From 5271f35aa34ff6f40fa9406f8598f95b7e12889a Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Mon, 30 Mar 2020 17:56:39 -0400 Subject: [PATCH] bltouch: No need to pause the toolhead for PWM off commands Signed-off-by: Kevin O'Connor --- klippy/extras/bltouch.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index 08fa927a05c1..1042404e0dbd 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -36,7 +36,7 @@ def __init__(self, config): self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin')) self.mcu_pwm.setup_max_duration(0.) self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD) - self.next_cmd_time = 0. + self.next_cmd_time = self.action_end_time = 0. # Create an "endstop" object to handle the sensor pin pin = config.get('sensor_pin') pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True) @@ -89,10 +89,10 @@ def sync_mcu_print_time(self): def sync_print_time(self): toolhead = self.printer.lookup_object('toolhead') print_time = toolhead.get_last_move_time() - if self.next_cmd_time > print_time: - toolhead.dwell(self.next_cmd_time - print_time) - else: + if print_time > self.next_cmd_time: self.next_cmd_time = print_time + elif self.action_end_time > print_time: + toolhead.dwell(self.action_end_time - print_time) def send_cmd(self, cmd, duration=MIN_CMD_TIME): self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD) # Translate duration to ticks to avoid any secondary mcu clock skew @@ -100,6 +100,8 @@ def send_cmd(self, cmd, duration=MIN_CMD_TIME): cmd_clock = mcu.print_time_to_clock(self.next_cmd_time) cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME)) self.next_cmd_time = mcu.clock_to_print_time(cmd_clock) + if cmd is not None: + self.action_end_time = self.next_cmd_time return self.next_cmd_time def verify_state(self, check_start_time, check_end_time, triggered): # Perform endstop check to verify bltouch reports desired state