h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

stepper: Adding support for a second_homing_speed parameter (#677)

Browse Source 
Signed-off-by: Chris Whiteford <chris@chrisandtennille.com>
This commit is contained in:
Chris Whiteford
2018-10-04 18:55:58 -04:00
committed by KevinOConnor
parent 97927172f1
commit b0d859f220
5 changed files with 17 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
klippy/kinematics/cartesian.py
View File

@@ -68,6 +68,7 @@ class CartKinematics:
r2pos = rpos + hi.retract_dist
# Initial homing
homing_speed = hi.speed
second_homing_speed = hi.second_homing_speed
if axis == 2:
homing_speed = min(homing_speed, self.max_z_velocity)
homepos = [None, None, None, None]
@@ -77,11 +78,11 @@ class CartKinematics:
homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
# Retract
coord[axis] = rpos
homing_state.retract(coord, homing_speed)
homing_state.retract(coord, second_homing_speed)
# Home again
coord[axis] = r2pos
homing_state.home(coord, homepos, rail.get_endstops(),
homing_speed/2.0, second_home=True)
second_homing_speed, second_home=True)
# Set final homed position
coord[axis] = hi.position_endstop + rail.get_homed_offset()
homing_state.set_homed_position(coord)