stepper: default second_homing_speed to homing_speed for sensorless (#…

…549)
KalicoCrew · Jan 30, 2025 · 08a99c6 · 08a99c6
1 parent 35bca85
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Showing 3 changed files with 16 additions and 5 deletions.
diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md
@@ -8,6 +8,9 @@ All dates in this document are approximate.
 
 ## Changes
 
+20250121: The `second_homing_speed` default value in the stepper config section
+is now set to `homing_speed` if sensorless homing is enabled.
+
 20250107: The `rref` parameter for tmc2240 is now mandatory with no default value.
 
 20241202: The `sense_resistor` parameter is now mandatory with no default value.

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
@@ -319,7 +319,8 @@ position_max:
 #   The default is equal to `homing_retract_dist`.
 #second_homing_speed:
 #   Velocity (in mm/s) of the stepper when performing the second home.
-#   The default is homing_speed/2.
+#   The default is homing_speed/2. If `use_sensorless_homing` is
+#   true, the default is homing_speed.
 #homing_positive_dir:
 #   If true, homing will cause the stepper to move in a positive
 #   direction (away from zero); if false, home towards zero. It is

diff --git a/klippy/stepper.py b/klippy/stepper.py
@@ -441,9 +441,18 @@ def __init__(
                 " position_min and position_max" % config.get_name()
             )
         # Homing mechanics
+        self.use_sensorless_homing = config.getboolean(
+            "use_sensorless_homing", endstop_is_virtual
+        )
+
         self.homing_speed = config.getfloat("homing_speed", 5.0, above=0.0)
+
+        default_second_homing_speed = self.homing_speed / 2.0
+        if self.use_sensorless_homing:
+            default_second_homing_speed = self.homing_speed
+
         self.second_homing_speed = config.getfloat(
-            "second_homing_speed", self.homing_speed / 2.0, above=0.0
+            "second_homing_speed", default_second_homing_speed, above=0.0
         )
         self.homing_retract_speed = config.getfloat(
             "homing_retract_speed", self.homing_speed, above=0.0
@@ -454,9 +463,7 @@ def __init__(
         self.homing_positive_dir = config.getboolean(
             "homing_positive_dir", None
         )
-        self.use_sensorless_homing = config.getboolean(
-            "use_sensorless_homing", endstop_is_virtual
-        )
+
         self.min_home_dist = config.getfloat(
             "min_home_dist", self.homing_retract_dist, minval=0.0
         )