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bltouch: Fix bug - must restore stepper position after homing 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-12-01 22:09:06 -05:00
parent 6df7356baa
commit aac92ffb91
3 changed files with 9 additions and 2 deletions
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7
klippy/extras/bltouch.py
View File

@ -57,16 +57,23 @@ class BLTouchEndstopWrapper:
if print_time < self.next_test_time: if print_time < self.next_test_time:
self.next_test_time = print_time + TEST_TIME self.next_test_time = print_time + TEST_TIME
return return
# Raise the bltouch probe and test if probe is raised
self.send_cmd(print_time, CMD_RESET) self.send_cmd(print_time, CMD_RESET)
home_time = print_time + PIN_MOVE_TIME home_time = print_time + PIN_MOVE_TIME
self.send_cmd(home_time, CMD_TOUCH_MODE) self.send_cmd(home_time, CMD_TOUCH_MODE)
self.send_cmd(home_time + MIN_CMD_TIME, 0.) self.send_cmd(home_time + MIN_CMD_TIME, 0.)
# Perform endstop check to verify bltouch reports probe raised
prev_positions = [s.get_commanded_position()
for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start( self.mcu_endstop.home_start(
home_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, .001) home_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, .001)
try: try:
self.mcu_endstop.home_wait(home_time + MIN_CMD_TIME) self.mcu_endstop.home_wait(home_time + MIN_CMD_TIME)
except self.mcu_endstop.TimeoutError as e: except self.mcu_endstop.TimeoutError as e:
raise homing.EndstopError("BLTouch sensor test failed") raise homing.EndstopError("BLTouch sensor test failed")
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos)
# Test was successful
self.next_test_time = home_time + TEST_TIME self.next_test_time = home_time + TEST_TIME
toolhead.reset_print_time(home_time + 2. * MIN_CMD_TIME) toolhead.reset_print_time(home_time + 2. * MIN_CMD_TIME)
def home_prepare(self): def home_prepare(self):

2
test/klippy/bltouch.cfg
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@ -1,4 +1,4 @@
# Test config for probe:z_virtual_endstop # Test config for bltouch
[stepper_x] [stepper_x]
step_pin: ar54 step_pin: ar54
dir_pin: ar55 dir_pin: ar55

2
test/klippy/bltouch.test
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@ -1,4 +1,4 @@
# Test case for probe:z_virtual_endstop support # Test case for bltouch support
CONFIG bltouch.cfg CONFIG bltouch.cfg
DICTIONARY atmega2560-16mhz.dict DICTIONARY atmega2560-16mhz.dict