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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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20
klippy/delta.py
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@ -78,11 +78,6 @@ class DeltaKinematics:
pos = self._cartesian_to_actuator(newpos)
for i in StepList:
self.steppers[i].mcu_stepper.set_position(pos[i])
def _get_homed_position(self, homing_state):
pos = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
* s.step_dist
for s in self.steppers]
return self._actuator_to_cartesian(pos)
def home(self, homing_state):
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
@ -92,16 +87,19 @@ class DeltaKinematics:
homepos = [0., 0., s.position_endstop, None]
coord = list(homepos)
coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
homing_state.plan_home(list(coord), homepos, self.steppers
, s.homing_speed)
homing_state.home(list(coord), homepos, self.steppers, s.homing_speed)
# Retract
coord[2] = homepos[2] - s.homing_retract_dist
homing_state.plan_retract(list(coord), self.steppers, s.homing_speed)
homing_state.retract(list(coord), s.homing_speed)
# Home again
coord[2] -= s.homing_retract_dist
homing_state.plan_second_home(list(coord), homepos, self.steppers
, s.homing_speed/2.0)
homing_state.plan_calc_position(self._get_homed_position)
homing_state.home(list(coord), homepos, self.steppers
, s.homing_speed/2.0, second_home=True)
# Set final homed position
coord = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
* s.step_dist
for s in self.steppers]
homing_state.set_homed_position(self._actuator_to_cartesian(coord))
def motor_off(self, move_time):
self.limit_xy2 = -1.
for stepper in self.steppers: