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homing_override: Allow moves prior to homing an axis

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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>
This commit is contained in:
Kevin O'Connor
2018-01-16 18:58:41 -05:00
parent 01bb4b291e
commit 1a67902858
7 changed files with 42 additions and 14 deletions
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7
klippy/delta.py
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@@ -71,7 +71,7 @@ class DeltaKinematics:
"Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.])
self.set_position([0., 0., 0.], ())
def get_steppers(self, flags=""):
return list(self.steppers)
def _cartesian_to_actuator(self, coord):
@@ -83,17 +83,18 @@ class DeltaKinematics:
def get_position(self):
spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos):
def set_position(self, newpos, homing_axes):
pos = self._cartesian_to_actuator(newpos)
for i in StepList:
self.steppers[i].set_position(pos[i])
self.limit_xy2 = -1.
if tuple(homing_axes) == StepList:
self.need_home = False
def home(self, homing_state):
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
endstops = [es for s in self.steppers for es in s.get_endstops()]
s = self.steppers[0] # Assume homing speed same for all steppers
self.need_home = False
# Initial homing
homing_speed = min(s.homing_speed, self.max_z_velocity)
homepos = [0., 0., self.max_z, None]