refactor calibration process, some dummy commands support

cnc/config.py

@@ -1,27 +1,42 @@
-# Hardware limitations config
-STEPPER_PULSE_LENGTH_US = 2
-STEPPER_MAX_ACCELERATION_MM_PER_S2 = 3000  # for all axis, mm per sec^2
+# ------------------------------------------------------------------------------
+# Hardware config.
 
-MAX_VELOCITY_MM_PER_MIN_X = 30000  # mm per min
-MAX_VELOCITY_MM_PER_MIN_Y = 24000  # mm per min
-MAX_VELOCITY_MM_PER_MIN_Z = 120    # mm per min
-MAX_VELOCITY_MM_PER_MIN_E = 1500   # mm per min
+# Maximum velocity for each axis in millimeter per minute.
+MAX_VELOCITY_MM_PER_MIN_X = 24000
+MAX_VELOCITY_MM_PER_MIN_Y = 15000
+MAX_VELOCITY_MM_PER_MIN_Z = 600
+MAX_VELOCITY_MM_PER_MIN_E = 1500
+# Average velocity for endstop calibration procedure
+CALIBRATION_VELOCITY_MM_PER_MIN = 300
 
+# Stepper motors steps per millimeter for each axis.
 STEPPER_PULSES_PER_MM_X = 100
 STEPPER_PULSES_PER_MM_Y = 100
 STEPPER_PULSES_PER_MM_Z = 400
 STEPPER_PULSES_PER_MM_E = 150
 
-# invert axises direction
+# Invert axises direction, by default(False) high level means increase of
+# position. For inverted(True) axis, high level means decrease of position.
 STEPPER_INVERTED_X = True
 STEPPER_INVERTED_Y = False
 STEPPER_INVERTED_Z = False
 STEPPER_INVERTED_E = True
 
+# Invert zero end stops switches. By default(False) low level on input pin means
+# that axis in zero position. For inverted(True) end stops, high level means
+# zero position.
+ENDSTOP_INVERTED_X = True
+ENDSTOP_INVERTED_Y = True
+ENDSTOP_INVERTED_Z = True
+
+# Workplace physical size.
 TABLE_SIZE_X_MM = 200
 TABLE_SIZE_Y_MM = 200
 TABLE_SIZE_Z_MM = 220
 
+# Mixed settings.
+STEPPER_PULSE_LENGTH_US = 2
+STEPPER_MAX_ACCELERATION_MM_PER_S2 = 3000  # for all axis, mm per sec^2
 SPINDLE_MAX_RPM = 10000
 EXTRUDER_MAX_TEMPERATURE = 250
 BED_MAX_TEMPERATURE = 100
@@ -33,7 +48,9 @@ BED_PID = {"P": 5.06820175723,
            "I": 0.0476413193519,
            "D": 4.76413193519}
 
-# Pins config
+# ------------------------------------------------------------------------------
+# Pins configuration.
+
 STEPPER_STEP_PIN_X = 16
 STEPPER_STEP_PIN_Y = 20
 STEPPER_STEP_PIN_Z = 21
@@ -55,7 +72,9 @@ ENDSTOP_PIN_X = 12
 ENDSTOP_PIN_Y = 6
 ENDSTOP_PIN_Z = 5
 
-# Hardware behavior config
+# ------------------------------------------------------------------------------
+#  Behavior config
+
 # Run command immediately after receiving and stream new pulses, otherwise
 # buffer will be prepared firstly and then command will run.
 # Before enabling this feature, please make sure that board performance is