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probe: Verify the toolhead moves at least some distance on a probe 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-09-26 15:57:22 -04:00 committed by KevinOConnor
parent 31ec098577
commit a9a0bb87fa
2 changed files with 19 additions and 18 deletions
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3
klippy/extras/probe.py
View File

@ -70,8 +70,7 @@ class PrinterProbe:
pos = toolhead.get_position() pos = toolhead.get_position()
pos[2] = self.z_position pos[2] = self.z_position
try: try:
homing_state.homing_move( homing_state.probing_move(pos, self.mcu_probe, self.speed)
pos, [(self.mcu_probe, "probe")], self.speed, probe_pos=True)
except homing.EndstopError as e: except homing.EndstopError as e:
reason = str(e) reason = str(e)
if "Timeout during endstop homing" in reason: if "Timeout during endstop homing" in reason:

34
klippy/homing.py
View File

@ -40,9 +40,12 @@ class Homing:
dist_ticks = adjusted_freq * mcu_stepper.get_step_dist() dist_ticks = adjusted_freq * mcu_stepper.get_step_dist()
ticks_per_step = math.ceil(dist_ticks / speed) ticks_per_step = math.ceil(dist_ticks / speed)
return dist_ticks / ticks_per_step return dist_ticks / ticks_per_step
def _homing_move(self, movepos, endstops, speed, probe_pos=False): def _homing_move(self, movepos, endstops, speed,
probe_pos=False, verify_movement=False):
# Start endstop checking # Start endstop checking
print_time = self.toolhead.get_last_move_time() print_time = self.toolhead.get_last_move_time()
start_mcu_pos = [(s, name, s.get_mcu_position())
for es, name in endstops for s in es.get_steppers()]
for mcu_endstop, name in endstops: for mcu_endstop, name in endstops:
min_step_dist = min([s.get_step_dist() min_step_dist = min([s.get_step_dist()
for s in mcu_endstop.get_steppers()]) for s in mcu_endstop.get_steppers()])
@ -74,10 +77,18 @@ class Homing:
mcu_endstop.home_finalize() mcu_endstop.home_finalize()
if error is not None: if error is not None:
raise EndstopError(error) raise EndstopError(error)
def homing_move(self, movepos, endstops, speed, probe_pos=False): # Check if some movement occurred
for mcu_endstop, name in endstops: if verify_movement:
mcu_endstop.home_prepare() for s, name, pos in start_mcu_pos:
self._homing_move(movepos, endstops, speed, probe_pos) if s.get_mcu_position() == pos:
if probe_pos:
raise EndstopError("Probe triggered prior to movement")
raise EndstopError(
"Endstop %s still triggered after retract" % (name,))
def probing_move(self, movepos, mcu_probe, speed):
mcu_probe.home_prepare()
self._homing_move(movepos, [(mcu_probe, "probe")], speed,
probe_pos=True, verify_movement=True)
def home(self, forcepos, movepos, endstops, speed, second_home=False): def home(self, forcepos, movepos, endstops, speed, second_home=False):
if second_home and forcepos == movepos: if second_home and forcepos == movepos:
return return
@ -96,18 +107,9 @@ class Homing:
for es, n in endstops for s in es.get_steppers()]) for es, n in endstops for s in es.get_steppers()])
self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False) self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
speed = self._get_homing_speed(speed, endstops) speed = self._get_homing_speed(speed, endstops)
# Setup for retract verification
self.toolhead.get_last_move_time()
start_mcu_pos = [(s, name, s.get_mcu_position())
for es, name in endstops for s in es.get_steppers()]
# Issue homing move # Issue homing move
self._homing_move(movepos, endstops, speed) self._homing_move(movepos, endstops, speed,
# Verify retract led to some movement on second home verify_movement=second_home and self.verify_retract)
if second_home and self.verify_retract:
for s, name, pos in start_mcu_pos:
if s.get_mcu_position() == pos:
raise EndstopError(
"Endstop %s still triggered after retract" % (name,))
def home_axes(self, axes): def home_axes(self, axes):
self.changed_axes = axes self.changed_axes = axes
try: try: