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homing: Check homing distance to verify endstop trigger after retract

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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>
This commit is contained in:
Kevin O'Connor
2016-11-28 11:23:26 -05:00
parent a5637bb9d4
commit 9755182adf
4 changed files with 21 additions and 29 deletions
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klippy/cartesian.py
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@@ -61,7 +61,8 @@ class CartKinematics:
homing_state.plan_retract(list(coord), [s], s.homing_speed)
# Home again
coord[axis] = r2pos
homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
homing_state.plan_second_home(
list(coord), homepos, [s], s.homing_speed/2.0)
homing_state.plan_calc_position(self.get_homed_position)
def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3