3diy
/
klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

homing: Separate homing/probing movement logic to its own class 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-29 11:22:30 -04:00
parent 5002dda37c
commit d39f849203
1 changed files with 37 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

66
klippy/extras/homing.py
View File

@ -9,25 +9,18 @@ HOMING_START_DELAY = 0.001
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
# State tracking during toolhead homing/probing operations
class Homing:
# Return a completion that completes when all completions in a list complete
def multi_complete(printer, completions):
if len(completions) == 1:
return completions[0]
cb = (lambda e: all([c.wait() for c in completions]))
return printer.get_reactor().register_callback(cb)
# Implementation of homing/probing moves
class HomingMove:
def __init__(self, printer):
self.printer = printer
self.toolhead = printer.lookup_object('toolhead')
self.changed_axes = []
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
def _fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = list(self.toolhead.get_position())
for i in range(len(coord)):
if coord[i] is not None:
thcoord[i] = coord[i]
return thcoord
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
startpos = self.toolhead.get_position()
axes_d = [mp - sp for mp, sp in zip(movepos, startpos)]
@ -104,6 +97,26 @@ class Homing:
raise self.printer.command_error(
"Endstop %s still triggered after retract" % (name,))
return movepos
# State tracking of homing requests
class Homing:
def __init__(self, printer):
self.printer = printer
self.toolhead = printer.lookup_object('toolhead')
self.changed_axes = []
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
def _fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = list(self.toolhead.get_position())
for i in range(len(coord)):
if coord[i] is not None:
thcoord[i] = coord[i]
return thcoord
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
def home_rails(self, rails, forcepos, movepos):
# Notify of upcoming homing operation
self.printer.send_event("homing:home_rails_begin", self, rails)
@ -115,7 +128,8 @@ class Homing:
# Perform first home
endstops = [es for rail in rails for es in rail.get_endstops()]
hi = rails[0].get_homing_info()
self.homing_move(movepos, endstops, hi.speed)
hmove = HomingMove(self.printer)
hmove.homing_move(movepos, endstops, hi.speed)
# Perform second home
if hi.retract_dist:
# Retract
@ -129,8 +143,9 @@ class Homing:
forcepos = [rp - ad * retract_r
for rp, ad in zip(retractpos, axes_d)]
self.toolhead.set_position(forcepos)
self.homing_move(movepos, endstops, hi.second_homing_speed,
verify_movement=True)
hmove = HomingMove(self.printer)
hmove.homing_move(movepos, endstops, hi.second_homing_speed,
verify_movement=True)
# Signal home operation complete
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
@ -144,13 +159,6 @@ class Homing:
movepos[axis] = adjustpos[axis]
self.toolhead.set_position(movepos)
# Return a completion that completes when all completions in a list complete
def multi_complete(printer, completions):
if len(completions) == 1:
return completions[0]
cb = (lambda e: all([c.wait() for c in completions]))
return printer.get_reactor().register_callback(cb)
class PrinterHoming:
def __init__(self, config):
self.printer = config.get_printer()
@ -158,10 +166,10 @@ class PrinterHoming:
gcode = self.printer.lookup_object('gcode')
gcode.register_command('G28', self.cmd_G28)
def probing_move(self, mcu_probe, pos, speed):
homing_state = Homing(self.printer)
hmove = HomingMove(self.printer)
endstops = [(mcu_probe, "probe")]
return homing_state.homing_move(pos, endstops, speed,
probe_pos=True, verify_movement=True)
return hmove.homing_move(pos, endstops, speed,
probe_pos=True, verify_movement=True)
def cmd_G28(self, gcmd):
# Move to origin
axes = []