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homing: Move query_endstop() code from kinematic classes to homing.py

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-13 10:50:52 -04:00
parent a100f174f9
commit 857eb01bfa
6 changed files with 25 additions and 26 deletions
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25
klippy/homing.py
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@ -36,18 +36,18 @@ class Homing:
print_time = self.toolhead.get_last_move_time()
endstops = []
for s in steppers:
es = s.enable_endstop_checking(print_time, s.step_dist / speed)
endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
s.mcu_endstop.home_start(print_time, s.step_dist / speed)
endstops.append((s, s.mcu_stepper.get_mcu_position()))
self.toolhead.move(self._fill_coord(movepos), speed)
move_end_print_time = self.toolhead.get_last_move_time()
self.toolhead.reset_print_time()
for s, es, last_pos in endstops:
es.home_finalize(move_end_print_time)
for s, last_pos in endstops:
s.mcu_endstop.home_finalize(move_end_print_time)
# Wait for endstops to trigger
for s, es, last_pos in endstops:
for s, last_pos in endstops:
try:
es.home_wait()
except es.error as e:
s.mcu_endstop.home_wait()
except s.mcu_endstop.error as e:
raise EndstopError("Failed to home stepper %s: %s" % (
s.name, str(e)))
post_home_pos = s.mcu_stepper.get_mcu_position()
@ -57,6 +57,17 @@ class Homing:
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
def query_endstops(print_time, steppers):
for s in steppers:
s.mcu_endstop.query_endstop(print_time)
out = []
for s in steppers:
try:
out.append((s.name, s.mcu_endstop.query_endstop_wait()))
except s.mcu_endstop.error as e:
raise EndstopError(str(e))
return out
class EndstopError(Exception):
pass