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homing: allow homing_accel to be configurable #474

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homing: allow homing_accel to be configurable #474

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a0ce69c
homing: allow homing_accel to be configurable
rogerlz Dec 10, 2024
2d1f7ff
config feedback
rogerlz Dec 20, 2024
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3 changes: 3 additions & 0 deletions docs/Config_Reference.md
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Original file line number Diff line number Diff line change
Expand Up @@ -296,6 +296,9 @@ position_max:
#homing_speed: 5.0
# Maximum velocity (in mm/s) of the stepper when homing. The default
# is 5mm/s.
#homing_accel:
# Maximum accel (in mm/s) of the stepper when homing. The default
# is to use the max accel configured in the [printer]'s object.
#homing_retract_dist: 5.0
# Distance to backoff (in mm) before homing a second time during
# homing. If `use_sensorless_homing` is false, this setting can be set
Expand Down
47 changes: 32 additions & 15 deletions klippy/extras/homing.py
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Original file line number Diff line number Diff line change
Expand Up @@ -270,7 +270,15 @@ 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, pre_homing):
def _set_homing_accel(self, accel, pre_homing):
if accel is None:
return
if pre_homing:
self.toolhead.set_accel(accel)
else:
self.toolhead.reset_accel()

def _set_homing_current(self, homing_axes, pre_homing):
print_time = self.toolhead.get_last_move_time()
affected_rails = set()
for axis in homing_axes:
Expand Down Expand Up @@ -312,10 +320,13 @@ def home_rails(self, rails, forcepos, movepos):
hi = rails[0].get_homing_info()
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)
try:
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any reason for the try/finally here?
since we dont catch any errors we are going into estop if one occurs so no need for the finally right?

Also wouldnt it be cleaner to use with instead?

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I want to make sure that homing_accel always resets regardless of the deeper exceptions

self._set_homing_accel(hi.accel, pre_homing=True)
self._set_homing_current(homing_axes, pre_homing=True)
self._reset_endstop_states(endstops)
hmove.homing_move(homepos, hi.speed)
finally:
self._set_homing_accel(hi.accel, pre_homing=False)

needs_rehome = False
retract_dist = hi.retract_dist
Expand All @@ -337,15 +348,18 @@ def home_rails(self, rails, forcepos, movepos):
]
self.toolhead.move(retractpos, hi.retract_speed)
if not hi.use_sensorless_homing or needs_rehome:
# Home again
startpos = [
rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)
]
self.toolhead.set_position(startpos)
self._reset_endstop_states(endstops)
hmove = HomingMove(self.printer, endstops)
hmove.homing_move(homepos, hi.second_homing_speed)
try:
# Home again
startpos = [
rp - ad * retract_r
for rp, ad in zip(retractpos, axes_d)
]
self.toolhead.set_position(startpos)
self._reset_endstop_states(endstops)

hmove = HomingMove(self.printer, endstops)
hmove.homing_move(homepos, hi.second_homing_speed)

if hmove.check_no_movement() is not None:
raise self.printer.command_error(
"Endstop %s still triggered after retract"
Expand All @@ -362,7 +376,9 @@ def home_rails(self, rails, forcepos, movepos):
"Early homing trigger on second home!"
)
finally:
self._set_current_homing(homing_axes, pre_homing=False)
self._set_homing_accel(hi.accel, pre_homing=False)
self._set_homing_current(homing_axes, pre_homing=False)

if hi.retract_dist:
# Retract (again)
startpos = self._fill_coord(forcepos)
Expand All @@ -375,7 +391,8 @@ def home_rails(self, rails, forcepos, movepos):
]
self.toolhead.move(retractpos, hi.retract_speed)

self._set_current_homing(homing_axes, pre_homing=False)
self._set_homing_accel(hi.accel, pre_homing=False)
self._set_homing_current(homing_axes, pre_homing=False)
# Signal home operation complete
self.toolhead.flush_step_generation()
self.trigger_mcu_pos = {
Expand Down
4 changes: 4 additions & 0 deletions klippy/stepper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -461,6 +461,8 @@ def __init__(
"min_home_dist", self.homing_retract_dist, minval=0.0
)

self.homing_accel = config.getfloat("homing_accel", None, above=0.0)

if self.homing_positive_dir is None:
axis_len = self.position_max - self.position_min
if self.position_endstop <= self.position_min + axis_len / 4.0:
Expand Down Expand Up @@ -507,6 +509,7 @@ def get_homing_info(self):
"second_homing_speed",
"use_sensorless_homing",
"min_home_dist",
"accel",
],
)(
self.homing_speed,
Expand All @@ -517,6 +520,7 @@ def get_homing_info(self):
self.second_homing_speed,
self.use_sensorless_homing,
self.min_home_dist,
self.homing_accel,
)
return homing_info

Expand Down
8 changes: 8 additions & 0 deletions klippy/toolhead.py
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Original file line number Diff line number Diff line change
Expand Up @@ -864,6 +864,14 @@ def cmd_M204(self, gcmd):
self.max_accel = accel
self._calc_junction_deviation()

def set_accel(self, accel):
self.max_accel = accel
self._calc_junction_deviation()

def reset_accel(self):
self.max_accel = self.orig_cfg["max_accel"]
self._calc_junction_deviation()


def add_printer_objects(config):
config.get_printer().add_object("toolhead", ToolHead(config))
Expand Down
3 changes: 3 additions & 0 deletions test/klippy/tmc.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,9 @@ endstop_pin: tmc5160_stepper_y:virtual_endstop
position_endstop: 0
position_max: 210
use_sensorless_homing: true
homing_speed: 100
homing_accel: 1000


[tmc5160 stepper_y]
cs_pin: PG2
Expand Down
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