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homing: Split parts of home_rails() into separate functions

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Create new _set_start_position() and _retract_move() helper functions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor committed 2026-05-25 17:08:34 -04:00
1 parent 2825bae67f
commit 4f178df807
1 file changed
+26 -20
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klippy/extras/homing.py
+26 -20
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@@ -185,37 +185,43 @@ class Homing:
return thcoord
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
def _set_start_position(self, forcepos):
homing_axes = "".join(["xyz"[axis] for axis in range(3)
if forcepos[axis] is not None])
startpos = self._fill_coord(forcepos)
self.toolhead.set_position(startpos, homing_axes=homing_axes)
def _retract_move(self, homing_info, forcepos, movepos):
# Determine retract position and move to it
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., homing_info.retract_dist / move_d)
retractpos = [hp - ad * retract_r
for hp, ad in zip(homepos, axes_d)]
self.toolhead.move(retractpos, homing_info.retract_speed)
# Force new kinematic position
startpos = [rp - ad * retract_r
for rp, ad in zip(retractpos, axes_d)]
self.toolhead.set_position(startpos)
return homepos
def home_rails(self, rails, forcepos, movepos):
# Notify of upcoming homing operation
self.printer.send_event("homing:home_rails_begin", self, rails)
# Alter kinematics class to think printer is at forcepos
force_axes = [axis for axis in range(3) if forcepos[axis] is not None]
homing_axes = "".join(["xyz"[i] for i in force_axes])
startpos = self._fill_coord(forcepos)
homepos = self._fill_coord(movepos)
self.toolhead.set_position(startpos, homing_axes=homing_axes)
self._set_start_position(forcepos)
# Perform first home
endstops = [es for rail in rails for es in rail.get_endstops()]
hi = rails[0].get_homing_info()
homing_info = rails[0].get_homing_info()
hmove = HomingMove(self.printer, endstops)
hmove.homing_move(homepos, hi.speed)
hmove.homing_move(homepos, homing_info.speed)
# Perform second home
if hi.retract_dist:
# 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., hi.retract_dist / move_d)
retractpos = [hp - ad * retract_r
for hp, ad in zip(homepos, axes_d)]
self.toolhead.move(retractpos, hi.retract_speed)
if homing_info.retract_dist:
homepos = self._retract_move(homing_info, forcepos, movepos)
# Home again
startpos = [rp - ad * retract_r
for rp, ad in zip(retractpos, axes_d)]
self.toolhead.set_position(startpos)
hmove = HomingMove(self.printer, endstops)
hmove.homing_move(homepos, hi.second_homing_speed)
hmove.homing_move(homepos, homing_info.second_homing_speed)
if hmove.check_no_movement() is not None:
raise self.printer.command_error(
"Endstop %s still triggered after retract"