diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py
index e754f93f2..c8deee4bd 100644
--- a/klippy/extras/bltouch.py
+++ b/klippy/extras/bltouch.py
@@ -195,10 +195,11 @@ class BLTouchEndstopWrapper:
for s, mcu_pos in self.start_mcu_pos:
if s.get_mcu_position() == mcu_pos:
raise self.printer.command_error("BLTouch failed to deploy")
- def home_start(self, print_time, sample_time, sample_count, rest_time):
+ def home_start(self, print_time, sample_time, sample_count, rest_time,
+ triggered=True):
rest_time = min(rest_time, ENDSTOP_REST_TIME)
return self.mcu_endstop.home_start(print_time, sample_time,
- sample_count, rest_time)
+ sample_count, rest_time, triggered)
def get_position_endstop(self):
return self.position_endstop
def set_output_mode(self, mode):
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index 75607141f..ffcd5a20f 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -18,9 +18,12 @@ def multi_complete(printer, completions):
# Implementation of homing/probing moves
class HomingMove:
- def __init__(self, printer):
+ def __init__(self, printer, endstops, toolhead=None):
self.printer = printer
- self.toolhead = printer.lookup_object('toolhead')
+ self.endstops = endstops
+ if toolhead is None:
+ toolhead = printer.lookup_object('toolhead')
+ self.toolhead = toolhead
self.end_mcu_pos = []
def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
startpos = self.toolhead.get_position()
@@ -34,24 +37,27 @@ class HomingMove:
if max_steps <= 0.:
return .001
return move_t / max_steps
- def homing_move(self, movepos, endstops, speed, probe_pos=False):
+ def homing_move(self, movepos, speed, probe_pos=False,
+ triggered=True, check_triggered=True):
# Notify start of homing/probing move
self.printer.send_event("homing:homing_move_begin",
- [es for es, name in endstops])
+ [es for es, name in self.endstops])
# Note start location
self.toolhead.flush_step_generation()
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())
- for es, name in endstops for s in es.get_steppers()]
+ for es, name in self.endstops
+ for s in es.get_steppers()]
# Start endstop checking
print_time = self.toolhead.get_last_move_time()
endstop_triggers = []
- for mcu_endstop, name in endstops:
+ for mcu_endstop, name in self.endstops:
rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
- ENDSTOP_SAMPLE_COUNT, rest_time)
+ ENDSTOP_SAMPLE_COUNT, rest_time,
+ triggered=triggered)
endstop_triggers.append(wait)
all_endstop_trigger = multi_complete(self.printer, endstop_triggers)
self.toolhead.dwell(HOMING_START_DELAY)
@@ -63,9 +69,9 @@ class HomingMove:
error = "Error during homing move: %s" % (str(e),)
# Wait for endstops to trigger
move_end_print_time = self.toolhead.get_last_move_time()
- for mcu_endstop, name in endstops:
+ for mcu_endstop, name in self.endstops:
did_trigger = mcu_endstop.home_wait(move_end_print_time)
- if not did_trigger and error is None:
+ if not did_trigger and check_triggered and error is None:
error = "Failed to home %s: Timeout during homing" % (name,)
# Determine stepper halt positions
self.toolhead.flush_step_generation()
@@ -80,7 +86,7 @@ class HomingMove:
# Signal homing/probing move complete
try:
self.printer.send_event("homing:homing_move_end",
- [es for es, name in endstops])
+ [es for es, name in self.endstops])
except self.printer.command_error as e:
if error is None:
error = str(e)
@@ -125,8 +131,8 @@ class Homing:
# Perform first home
endstops = [es for rail in rails for es in rail.get_endstops()]
hi = rails[0].get_homing_info()
- hmove = HomingMove(self.printer)
- hmove.homing_move(movepos, endstops, hi.speed)
+ hmove = HomingMove(self.printer, endstops)
+ hmove.homing_move(movepos, hi.speed)
# Perform second home
if hi.retract_dist:
# Retract
@@ -140,8 +146,8 @@ class Homing:
forcepos = [rp - ad * retract_r
for rp, ad in zip(retractpos, axes_d)]
self.toolhead.set_position(forcepos)
- hmove = HomingMove(self.printer)
- hmove.homing_move(movepos, endstops, hi.second_homing_speed)
+ hmove = HomingMove(self.printer, endstops)
+ hmove.homing_move(movepos, hi.second_homing_speed)
if hmove.check_no_movement() is not None:
raise self.printer.command_error(
"Endstop %s still triggered after retract"
@@ -165,10 +171,15 @@ class PrinterHoming:
# Register g-code commands
gcode = self.printer.lookup_object('gcode')
gcode.register_command('G28', self.cmd_G28)
+ def manual_home(self, toolhead, endstops, pos, speed,
+ triggered, check_triggered):
+ hmove = HomingMove(self.printer, endstops, toolhead)
+ hmove.homing_move(pos, speed, triggered=triggered,
+ check_triggered=check_triggered)
def probing_move(self, mcu_probe, pos, speed):
- hmove = HomingMove(self.printer)
endstops = [(mcu_probe, "probe")]
- epos = hmove.homing_move(pos, endstops, speed, probe_pos=True)
+ hmove = HomingMove(self.printer, endstops)
+ epos = hmove.homing_move(pos, speed, probe_pos=True)
if hmove.check_no_movement() is not None:
raise self.printer.command_error(
"Probe triggered prior to movement")
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
index fba23f6a1..47f2795eb 100644
--- a/klippy/extras/manual_stepper.py
+++ b/klippy/extras/manual_stepper.py
@@ -1,14 +1,11 @@
# Support for a manual controlled stepper
#
-# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2019-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import stepper, chelper
from . import force_move
-ENDSTOP_SAMPLE_TIME = .000015
-ENDSTOP_SAMPLE_COUNT = 4
-
class ManualStepper:
def __init__(self, config):
self.printer = config.get_printer()
@@ -22,7 +19,7 @@ class ManualStepper:
self.rail = stepper.PrinterStepper(config)
self.steppers = [self.rail]
self.velocity = config.getfloat('velocity', 5., above=0.)
- self.accel = config.getfloat('accel', 0., minval=0.)
+ self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.)
self.next_cmd_time = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
@@ -80,37 +77,12 @@ class ManualStepper:
if not self.can_home:
raise self.printer.command_error(
"No endstop for this manual stepper")
- # Notify start of homing/probing move
+ self.homing_accel = accel
+ pos = [movepos, 0., 0., 0.]
endstops = self.rail.get_endstops()
- self.printer.send_event("homing:homing_move_begin",
- [es for es, name in endstops])
- # Start endstop checking
- self.sync_print_time()
- endstops = self.rail.get_endstops()
- for mcu_endstop, name in endstops:
- min_step_dist = min([s.get_step_dist()
- for s in mcu_endstop.get_steppers()])
- mcu_endstop.home_start(
- self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
- min_step_dist / speed, triggered=triggered)
- # Issue move
- self.do_move(movepos, speed, accel)
- # Wait for endstops to trigger
- error = None
- for mcu_endstop, name in endstops:
- did_trigger = mcu_endstop.home_wait(self.next_cmd_time)
- if not did_trigger and check_trigger and error is None:
- error = "Failed to home %s: Timeout during homing" % (name,)
- # Signal homing/probing move complete
- try:
- self.printer.send_event("homing:homing_move_end",
- [es for es, name in endstops])
- except CommandError as e:
- if error is None:
- error = str(e)
- self.sync_print_time()
- if error is not None:
- raise self.printer.command_error(error)
+ phoming = self.printer.lookup_object('homing')
+ phoming.manual_home(self, endstops, pos, speed,
+ triggered, check_trigger)
cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
def cmd_MANUAL_STEPPER(self, gcmd):
enable = gcmd.get_int('ENABLE', None)
@@ -132,6 +104,24 @@ class ManualStepper:
self.do_move(movepos, speed, accel, sync)
elif gcmd.get_int('SYNC', 0):
self.sync_print_time()
+ # Toolhead wrappers to support homing
+ def flush_step_generation(self):
+ self.sync_print_time()
+ def get_position(self):
+ return [self.rail.get_commanded_position(), 0., 0., 0.]
+ def set_position(self, newpos, homing_axes=()):
+ self.do_set_position(newpos[0])
+ def get_last_move_time(self):
+ self.sync_print_time()
+ return self.next_cmd_time
+ def dwell(self, delay):
+ self.next_cmd_time += max(0., delay)
+ def drip_move(self, newpos, speed, drip_completion):
+ self.do_move(newpos[0], speed, self.homing_accel)
+ def get_kinematics(self):
+ return self
+ def get_steppers(self):
+ return self.steppers
def load_config_prefix(config):
return ManualStepper(config)