improve homing by moving to opposite direction first

Author: beniroquai

uc2rest/UC2Client.py

@@ -56,7 +56,7 @@ def __init__(self, host=None, port=31950, serialport=None, identity="UC2_Feather
 
         you can send commands through wifi/http or usb/serial
         '''
-        if logger is None:
+        if True: #logger is None:
             self.logger = Logger()
         else:
             self.logger = logger

uc2rest/home.py

@@ -55,13 +55,14 @@ def home_a(self, speed = None, direction = None, endposrelease = None, endstoppo
                   endstoppolarity=endstoppolarity,
                   isBlocking=isBlocking)    
 
-    def home(self, axis=None, timeout=None, speed=None, direction=None, endposrelease=None, endstoppolarity=None, endstoptimeout=10000, isBlocking=False):
+    def home(self, axis=None, timeout=None, speed=None, direction=None, endposrelease=None, endstoppolarity=None, endstoptimeout=10000, isBlocking=False, preMove=True):
         '''
         axis = 0,1,2,3 or 'A, 'X','Y','Z'
         timeout => when to stop homing (it's a while loop on the MCU)
         speed => speed of homing (0...15000)
         direction => 1,-1 (left/right)
         endposrelease => how far to move after homing (0...3000)
+        preMove => the motor will first move by some steps in the opposite direction before homing, this is useful to avoid false triggering of the endstop
         '''
 
         # default values
@@ -79,6 +80,25 @@ def home(self, axis=None, timeout=None, speed=None, direction=None, endposreleas
         if direction not in [-1,1]:
             direction = 1
 
+        if preMove:
+            # first move in the opposite direction
+            if direction == 1:
+                preMoveDirection = -1
+            else:
+                preMoveDirection = 1
+            
+            # move away from endstop
+            if axis == 1 or axis == "X":
+                self._parent.motor.move_x(steps=preMoveDirection*1000, speed=10000, is_blocking=False, is_absolute=False, is_enabled=True)
+            elif axis == 2 or axis == "Y":
+                self._parent.motor.move_y(steps=preMoveDirection*1000, speed=10000, is_blocking=False, is_absolute=False, is_enabled=True)
+            elif axis == 3 or axis == "Z":
+                self._parent.motor.move_z(steps=preMoveDirection*1000, speed=10000, is_blocking=False, is_absolute=False, is_enabled=True)
+            elif axis == 0 or axis == "A":
+                self._parent.motor.move_a(steps=preMoveDirection*1000, speed=10000, is_blocking=False, is_absolute=False, is_enabled=True)
+            else:   
+                raise ValueError("Invalid axis. Use 'X', 'Y', 'Z', or 'A'.")
+            time.sleep(0.5)
         # construct json string
         path = "/home_act"
 

uc2rest/logger.py

@@ -1,9 +1,45 @@
+import logging
+
+
 class Logger(object):
-    def __init__(self):
-        pass
+    def __init__(
+        self,
+        name=__name__,
+        log_to_file=False,
+        filename='uc2rest.log'
+    ):
+        # Create a logger with the given name
+        self.logger = logging.getLogger(name)
+        self.logger.setLevel(logging.DEBUG)
+        formatter = logging.Formatter(
+            '%(asctime)s [%(levelname)s] %(name)s: %(message)s'
+        )
+
+        # Console handler
+        ch = logging.StreamHandler()
+        ch.setLevel(logging.DEBUG)
+        ch.setFormatter(formatter)
+        self.logger.addHandler(ch)
 
-    def error(self,message):
-        print(message)
+        # Optional file handler
+        if log_to_file:
+            fh = logging.FileHandler(filename)
+            fh.setLevel(logging.DEBUG)
+            fh.setFormatter(formatter)
+            self.logger.addHandler(fh)
+
+    def error(self, message):
+        # Log an error message
+        self.logger.error(message)
 
     def debug(self, message):
-        print(message)
+        # Log a debug message
+        self.logger.debug(message)
+
+    def info(self, message):
+        # Log an info message
+        self.logger.info(message)
+
+    def warning(self, message):
+        # Log a warning message
+        self.logger.warning(message)