homing:
def __init__(self, toolhead, changed_axes):
self.toolhead = toolhead
self.changed_axes = changed_axes
self.verify_retract = True
self.eventtime = 0.
self.states = []
self.endstops = []
def set_no_verify_retract(self):
self.verify_retract = False
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
def plan_home(self, forcepos, movepos, steppers, speed):
self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
self.states.append((self.do_wait_endstop, ()))
self.states.append((self.do_wait_endstop, (False,)))
def plan_second_home(self, forcepos, movepos, steppers, speed):
self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
self.states.append((self.do_wait_endstop, (self.verify_retract,)))
def plan_retract(self, newpos, steppers, speed):
self.states.append((self.do_retract, (newpos, steppers, speed)))
self.states.append((self.do_verify_retract, ()))
def plan_calc_position(self, callback):
self.states.append((self.do_calc_position, (callback,)))
def plan_axes_update(self, callback):
@ -50,13 +55,7 @@ class Homing:
thcoord[i] = coord[i]
return thcoord
def do_retract(self, newpos, steppers, speed):
# Issue a move command
self.toolhead.move(self.fill_coord(newpos), speed)
# Query endstops
print_time = self.toolhead.get_last_move_time()
for s in steppers:
es = s.query_endstop(print_time)
self.endstops.append((s.name, es))
return False
def do_home(self, forcepos, movepos, steppers, speed):
# Alter kinematics class to think printer is at forcepos
@ -65,37 +64,27 @@ class Homing:
print_time = self.toolhead.get_last_move_time()
for s in steppers:
es = s.enable_endstop_checking(print_time, s.step_dist / speed)
self.endstops.append((s.name, es))
self.endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
self.toolhead.move(self.fill_coord(movepos), speed)
move_end_print_time = self.toolhead.get_last_move_time()
self.toolhead.reset_print_time()
for name, es in self.endstops:
for s, es, last_pos in self.endstops:
es.home_finalize(es.print_to_mcu_time(move_end_print_time))
return False
def do_wait_endstop(self):
def do_wait_endstop(self, verify_retract):
# Check if endstops have triggered
while self.endstops:
name, es = self.endstops[0]
stepper, es, last_pos = self.endstops[0]
try:
if es.check_busy(self.eventtime):
return True
except mcu.MCUError, e:
raise EndstopError("Failed to home stepper %s: %s" % (
name, str(e)))
self.endstops.pop(0)
return False
def do_verify_retract(self):
while self.endstops:
name, es = self.endstops[0]
try:
if es.check_busy(self.eventtime):
return True
except mcu.MCUError, e:
raise EndstopError("Failed to retract stepper %s: %s" % (
name, str(e)))
if es.get_last_triggered():
stepper.name, str(e)))
post_home_pos = stepper.mcu_stepper.get_mcu_position()
if verify_retract and last_pos == post_home_pos:
raise EndstopError("Endstop %s still triggered after retract" % (
name,))
stepper.name,))
self.endstops.pop(0)
return False
def do_calc_position(self, callback):