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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/gcode.py
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@ -260,14 +260,16 @@ class GCodeParser:
homing_state = homing.Homing(self.toolhead, axes)
if self.is_fileinput:
homing_state.set_no_verify_retract()
self.toolhead.home(homing_state)
def axes_update(homing_state):
newpos = self.toolhead.get_position()
for axis in homing_state.get_axes():
self.last_position[axis] = newpos[axis]
self.base_position[axis] = -self.homing_add[axis]
homing_state.plan_axes_update(axes_update)
self.set_busy(homing_state)
try:
self.toolhead.home(homing_state)
except homing.EndstopError, e:
self.toolhead.motor_off()
self.respond_error(str(e))
return
newpos = self.toolhead.get_position()
for axis in homing_state.get_axes():
self.last_position[axis] = newpos[axis]
self.base_position[axis] = -self.homing_add[axis]
def cmd_G90(self, params):
# Use absolute coordinates
self.absolutecoord = True