From dd34768e3afb6b5aa46885109182973d88df10b7 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 27 Jun 2019 13:11:58 -0400 Subject: [PATCH] homing: Remove no longer needed homing time delay code Now that homing is implemented via "drip moves", it is no longer necessary to round the homing speed and it is no longer necessary to add a delay for cpu processing time. Signed-off-by: Kevin O'Connor --- klippy/homing.py | 37 +++++++--------------------------- klippy/kinematics/cartesian.py | 5 +---- klippy/kinematics/corexy.py | 5 +---- klippy/kinematics/delta.py | 3 +-- klippy/kinematics/polar.py | 5 +---- 5 files changed, 11 insertions(+), 44 deletions(-) diff --git a/klippy/homing.py b/klippy/homing.py index efb44070..a1d010d7 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -5,7 +5,6 @@ # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math, collections -HOMING_STEP_DELAY = 0.00000025 HOMING_START_DELAY = 0.001 ENDSTOP_SAMPLE_TIME = .000015 ENDSTOP_SAMPLE_COUNT = 4 @@ -32,25 +31,15 @@ class Homing: return thcoord def set_homed_position(self, pos): self.toolhead.set_position(self._fill_coord(pos)) - def _get_homing_speed(self, speed, endstops): - # Round the requested homing speed so that it is an even - # number of ticks per step. - mcu_stepper = endstops[0][0].get_steppers()[0] - adjusted_freq = mcu_stepper.get_mcu().get_adjusted_freq() - dist_ticks = adjusted_freq * mcu_stepper.get_step_dist() - ticks_per_step = math.ceil(dist_ticks / speed) - return dist_ticks / ticks_per_step def _endstop_notify(self): self.endstops_pending -= 1 if not self.endstops_pending: self.toolhead.signal_drip_mode_end() - def homing_move(self, movepos, endstops, speed, dwell_t=0., + def homing_move(self, movepos, endstops, speed, probe_pos=False, verify_movement=False): # Notify endstops of upcoming home for mcu_endstop, name in endstops: mcu_endstop.home_prepare() - if dwell_t: - self.toolhead.dwell(dwell_t, check_stall=False) # Start endstop checking print_time = self.toolhead.get_last_move_time() start_mcu_pos = [(s, name, s.get_mcu_position()) @@ -98,42 +87,30 @@ class Homing: raise EndstopError("Probe triggered prior to movement") raise EndstopError( "Endstop %s still triggered after retract" % (name,)) - def home_rails(self, rails, forcepos, movepos, limit_speed=None): + def home_rails(self, rails, forcepos, movepos): # Alter kinematics class to think printer is at forcepos homing_axes = [axis for axis in range(3) if forcepos[axis] is not None] forcepos = self._fill_coord(forcepos) movepos = self._fill_coord(movepos) self.toolhead.set_position(forcepos, homing_axes=homing_axes) - # Determine homing speed + # Perform first home endstops = [es for rail in rails for es in rail.get_endstops()] hi = rails[0].get_homing_info() - max_velocity = self.toolhead.get_max_velocity()[0] - if limit_speed is not None and limit_speed < max_velocity: - max_velocity = limit_speed - homing_speed = min(hi.speed, max_velocity) - homing_speed = self._get_homing_speed(homing_speed, endstops) - second_homing_speed = min(hi.second_homing_speed, max_velocity) - # Calculate a CPU delay when homing a large axis - axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)] - est_move_d = abs(axes_d[0]) + abs(axes_d[1]) + abs(axes_d[2]) - est_steps = sum([est_move_d / s.get_step_dist() - for es, n in endstops for s in es.get_steppers()]) - dwell_t = est_steps * HOMING_STEP_DELAY - # Perform first home - self.homing_move(movepos, endstops, homing_speed, dwell_t=dwell_t) + self.homing_move(movepos, endstops, hi.speed) # Perform second home if hi.retract_dist: # Retract + axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)] move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) retract_r = min(1., hi.retract_dist / move_d) retractpos = [mp - ad * retract_r for mp, ad in zip(movepos, axes_d)] - self.toolhead.move(retractpos, homing_speed) + self.toolhead.move(retractpos, hi.speed) # Home again forcepos = [rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)] self.toolhead.set_position(forcepos) - self.homing_move(movepos, endstops, second_homing_speed, + self.homing_move(movepos, endstops, hi.second_homing_speed, verify_movement=self.verify_retract) # Signal home operation complete ret = self.printer.send_event("homing:homed_rails", self, rails) diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 0ce28dbe..0aa00f18 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -66,10 +66,7 @@ class CartKinematics: else: forcepos[axis] += 1.5 * (position_max - hi.position_endstop) # Perform homing - limit_speed = None - if axis == 2: - limit_speed = self.max_z_velocity - homing_state.home_rails([rail], forcepos, homepos, limit_speed) + homing_state.home_rails([rail], forcepos, homepos) def home(self, homing_state): # Each axis is homed independently and in order for axis in homing_state.get_axes(): diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 98db27eb..03580e3e 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -60,10 +60,7 @@ class CoreXYKinematics: else: forcepos[axis] += 1.5 * (position_max - hi.position_endstop) # Perform homing - limit_speed = None - if axis == 2: - limit_speed = self.max_z_velocity - homing_state.home_rails([rail], forcepos, homepos, limit_speed) + homing_state.home_rails([rail], forcepos, homepos) def motor_off(self, print_time): self.limits = [(1.0, -1.0)] * 3 for rail in self.rails: diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index e925cc01..a84f6852 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -101,8 +101,7 @@ class DeltaKinematics: homing_state.set_axes([0, 1, 2]) forcepos = list(self.home_position) forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) - homing_state.home_rails(self.rails, forcepos, self.home_position, - limit_speed=self.max_z_velocity) + homing_state.home_rails(self.rails, forcepos, self.home_position) def motor_off(self, print_time): self.limit_xy2 = -1. for rail in self.rails: diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index 70b314eb..790ce467 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -63,10 +63,7 @@ class PolarKinematics: else: forcepos[axis] += position_max - hi.position_endstop # Perform homing - limit_speed = None - if axis == 2: - limit_speed = self.max_z_velocity - homing_state.home_rails([rail], forcepos, homepos, limit_speed) + homing_state.home_rails([rail], forcepos, homepos) def home(self, homing_state): # Always home XY together homing_axes = homing_state.get_axes()