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stepper: Adding support for a second_homing_speed parameter (#677) 

Signed-off-by: Chris Whiteford <chris@chrisandtennille.com>
This commit is contained in:
Chris Whiteford 2018-10-04 18:55:58 -04:00 committed by KevinOConnor
parent 97927172f1
commit b0d859f220
5 changed files with 17 additions and 8 deletions
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5
config/example.cfg
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@ -49,6 +49,11 @@ position_max: 200
#homing_speed: 5.0 #homing_speed: 5.0
# Maximum velocity (in mm/s) of the stepper when homing. The default # Maximum velocity (in mm/s) of the stepper when homing. The default
# is 5mm/s. # is 5mm/s.
#second_homing_speed: 5.0
# Maximum velocity (in mm/s) of the stepper when performing the second
# stage of homing (the move off the endstop and then back towards for the
# second trigger). This parameter is optional, and defaults to
# homing_speed/2.0
#homing_retract_dist: 5.0 #homing_retract_dist: 5.0
# Distance to backoff (in mm) before homing a second time during # Distance to backoff (in mm) before homing a second time during
# homing. The default is 5mm. # homing. The default is 5mm.

5
klippy/kinematics/cartesian.py
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@ -68,6 +68,7 @@ class CartKinematics:
r2pos = rpos + hi.retract_dist r2pos = rpos + hi.retract_dist
# Initial homing # Initial homing
homing_speed = hi.speed homing_speed = hi.speed
second_homing_speed = hi.second_homing_speed
if axis == 2: if axis == 2:
homing_speed = min(homing_speed, self.max_z_velocity) homing_speed = min(homing_speed, self.max_z_velocity)
homepos = [None, None, None, None] homepos = [None, None, None, None]
@ -77,11 +78,11 @@ class CartKinematics:
homing_state.home(coord, homepos, rail.get_endstops(), homing_speed) homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
# Retract # Retract
coord[axis] = rpos coord[axis] = rpos
homing_state.retract(coord, homing_speed) homing_state.retract(coord, second_homing_speed)
# Home again # Home again
coord[axis] = r2pos coord[axis] = r2pos
homing_state.home(coord, homepos, rail.get_endstops(), homing_state.home(coord, homepos, rail.get_endstops(),
homing_speed/2.0, second_home=True) second_homing_speed, second_home=True)
# Set final homed position # Set final homed position
coord[axis] = hi.position_endstop + rail.get_homed_offset() coord[axis] = hi.position_endstop + rail.get_homed_offset()
homing_state.set_homed_position(coord) homing_state.set_homed_position(coord)

5
klippy/kinematics/corexy.py
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@ -63,6 +63,7 @@ class CoreXYKinematics:
r2pos = rpos + hi.retract_dist r2pos = rpos + hi.retract_dist
# Initial homing # Initial homing
homing_speed = hi.speed homing_speed = hi.speed
second_homing_speed = hi.second_homing_speed
if axis == 2: if axis == 2:
homing_speed = min(homing_speed, self.max_z_velocity) homing_speed = min(homing_speed, self.max_z_velocity)
homepos = [None, None, None, None] homepos = [None, None, None, None]
@ -72,11 +73,11 @@ class CoreXYKinematics:
homing_state.home(coord, homepos, rail.get_endstops(), homing_speed) homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
# Retract # Retract
coord[axis] = rpos coord[axis] = rpos
homing_state.retract(coord, homing_speed) homing_state.retract(coord, second_homing_speed)
# Home again # Home again
coord[axis] = r2pos coord[axis] = r2pos
homing_state.home(coord, homepos, rail.get_endstops(), homing_state.home(coord, homepos, rail.get_endstops(),
homing_speed/2.0, second_home=True) second_homing_speed, second_home=True)
if axis == 2: if axis == 2:
# Support endstop phase detection on Z axis # Support endstop phase detection on Z axis
coord[axis] = hi.position_endstop + rail.get_homed_offset() coord[axis] = hi.position_endstop + rail.get_homed_offset()

5
klippy/kinematics/delta.py
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@ -101,17 +101,18 @@ class DeltaKinematics:
# Initial homing - assume homing speed same for all steppers # Initial homing - assume homing speed same for all steppers
hi = self.rails[0].get_homing_info() hi = self.rails[0].get_homing_info()
homing_speed = min(hi.speed, self.max_z_velocity) homing_speed = min(hi.speed, self.max_z_velocity)
second_homing_speed = min(hi.second_homing_speed, self.max_z_velocity)
homepos = [0., 0., self.max_z, None] homepos = [0., 0., self.max_z, None]
coord = list(homepos) coord = list(homepos)
coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
homing_state.home(coord, homepos, endstops, homing_speed) homing_state.home(coord, homepos, endstops, homing_speed)
# Retract # Retract
coord[2] = homepos[2] - hi.retract_dist coord[2] = homepos[2] - hi.retract_dist
homing_state.retract(coord, homing_speed) homing_state.retract(coord, second_homing_speed)
# Home again # Home again
coord[2] -= hi.retract_dist coord[2] -= hi.retract_dist
homing_state.home(coord, homepos, endstops, homing_state.home(coord, homepos, endstops,
homing_speed/2.0, second_home=True) second_homing_speed, second_home=True)
# Set final homed position # Set final homed position
spos = [ep + rail.get_homed_offset() spos = [ep + rail.get_homed_offset()
for ep, rail in zip(self.abs_endstops, self.rails)] for ep, rail in zip(self.abs_endstops, self.rails)]

5
klippy/stepper.py
View File

@ -145,6 +145,7 @@ class PrinterRail:
" position_min and position_max" % config.get_name()) " position_min and position_max" % config.get_name())
# Homing mechanics # Homing mechanics
self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.) self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
self.second_homing_speed = config.getfloat('second_homing_speed', self.homing_speed/2., above=0.)
self.homing_retract_dist = config.getfloat( self.homing_retract_dist = config.getfloat(
'homing_retract_dist', 5., minval=0.) 'homing_retract_dist', 5., minval=0.)
self.homing_positive_dir = config.getboolean( self.homing_positive_dir = config.getboolean(
@ -220,9 +221,9 @@ class PrinterRail:
return self.position_min, self.position_max return self.position_min, self.position_max
def get_homing_info(self): def get_homing_info(self):
homing_info = collections.namedtuple('homing_info', [ homing_info = collections.namedtuple('homing_info', [
'speed', 'position_endstop', 'retract_dist', 'positive_dir'])( 'speed', 'position_endstop', 'retract_dist', 'positive_dir', 'second_homing_speed'])(
self.homing_speed, self.position_endstop, self.homing_speed, self.position_endstop,
self.homing_retract_dist, self.homing_positive_dir) self.homing_retract_dist, self.homing_positive_dir, self.second_homing_speed)
return homing_info return homing_info
def get_steppers(self): def get_steppers(self):
return list(self.steppers) return list(self.steppers)