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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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4
klippy/stepper.py
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@ -75,7 +75,7 @@ class PrinterStepper:
self.need_motor_enable = not enable
def enable_endstop_checking(self, move_time, step_time):
mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
self.mcu_endstop.home(mcu_time, step_time)
self.mcu_endstop.home_start(mcu_time, step_time)
return self.mcu_endstop
def query_endstop(self, print_time):
mcu_time = self.mcu_endstop.print_to_mcu_time(print_time)
@ -84,7 +84,7 @@ class PrinterStepper:
def get_homed_offset(self):
if not self.homing_stepper_phases or self.need_motor_enable:
return 0
pos = self.mcu_endstop.get_last_position()
pos = self.mcu_stepper.get_mcu_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d" % (