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gcode: Rework homing to use greenlets

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-08 18:12:20 -05:00
parent a6de1db94d
commit 89f5452ddb
6 changed files with 59 additions and 97 deletions
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18
klippy/cartesian.py
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@ -28,12 +28,6 @@ class CartKinematics:
for i in StepList:
s = self.steppers[i]
s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
def _get_homed_position(self, homing_state):
pos = [None]*3
for axis in homing_state.get_axes():
s = self.steppers[axis]
pos[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist
return pos
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
@ -55,15 +49,17 @@ class CartKinematics:
homepos[axis] = s.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.plan_home(list(coord), homepos, [s], s.homing_speed)
homing_state.home(list(coord), homepos, [s], s.homing_speed)
# Retract
coord[axis] = rpos
homing_state.plan_retract(list(coord), [s], s.homing_speed)
homing_state.retract(list(coord), s.homing_speed)
# Home again
coord[axis] = r2pos
homing_state.plan_second_home(
list(coord), homepos, [s], s.homing_speed/2.0)
homing_state.plan_calc_position(self._get_homed_position)
homing_state.home(
list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
# Set final homed position
coord[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist
homing_state.set_homed_position(coord)
def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers: