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homing: Create Homing class from gcode

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Create the Homing class in the gcode handler instead of in the
kinematic classes.  This will make it easier to pass error messages
back to the user.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-18 11:27:16 -05:00
parent 9e1059afb4
commit 781cf608d7
5 changed files with 20 additions and 19 deletions
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6
klippy/cartesian.py
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@ -31,10 +31,9 @@ class CartKinematics:
def get_homed_position(self):
return [s.position_endstop + s.get_homed_offset()*s.step_dist
for s in self.steppers]
def home(self, toolhead, axes):
def home(self, homing_state):
# Each axis is homed independently and in order
homing_state = homing.Homing(toolhead, axes)
for axis in axes:
for axis in homing_state.get_axes():
s = self.steppers[axis]
self.limits[axis] = (s.position_min, s.position_max)
# Determine moves
@ -60,7 +59,6 @@ class CartKinematics:
# Home again
coord[axis] = r2pos
homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
return homing_state
def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers: