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homing: Direct stepper phase detection from kinematic classes

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Change the scheduling of the final homed position (which takes into
account the stepper phases) so that it is scheduled from the kinematic
classes instead of from the toolhead class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-18 11:49:05 -05:00
parent 781cf608d7
commit 2b5b899d35
4 changed files with 17 additions and 16 deletions
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klippy/delta.py
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@ -78,7 +78,7 @@ class DeltaKinematics:
return matrix_sub(circumcenter, matrix_mul(normal, dist))
def set_position(self, newpos):
self.stepper_pos = self.cartesian_to_actuator(newpos)
def get_homed_position(self):
def get_homed_position(self, homing_state):
pos = [(self.stepper_pos[i] + self.steppers[i].get_homed_offset())
* self.steppers[i].step_dist
for i in StepList]
@ -101,6 +101,7 @@ class DeltaKinematics:
coord[2] -= s.homing_retract_dist
homing_state.plan_home(list(coord), homepos, self.steppers
, s.homing_speed/2.0)
homing_state.plan_calc_position(self.get_homed_position)
def motor_off(self, move_time):
self.limit_xy2 = -1.
for stepper in self.steppers: