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homing: Move low-level coordinate manipulation to kinematic class

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Rework the code so that the kinematic class (currently just
cartesian.py) has more control over the homing process.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-25 23:47:30 -04:00
parent e9c03f2e4a
commit 92f81d51f4
4 changed files with 70 additions and 64 deletions
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24
klippy/gcode.py
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@ -227,19 +227,19 @@ class GCodeParser:
pass
def cmd_G28(self, params):
# Move to origin
axis = []
for a in 'XYZ':
if a in params:
axis.append(self.axis2pos[a])
if not axis:
axis = [0, 1, 2]
busy_handler = self.toolhead.home(axis)
def axis_update(axis):
axes = []
for axis in 'XYZ':
if axis in params:
axes.append(self.axis2pos[axis])
if not axes:
axes = [0, 1, 2]
busy_handler = self.toolhead.home(axes)
def axes_update(axes):
newpos = self.toolhead.get_position()
for a in axis:
self.last_position[a] = newpos[a]
self.base_position[a] = -self.homing_add[a]
busy_handler.plan_axis_update(axis_update)
for axis in axes:
self.last_position[axis] = newpos[axis]
self.base_position[axis] = -self.homing_add[axis]
busy_handler.plan_axes_update(axes_update)
self.set_busy(busy_handler)
def cmd_G90(self, params):
# Use absolute coordinates