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homing: Implement homing via new toolhead "drip" movement

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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>
This commit is contained in:
Kevin O'Connor
2019-06-25 21:25:01 -04:00
committed by KevinOConnor
parent d6cce8a557
commit 43064d197d
4 changed files with 104 additions and 40 deletions
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7
klippy/extras/bltouch.py
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@@ -157,10 +157,11 @@ class BLTouchEndstopWrapper:
if s.get_mcu_position() == mcu_pos:
raise homing.EndstopError("BLTouch failed to deploy")
self.mcu_endstop.home_finalize()
def home_start(self, print_time, sample_time, sample_count, rest_time):
def home_start(self, print_time, sample_time, sample_count, rest_time,
notify=None):
rest_time = min(rest_time, ENDSTOP_REST_TIME)
self.mcu_endstop.home_start(
print_time, sample_time, sample_count, rest_time)
self.mcu_endstop.home_start(print_time, sample_time, sample_count,
rest_time, notify=notify)
def get_position_endstop(self):
return self.position_endstop
cmd_BLTOUCH_DEBUG_help = "Send a command to the bltouch for debugging"