Reset endstop states before first home

This change removes the need for CoreXY homing to have a different home_current than run_current to force a dwell. Instead, no dwell is needed between axes anymore.
KalicoCrew · Jul 18, 2024 · cf71cd0 · cf71cd0
1 parent 24265bd
commit cf71cd0
Showing 1 changed file with 10 additions and 6 deletions.
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
@@ -274,6 +274,14 @@ def _set_current_homing(self, homing_axes, pre_homing):
         if dwell_time:
             self.toolhead.dwell(dwell_time)
 
+    def _reset_endstop_states(self, endstops):
+        # re-querying a tmc endstop seems to reset the state
+        # otherwise it triggers almost immediately upon second home
+        # this seems to be an adequate substitute for a 2 second dwell.
+        print_time = self.toolhead.get_last_move_time()
+        for endstop in endstops:
+            endstop[0].query_endstop(print_time)
+
     def home_rails(self, rails, forcepos, movepos):
         # Notify of upcoming homing operation
         self.printer.send_event("homing:home_rails_begin", self, rails)
@@ -288,6 +296,7 @@ def home_rails(self, rails, forcepos, movepos):
         hmove = HomingMove(self.printer, endstops)
 
         self._set_current_homing(homing_axes, pre_homing=True)
+        self._reset_endstop_states(endstops)
 
         hmove.homing_move(homepos, hi.speed)
 
@@ -316,12 +325,7 @@ def home_rails(self, rails, forcepos, movepos):
                     rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)
                 ]
                 self.toolhead.set_position(startpos)
-                print_time = self.toolhead.get_last_move_time()
-                for endstop in endstops:
-                    # re-querying a tmc endstop seems to reset the state
-                    # otherwise it triggers almost immediately upon second home
-                    # this seems to be an adequate substitute for a 2 second dwell.
-                    endstop[0].query_endstop(print_time)
+                self._reset_endstop_states(endstops)
                 hmove = HomingMove(self.printer, endstops)
                 hmove.homing_move(homepos, hi.second_homing_speed)
                 try: