Rename calc_position() to calc_tag_position() and have it calculate
the value of the position from the last stepper set_tag_position()
call. This enables the calc_tag_position() code to be more flexible
as it can be run with arbitrary positions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py. This simplifies the
toolhead and kinematic classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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 <kevin@koconnor.net>
Rework the low-level implementation of homing movement. The existing
mechanism buffers all homing movement into the micro-controller prior
to starting the home. Replace with a system that buffers all movement
into the host look-ahead buffer and then "drip feed" those moves to
the micro-controllers. Then clear the host look-ahead buffer when all
endstops trigger.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce a homing.CommandError and use that as the basis for both
gcode and EndstopError exceptions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add "gcode_position" named tuple to gcode.get_status(). Add a
"position" named tuple to toolhead.get_status().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Verify that there is always some movement during a probing operation.
This is normally done by the homing.py code (via its verify_movement
check), but that check may not be enabled when z_virtual_endstop is
used. So, always enable the check in the bltouch.py code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure the endstop checking is started prior to any movement. This
helps ensure the verify_movement check is accurate.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the logic for performing the second home from the kinematics
classes to the generic homing code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculating the cartesian position from the stepper positions can be
complex and cpu intensive, so rename it to calc_position() to be more
descriptive.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the code to use the term "rail" when dealing with a motor
controlled "axis". A rail has a series of steppers and endstops that
control that motor controlled "axis".
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The step speed rounding and the cpu delay must be run after running
the endstop specific preparation code. Otherwise, a delay in the
home_prepare() code could undo those calculations. Specifically, this
could lead to errors on a multi-mcu setup when the Z is homed using a
virtual_z_offset and there is a delay in the activate_gcode section.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It looks like OctoPrint is expecting the result from M114 to be
relative to the last G92 command. Also, introduce GET_POSITION to
report the actual location that the printer is at.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for disabling homing checks via the homing_override
mechanism. This may be useful to move an axis prior to homing it.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow a set of g-code scripts to be run on each probe invocation.
This may be useful for probes that need to be setup before they are
useful (eg, with servo actuated probes).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 002dc0df added rounding to the homing speed, but it did not
work if the configured homing speed was less than the printer's
maximum velocity. Move the speed rounding from stepper.py to
homing.py and make sure the rounded speed is less than the maximum
speed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the homing logic out of toolhead.py and into homing.py. This
simplifies the toolhead logic and centralizes the homing code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure to always call MCU_endstop.home_wait() if
MCU_endstop.home_start() is invoked. Rename
MCU_stepper.note_homing_triggered() to note_homing_end() and make sure
it is always called if MCU_stepper.note_homing_start() is invoked.
With these changes, MCU_endstop.home_finalize() is no longer needed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The homing code wants the list of endstops to enable during a homing
operation - it's confusing to pass the steppers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of adding 250ms to each homing operation add a time relative
to the number of estimated steps that are to be generated. This
scales the delay to really large axes without adding a delay for
normal users.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add wrappers around mcu_endstop and mcu_stepper so that the kinematic
classes do not need to directly access these low-level classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Pass the sample_ticks and sample_count parameters directly in the
end_stop_home command instead. This simplifies the code.
Also, simplify calculation of next wakeup time in
end_stop_oversample_event().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the homing code to pass in the start of the homing operation to
toolhead.reset_print_time(). This prevents an error when batch
processing gcode files that contain multiple homing operations.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the print_time is always synchronized with the mcu_time,
there is no longer a need to track mcu_time as a separate quantity.
Eliminate references to mcu_time from the code and pass print_time
directly in its place.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The homing operation can be cpu intensive for the host software. Add
a small (250ms) delay before homing so that the host has additional
time to process the command before it is due on the mcu. This is
intended to work around some reports of "timer too close" errors
during Z homing on RPi2 hosts and printers with high precision Z
positioning.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow external code to obtain the mcu object that controls a pin setup
with setup_pin(). Also, don't bother defining print_to_mcu_time() and
system_to_mcu_time() on each pin object as they can be obtained via
the new get_mcu() method.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of checking the endstop trigger directly after a retract move,
verify some distance is traveled during the following homing
operation. This reduces the amount of synchronization between mcu and
host during homing.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Should a homing move complete without hitting the endstop, then
disable motors, disable the endstop checking, and report the error to
the user.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow an EndstopError to be raised without a destination position.
Introduce EndstopMoveError wrapper so that current callers can
continue to pass in a move destination.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the scheduling of the final homed position (which takes into
account the stepper phases) so that it is scheduled from the kinematic
classes instead of from the toolhead class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create the Homing class in the gcode handler instead of in the
kinematic classes. This will make it easier to pass error messages
back to the user.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create the QueryEndstops in the gcode handler instead of in the
kinematic classes. This simplifies the gcode handler as it can
directly register its response callback.
Also, store the stepper name in the stepper class. Also, propagate
the print_time of the query request to the mcu_endstop class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor