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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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7
klippy/toolhead.py
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@ -261,13 +261,6 @@ class ToolHead:
self.move_queue.add_move(move)
def home(self, homing_state):
self.kin.home(homing_state)
def axes_update(homing_state):
pos = self.get_position()
homepos = self.kin.get_homed_position()
for axis in homing_state.get_axes():
pos[axis] = homepos[axis]
self.set_position(pos)
homing_state.plan_axes_update(axes_update)
def dwell(self, delay):
self.get_last_move_time()
self.update_move_time(delay)