probe: Verify the toolhead moves at least some distance on a probe
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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31ec098577
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@ -70,8 +70,7 @@ class PrinterProbe:
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pos = toolhead.get_position()
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pos[2] = self.z_position
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try:
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homing_state.homing_move(
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pos, [(self.mcu_probe, "probe")], self.speed, probe_pos=True)
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homing_state.probing_move(pos, self.mcu_probe, self.speed)
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except homing.EndstopError as e:
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reason = str(e)
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if "Timeout during endstop homing" in reason:
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@ -40,9 +40,12 @@ class Homing:
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dist_ticks = adjusted_freq * mcu_stepper.get_step_dist()
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ticks_per_step = math.ceil(dist_ticks / speed)
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return dist_ticks / ticks_per_step
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def _homing_move(self, movepos, endstops, speed, probe_pos=False):
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def _homing_move(self, movepos, endstops, speed,
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probe_pos=False, verify_movement=False):
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# Start endstop checking
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print_time = self.toolhead.get_last_move_time()
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start_mcu_pos = [(s, name, s.get_mcu_position())
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for es, name in endstops for s in es.get_steppers()]
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for mcu_endstop, name in endstops:
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min_step_dist = min([s.get_step_dist()
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for s in mcu_endstop.get_steppers()])
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@ -74,10 +77,18 @@ class Homing:
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mcu_endstop.home_finalize()
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if error is not None:
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raise EndstopError(error)
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def homing_move(self, movepos, endstops, speed, probe_pos=False):
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for mcu_endstop, name in endstops:
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mcu_endstop.home_prepare()
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self._homing_move(movepos, endstops, speed, probe_pos)
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# Check if some movement occurred
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if verify_movement:
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for s, name, pos in start_mcu_pos:
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if s.get_mcu_position() == pos:
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if probe_pos:
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raise EndstopError("Probe triggered prior to movement")
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raise EndstopError(
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"Endstop %s still triggered after retract" % (name,))
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def probing_move(self, movepos, mcu_probe, speed):
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mcu_probe.home_prepare()
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self._homing_move(movepos, [(mcu_probe, "probe")], speed,
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probe_pos=True, verify_movement=True)
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def home(self, forcepos, movepos, endstops, speed, second_home=False):
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if second_home and forcepos == movepos:
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return
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@ -96,18 +107,9 @@ class Homing:
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for es, n in endstops for s in es.get_steppers()])
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self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
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speed = self._get_homing_speed(speed, endstops)
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# Setup for retract verification
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self.toolhead.get_last_move_time()
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start_mcu_pos = [(s, name, s.get_mcu_position())
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for es, name in endstops for s in es.get_steppers()]
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# Issue homing move
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self._homing_move(movepos, endstops, speed)
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# Verify retract led to some movement on second home
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if second_home and self.verify_retract:
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for s, name, pos in start_mcu_pos:
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if s.get_mcu_position() == pos:
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raise EndstopError(
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"Endstop %s still triggered after retract" % (name,))
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self._homing_move(movepos, endstops, speed,
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verify_movement=second_home and self.verify_retract)
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def home_axes(self, axes):
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self.changed_axes = axes
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try:
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