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homing: Directly interact with the kinematic class when homing

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Move the homing logic out of toolhead.py and into homing.py.  This
simplifies the toolhead logic and centralizes the homing code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-06 09:59:00 -05:00
parent 1d6af72de5
commit 8d9ca6f2dd
3 changed files with 13 additions and 10 deletions
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8
klippy/toolhead.py
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@ -327,12 +327,6 @@ class ToolHead:
self.move_queue.add_move(move)
if self.print_time > self.need_check_stall:
self._check_stall()
def home(self, homing_state):
try:
self.kin.home(homing_state)
except homing.EndstopError as e:
self.motor_off()
raise
def dwell(self, delay, check_stall=True):
self.get_last_move_time()
self.update_move_time(delay)
@ -382,6 +376,8 @@ class ToolHead:
self.reset_print_time()
except:
logging.exception("Exception in do_shutdown")
def get_kinematics(self):
return self.kin
def get_max_velocity(self):
return self.max_velocity, self.max_accel
def get_max_axis_halt(self):