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gcode: Rework endstop query to use greenlets

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2016-12-08 12:42:12 -05:00
parent ed9d7e4fae
commit a6de1db94d
7 changed files with 23 additions and 47 deletions
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5
klippy/delta.py
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@ -111,8 +111,9 @@ class DeltaKinematics:
for i in StepList:
self.steppers[i].motor_enable(move_time, 1)
self.need_motor_enable = False
def query_endstops(self, query_state):
query_state.set_steppers(self.steppers)
def query_endstops(self, print_time):
endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
return [(s.name, es.query_endstop_wait()) for s, es in endstops]
def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2