sensorless: consolidate set_current methods

KalicoCrew · Jun 15, 2024 · 42534ba · 42534ba
1 parent 1f7a1ba
commit 42534ba
Showing 1 changed file with 10 additions and 26 deletions.
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
@@ -253,41 +253,24 @@ def _fill_coord(self, coord):
     def set_homed_position(self, pos):
         self.toolhead.set_position(self._fill_coord(pos))
 
-    def _set_current_homing(self, homing_axes):
+    def _set_current_homing(self, homing_axes, pre_homing):
         print_time = self.toolhead.get_last_move_time()
         affected_rails = set()
         for axis in homing_axes:
             axis_name = "xyz"[axis]  # only works for cartesian
             partial_rails = self.toolhead.get_active_rails_for_axis(axis_name)
             affected_rails = affected_rails | set(partial_rails)
 
-        dwell_time = None
+        dwell_time = 0.0
         for rail in affected_rails:
             chs = rail.get_tmc_current_helpers()
             for ch in chs:
                 if ch is not None and ch.needs_home_current_change():
-                    if dwell_time is None:
-                        dwell_time = ch.current_change_dwell_time
-                    ch.set_current_for_homing(print_time)
-        if dwell_time:
-            self.toolhead.dwell(dwell_time)
-
-    def _set_current_post_homing(self, homing_axes):
-        print_time = self.toolhead.get_last_move_time()
-        affected_rails = set()
-        for axis in homing_axes:
-            axis_name = "xyz"[axis]  # only works for cartesian
-            partial_rails = self.toolhead.get_active_rails_for_axis(axis_name)
-            affected_rails = affected_rails | set(partial_rails)
-
-        dwell_time = None
-        for rail in affected_rails:
-            chs = rail.get_tmc_current_helpers()
-            for ch in chs:
-                if ch is not None and ch.needs_run_current_change():
-                    if dwell_time is None:
-                        dwell_time = ch.current_change_dwell_time
-                    ch.set_current_for_normal(print_time)
+                    dwell_time = max(dwell_time, ch.current_change_dwell_time)
+                    if pre_homing:
+                        ch.set_current_for_homing(print_time)
+                    else:
+                        ch.set_current_for_normal(print_time)
         if dwell_time:
             self.toolhead.dwell(dwell_time)
 
@@ -304,7 +287,7 @@ def home_rails(self, rails, forcepos, movepos):
         hi = rails[0].get_homing_info()
         hmove = HomingMove(self.printer, endstops)
 
-        self._set_current_homing(homing_axes)
+        self._set_current_homing(homing_axes, pre_homing=True)
 
         hmove.homing_move(homepos, hi.speed)
 
@@ -367,7 +350,8 @@ def home_rails(self, rails, forcepos, movepos):
                         hp - ad * retract_r for hp, ad in zip(homepos, axes_d)
                     ]
                     self.toolhead.move(retractpos, hi.retract_speed)
-        self._set_current_post_homing(homing_axes)
+
+        self._set_current_homing(homing_axes, pre_homing=False)
         # Signal home operation complete
         self.toolhead.flush_step_generation()
         self.trigger_mcu_pos = {