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cartesian: Rename CartKinematics class to ToolHead

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-07 14:23:48 -04:00
parent b3e8b430e5
commit 20ae4e5d98
4 changed files with 40 additions and 40 deletions
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18
klippy/homing.py
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@ -7,8 +7,8 @@
import logging
class Homing:
def __init__(self, kin, steppers):
self.kin = kin
def __init__(self, toolhead, steppers):
self.toolhead = toolhead
self.steppers = steppers
self.states = []
@ -48,27 +48,27 @@ class Homing:
def do_move(self, axis_pos, speed):
# Issue a move command to axis_pos
newpos = self.kin.get_position()
newpos = self.toolhead.get_position()
for axis, pos in axis_pos.items():
newpos[axis] = pos
self.kin.move(newpos, speed)
self.toolhead.move(newpos, speed)
return False
def do_home(self, axis_pos, speed):
# Alter kinematics class to think printer is at axis_pos
newpos = self.kin.get_position()
newpos = self.toolhead.get_position()
forcepos = list(newpos)
for axis, pos in axis_pos.items():
newpos[axis] = self.steppers[axis].position_endstop
forcepos[axis] = pos
self.kin.set_position(forcepos)
self.toolhead.set_position(forcepos)
# Start homing and issue move
print_time = self.kin.get_last_move_time()
print_time = self.toolhead.get_last_move_time()
for axis in axis_pos:
hz = speed * self.steppers[axis].inv_step_dist
es = self.steppers[axis].enable_endstop_checking(print_time, hz)
self.endstops.append(es)
self.kin.move(newpos, speed)
self.kin.reset_print_time()
self.toolhead.move(newpos, speed)
self.toolhead.reset_print_time()
for es in self.endstops:
es.home_finalize()
return False