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homing: Use get/set_tag_position() to determine probed position 

Don't rely on get_commanded_position() to determine the final probe
point.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-13 18:34:46 -05:00
parent eed371e924
commit fa433c7f04
1 changed files with 14 additions and 6 deletions
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20
klippy/homing.py
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@ -40,10 +40,14 @@ class Homing:
# Notify endstops of upcoming home # Notify endstops of upcoming home
for mcu_endstop, name in endstops: for mcu_endstop, name in endstops:
mcu_endstop.home_prepare() mcu_endstop.home_prepare()
# Start endstop checking # Note start location
print_time = self.toolhead.get_last_move_time() print_time = self.toolhead.get_last_move_time()
kin = self.toolhead.get_kinematics()
for s in kin.get_steppers():
s.set_tag_position(s.get_commanded_position())
start_mcu_pos = [(s, name, s.get_mcu_position()) start_mcu_pos = [(s, name, s.get_mcu_position())
for es, name in endstops for s in es.get_steppers()] for es, name in endstops for s in es.get_steppers()]
# Start endstop checking
self.endstops_pending = len(endstops) self.endstops_pending = len(endstops)
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()
@ -66,13 +70,17 @@ class Homing:
except mcu_endstop.TimeoutError as e: except mcu_endstop.TimeoutError as e:
if error is None: if error is None:
error = "Failed to home %s: %s" % (name, str(e)) error = "Failed to home %s: %s" % (name, str(e))
# Determine stepper halt positions
end_mcu_pos = [(s, name, spos, s.get_mcu_position())
for s, name, spos in start_mcu_pos]
if probe_pos: if probe_pos:
kin = self.toolhead.get_kinematics() for s, name, spos, epos in end_mcu_pos:
for s in kin.get_steppers(): md = (epos - spos) * s.get_step_dist()
s.set_tag_position(s.get_commanded_position()) s.set_tag_position(s.get_tag_position() + md)
self.set_homed_position(kin.calc_tag_position()) self.set_homed_position(kin.calc_tag_position())
else: else:
self.toolhead.set_position(movepos) self.toolhead.set_position(movepos)
# Signal homing complete
for mcu_endstop, name in endstops: for mcu_endstop, name in endstops:
try: try:
mcu_endstop.home_finalize() mcu_endstop.home_finalize()
@ -83,8 +91,8 @@ class Homing:
raise CommandError(error) raise CommandError(error)
# Check if some movement occurred # Check if some movement occurred
if verify_movement: if verify_movement:
for s, name, pos in start_mcu_pos: for s, name, spos, epos in end_mcu_pos:
if s.get_mcu_position() == pos: if spos == epos:
if probe_pos: if probe_pos:
raise EndstopError("Probe triggered prior to movement") raise EndstopError("Probe triggered prior to movement")
raise EndstopError( raise EndstopError(