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@@ -644,44 +644,10 @@ def home(timeout=90):
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time.sleep(0.1)
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if not (state.homed_x and state.homed_y):
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- logger.warning(f"Did not receive all homing messages (X:{state.homed_x}, Y:{state.homed_y})")
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-
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- # Retry homing for the axis that didn't home
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- retry_axis = None
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- if state.homed_x and not state.homed_y:
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- retry_axis = "Y"
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- elif state.homed_y and not state.homed_x:
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- retry_axis = "X"
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-
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- if retry_axis:
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- logger.info(f"{retry_axis} axis didn't home, nudging and retrying...")
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- # Wait for idle first
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- check_idle()
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- # Send small movement to move away from sensor
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- state.conn.send(f"G1 {retry_axis}10 F{homing_speed}\n")
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- time.sleep(2)
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- check_idle()
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- # Retry homing
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- state.conn.send("$H\n")
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- logger.info(f"Sent $H retry, waiting for {retry_axis} homing message...")
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- retry_start = time.time()
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- while (time.time() - retry_start) < 20:
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- try:
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- response = state.conn.readline()
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- if response:
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- logger.debug(f"Retry homing response: {response}")
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- if f"[MSG:Homed:{retry_axis}]" in response:
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- if retry_axis == "X":
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- state.homed_x = True
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- else:
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- state.homed_y = True
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- logger.info(f"Retry successful: Received [MSG:Homed:{retry_axis}]")
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- break
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- except Exception as e:
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- logger.error(f"Error reading retry response: {e}")
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- time.sleep(0.1)
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- if (retry_axis == "X" and not state.homed_x) or (retry_axis == "Y" and not state.homed_y):
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- logger.error(f"{retry_axis} axis homing retry failed")
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+ logger.warning(f"Did not receive all homing messages (X:{state.homed_x}, Y:{state.homed_y}), unlocking and continuing...")
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+ # Unlock machine to clear any alarm state
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+ state.conn.send("$X\n")
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+ time.sleep(0.5)
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# Wait for idle state after $H
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logger.info("Waiting for device to reach idle state after $H...")
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tuanchris