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

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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
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5
klippy/kinematics/delta.py
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@@ -101,17 +101,18 @@ class DeltaKinematics:
# Initial homing - assume homing speed same for all steppers
hi = self.rails[0].get_homing_info()
homing_speed = min(hi.speed, self.max_z_velocity)
second_homing_speed = min(hi.second_homing_speed, self.max_z_velocity)
homepos = [0., 0., self.max_z, None]
coord = list(homepos)
coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
homing_state.home(coord, homepos, endstops, homing_speed)
# Retract
coord[2] = homepos[2] - hi.retract_dist
homing_state.retract(coord, homing_speed)
homing_state.retract(coord, second_homing_speed)
# Home again
coord[2] -= hi.retract_dist
homing_state.home(coord, homepos, endstops,
homing_speed/2.0, second_home=True)
second_homing_speed, second_home=True)
# Set final homed position
spos = [ep + rail.get_homed_offset()
for ep, rail in zip(self.abs_endstops, self.rails)]