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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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13
klippy/homing.py
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@ -23,6 +23,8 @@ class Homing:
self.states.append((self.do_wait_endstop, ()))
def plan_move(self, newpos, speed):
self.states.append((self.do_move, (newpos, speed)))
def plan_calc_position(self, callback):
self.states.append((self.do_calc_position, (callback,)))
def plan_axes_update(self, callback):
self.states.append((callback, (self,)))
def check_busy(self, eventtime):
@ -37,12 +39,11 @@ class Homing:
def fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = self.toolhead.get_position()
coord = list(coord)
thcoord = list(self.toolhead.get_position())
for i in range(len(coord)):
if coord[i] is None:
coord[i] = thcoord[i]
return coord
if coord[i] is not None:
thcoord[i] = coord[i]
return thcoord
def do_move(self, newpos, speed):
# Issue a move command
self.toolhead.move(self.fill_coord(newpos), speed)
@ -68,6 +69,8 @@ class Homing:
# Finished
del self.endstops[:]
return False
def do_calc_position(self, callback):
self.toolhead.set_position(self.fill_coord(callback(self)))
# Helper code for querying and reporting the status of the endstops
class QueryEndstops: