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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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11
klippy/toolhead.py
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@ -259,16 +259,15 @@ class ToolHead:
self.extruder.check_move(move)
self.commanded_pos[:] = newpos
self.move_queue.add_move(move)
def home(self, axes):
homing = self.kin.home(self, axes)
def axes_update(axes):
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 axes:
for axis in homing_state.get_axes():
pos[axis] = homepos[axis]
self.set_position(pos)
homing.plan_axes_update(axes_update)
return homing
homing_state.plan_axes_update(axes_update)
def dwell(self, delay):
self.get_last_move_time()
self.update_move_time(delay)