also separate min_home_dist out

KalicoCrew · Nov 6, 2023 · 0a31345 · 0a31345
1 parent d731f23
commit 0a31345
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
@@ -284,18 +284,20 @@ def home_rails(self, rails, forcepos, movepos):
         # Perform second home
         if hi.retract_dist:
             needs_rehome = False
+            retract_dist = hi.retract_dist
             if any(
-                [abs(dist) < hi.retract_dist for dist in homing_axis_distances]
+                [abs(dist) < hi.min_home_dist for dist in homing_axis_distances]
             ):
                 needs_rehome = True
+                retract_dist = hi.min_home_dist
 
             logging.info("needs rehome: %s", needs_rehome)
             # Retract
             startpos = self._fill_coord(forcepos)
             homepos = self._fill_coord(movepos)
             axes_d = [hp - sp for hp, sp in zip(homepos, startpos)]
             move_d = math.sqrt(sum([d * d for d in axes_d[:3]]))
-            retract_r = min(1.0, hi.retract_dist / move_d)
+            retract_r = min(1.0, retract_dist / move_d)
             retractpos = [
                 hp - ad * retract_r for hp, ad in zip(homepos, axes_d)
             ]

diff --git a/klippy/stepper.py b/klippy/stepper.py
@@ -454,6 +454,9 @@ def __init__(
         self.use_sensorless_homing = config.getboolean(
             "use_sensorless_homing", endstop_is_virtual
         )
+        self.min_home_dist = config.getfloat(
+            "min_home_dist", self.homing_retract_dist, minval=0.0
+        )
 
         if self.homing_positive_dir is None:
             axis_len = self.position_max - self.position_min
@@ -493,6 +496,7 @@ def get_homing_info(self):
                 "positive_dir",
                 "second_homing_speed",
                 "use_sensorless_homing",
+                "min_home_dist",
             ],
         )(
             self.homing_speed,
@@ -502,6 +506,7 @@ def get_homing_info(self):
             self.homing_positive_dir,
             self.second_homing_speed,
             self.use_sensorless_homing,
+            self.min_home_dist,
         )
         return homing_info