From a9a0bb87fa472c470d5cbd4ffc78e1acb29a04c1 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Wed, 26 Sep 2018 15:57:22 -0400
Subject: [PATCH] probe: Verify the toolhead moves at least some distance on a
probe
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
klippy/extras/probe.py | 3 +--
klippy/homing.py | 34 ++++++++++++++++++----------------
2 files changed, 19 insertions(+), 18 deletions(-)
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index df5f92680..5b5036106 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -70,8 +70,7 @@ class PrinterProbe:
pos = toolhead.get_position()
pos[2] = self.z_position
try:
- homing_state.homing_move(
- pos, [(self.mcu_probe, "probe")], self.speed, probe_pos=True)
+ homing_state.probing_move(pos, self.mcu_probe, self.speed)
except homing.EndstopError as e:
reason = str(e)
if "Timeout during endstop homing" in reason:
diff --git a/klippy/homing.py b/klippy/homing.py
index 48144001f..b65c3124d 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -40,9 +40,12 @@ class Homing:
dist_ticks = adjusted_freq * mcu_stepper.get_step_dist()
ticks_per_step = math.ceil(dist_ticks / speed)
return dist_ticks / ticks_per_step
- def _homing_move(self, movepos, endstops, speed, probe_pos=False):
+ def _homing_move(self, movepos, endstops, speed,
+ probe_pos=False, verify_movement=False):
# Start endstop checking
print_time = self.toolhead.get_last_move_time()
+ start_mcu_pos = [(s, name, s.get_mcu_position())
+ for es, name in endstops for s in es.get_steppers()]
for mcu_endstop, name in endstops:
min_step_dist = min([s.get_step_dist()
for s in mcu_endstop.get_steppers()])
@@ -74,10 +77,18 @@ class Homing:
mcu_endstop.home_finalize()
if error is not None:
raise EndstopError(error)
- def homing_move(self, movepos, endstops, speed, probe_pos=False):
- for mcu_endstop, name in endstops:
- mcu_endstop.home_prepare()
- self._homing_move(movepos, endstops, speed, probe_pos)
+ # Check if some movement occurred
+ if verify_movement:
+ for s, name, pos in start_mcu_pos:
+ if s.get_mcu_position() == pos:
+ if probe_pos:
+ raise EndstopError("Probe triggered prior to movement")
+ raise EndstopError(
+ "Endstop %s still triggered after retract" % (name,))
+ def probing_move(self, movepos, mcu_probe, speed):
+ mcu_probe.home_prepare()
+ self._homing_move(movepos, [(mcu_probe, "probe")], speed,
+ probe_pos=True, verify_movement=True)
def home(self, forcepos, movepos, endstops, speed, second_home=False):
if second_home and forcepos == movepos:
return
@@ -96,18 +107,9 @@ class Homing:
for es, n in endstops for s in es.get_steppers()])
self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
speed = self._get_homing_speed(speed, endstops)
- # Setup for retract verification
- self.toolhead.get_last_move_time()
- start_mcu_pos = [(s, name, s.get_mcu_position())
- for es, name in endstops for s in es.get_steppers()]
# Issue homing move
- self._homing_move(movepos, endstops, speed)
- # Verify retract led to some movement on second home
- if second_home and self.verify_retract:
- for s, name, pos in start_mcu_pos:
- if s.get_mcu_position() == pos:
- raise EndstopError(
- "Endstop %s still triggered after retract" % (name,))
+ self._homing_move(movepos, endstops, speed,
+ verify_movement=second_home and self.verify_retract)
def home_axes(self, axes):
self.changed_axes = axes
try: