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stepper: Return homing offset in steps instead of an absolute position

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Rename get_homed_position() to get_homed_offset() and return the
endstop position delta in steps instead of an absolute position
relative to position_endstop.  The conversion to absolute positions
can be dependent on the type of kinematics in use, so is inappropriate
to do in the low level stepper.py code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-10-13 10:04:30 -04:00
parent da7d8dbcac
commit 977aabe038
2 changed files with 7 additions and 6 deletions
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10
klippy/stepper.py
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@ -85,21 +85,21 @@ class PrinterStepper:
return None
self.mcu_endstop.query_endstop()
return self.mcu_endstop
def get_homed_position(self):
def get_homed_offset(self):
if not self.homing_stepper_phases:
return self.position_endstop
return 0
pos = self.mcu_endstop.get_last_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d" % (
self.config.section, pos))
self.homing_endstop_phase = pos
return self.position_endstop
return 0
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
delta -= self.homing_stepper_phases
elif delta > self.homing_endstop_accuracy:
logging.error("Endstop %s incorrect phase (got %d vs %d)" % (
self.config.section, pos, self.homing_endstop_phase))
return self.position_endstop
return self.position_endstop + delta * self.step_dist
return 0
return delta